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update pathfinding base #3

Merged
merged 7 commits into from
Mar 16, 2024
Merged

update pathfinding base #3

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2623e91
changed PID and Arm postion values
DAflamingFOX Mar 16, 2024
9c65df0
added User Button
DAflamingFOX Mar 16, 2024
1db66a8
removed feedforward
DAflamingFOX Mar 16, 2024
ee10f63
added user button
DAflamingFOX Mar 16, 2024
8f4a759
format
DAflamingFOX Mar 16, 2024
605791b
Merge pull request #2 from Tigerbotics7125/CommandBased
DAflamingFOX Mar 16, 2024
29492da
Merge branch 'Pathfinding' into merge-pathplanning-main
DAflamingFOX Mar 16, 2024
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16 changes: 8 additions & 8 deletions src/main/java/io/github/tigerbotics7125/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,9 +81,9 @@ public static final class Arm {

public static final boolean kFollowerInverted = true;

public static final double kP = .04;
public static final double kI = 1e-7; // Integral term should be done with FF instead.
public static final double kD = .5;
public static final double kP = .01;
public static final double kI = 0; // Integral term should be done with FF instead.
public static final double kD = 0; // .5;
public static final PIDController kPID = new PIDController(kP, kI, kD);
// TODO look into sysid to characterize this.
public static final double kS = 0;
Expand All @@ -94,14 +94,14 @@ public static final class Arm {
public static final double kGearRatio = 1D / 48D;
public static final double kChainRatio = 10D / 60D;

public static final double kPositionConversionFactor = kGearRatio * kChainRatio;
public static final double kPositionConversionFactor = kGearRatio * kChainRatio * 360;
public static final double kVelocityConversionFactor = kPositionConversionFactor / 60D;

public enum ArmState {
AMP(0D),
SPEAKER(60D),
SPEAKERAUTO(63D),
INTAKE(78D);
AMP(-82D),
SPEAKER(-10D),
SPEAKERAUTO(-10D),
INTAKE(0D);

public final double kPosition;

Expand Down
9 changes: 8 additions & 1 deletion src/main/java/io/github/tigerbotics7125/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,16 @@
*/
package io.github.tigerbotics7125;

import com.revrobotics.CANSparkBase.IdleMode;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import io.github.tigerbotics7125.Constants.Arm.ArmState;
import io.github.tigerbotics7125.Constants.DriveTrain.ControlType;
import io.github.tigerbotics7125.autos.*;
Expand Down Expand Up @@ -59,7 +62,11 @@ public void robotInit() {
if (controlType.equals(ControlType.CURVE_ROCKETLEAGUE)) continue;
m_driveControlChooser.addOption(controlType.name(), controlType);
}

new Trigger(RobotController::getUserButton)
.onTrue(
m_drivetrain
.setIdleMode(IdleMode.kBrake)
.andThen(m_arm.setIdleMode(IdleMode.kBrake)));
m_drivetrain.setDefaultCommand(
Commands.select(
Map.of(
Expand Down
27 changes: 22 additions & 5 deletions src/main/java/io/github/tigerbotics7125/subsystems/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,13 @@
*/
package io.github.tigerbotics7125.subsystems;

import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
Expand Down Expand Up @@ -37,14 +39,18 @@ public Arm() {
configureMotor(m_left);
configureMotor(m_right);
m_right.follow(m_left, Constants.Arm.kFollowerInverted);

m_encoder.setPositionConversionFactor(Constants.Arm.kPositionConversionFactor);
m_encoder.setVelocityConversionFactor(Constants.Arm.kVelocityConversionFactor);
m_encoder.setPosition(0);
}

private void configureMotor(CANSparkMax motor) {
motor.restoreFactoryDefaults();
Timer.delay(.02);

motor.setSmartCurrentLimit(Constants.Arm.kCurrentLimit);

motor.setIdleMode(IdleMode.kCoast);
motor.burnFlash();
Timer.delay(.02);
}
Expand All @@ -64,9 +70,9 @@ public Command pidControl(ArmState state) {
() -> {
double pidContribution =
12D * m_PID.calculate(m_encoder.getPosition());
double ffContribution =
m_feedforward.calculate(m_PID.getSetpoint(), 0);
m_left.setVoltage(pidContribution + ffContribution);
// double ffContribution =
// m_feedforward.calculate(m_PID.getSetpoint(), 0);
m_left.setVoltage(pidContribution); // + ffContribution);
}));
}

Expand All @@ -82,10 +88,21 @@ public Command autoHome() {
return Commands.none();
}

public Command setIdleMode(IdleMode idleMode) {
return runOnce(
() -> {
m_left.setIdleMode(idleMode);
m_right.setIdleMode(idleMode);
})
.ignoringDisable(true);
}

public Trigger atState() {
return new Trigger(m_PID::atSetpoint);
}

@Override
public void periodic() {}
public void periodic() {
SmartDashboard.putNumber("arm", m_encoder.getPosition());
}
}
22 changes: 11 additions & 11 deletions src/main/java/io/github/tigerbotics7125/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
*/
package io.github.tigerbotics7125.subsystems;

import com.revrobotics.CANSparkBase.IdleMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.kauailabs.navx.frc.AHRS;
Expand Down Expand Up @@ -62,7 +63,7 @@ private void configureMotor(CANSparkMax motor) {
Timer.delay(.02);

motor.setSmartCurrentLimit(Constants.DriveTrain.kCurrentLimit);

motor.setIdleMode(IdleMode.kCoast);
motor.burnFlash();
Timer.delay(.02);
}
Expand Down Expand Up @@ -95,16 +96,15 @@ public Command curvatureDrive(
});
}

public void resetOdometry(Rotation2d heading, Pose2d pose) {
m_odometry.resetPosition(
heading,
getLeftPositionMeters(),
getRightPositionMeters(),
pose);
}

public void resetGyro() {
m_gyro.reset();
public Command setIdleMode(IdleMode idleMode) {
return runOnce(
() -> {
frontLeft.setIdleMode(idleMode);
frontRight.setIdleMode(idleMode);
backLeft.setIdleMode(idleMode);
backRight.setIdleMode(idleMode);
})
.ignoringDisable(true);
}

@Override
Expand Down
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