Complete PID Tuner

ftc13100 · Nov 12, 2024 · 31b3592 · 31b3592
1 parent b22b42d
commit 31b3592
Show file tree

Hide file tree

Showing 2 changed files with 15 additions and 3 deletions.
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt
@@ -1,10 +1,15 @@
 package org.firstinspires.ftc.teamcode.opModes.tuning.arm
 
+import com.acmerobotics.dashboard.config.Config
 import com.arcrobotics.ftclib.command.CommandOpMode
+import com.arcrobotics.ftclib.command.InstantCommand
 import com.arcrobotics.ftclib.hardware.motors.Motor
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import org.firstinspires.ftc.teamcode.constants.ControlBoard
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 
+@TeleOp
+@Config
 class ArmPIDTuner : CommandOpMode() {
     private lateinit var armLeft: Motor
     private lateinit var armRight: Motor
@@ -17,6 +22,14 @@ class ArmPIDTuner : CommandOpMode() {
 
         armSubsystem = ArmSubsystem(armLeft, armRight)
 
+        InstantCommand({
+            armSubsystem.setpoint = Math.toRadians(target)
+        }).perpetually().schedule()
+    }
 
+    companion object {
+        @JvmField
+        // NOTE THAT THIS VALUE SHOULD BE DEGREES
+        var target = 0.0
     }
 }
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.subsystems.arm
 
+import com.acmerobotics.dashboard.config.Config
 import com.arcrobotics.ftclib.controller.PIDController
 import com.arcrobotics.ftclib.controller.wpilibcontroller.ArmFeedforward
 import com.arcrobotics.ftclib.hardware.motors.Motor
@@ -8,6 +9,7 @@ import com.arcrobotics.ftclib.hardware.motors.MotorGroup
 import org.firstinspires.ftc.teamcode.utils.PIDSubsystem
 import kotlin.math.PI
 
+@Config
 class ArmSubsystem(
     armLeft: Motor,
     armRight: Motor
@@ -44,9 +46,6 @@ class ArmSubsystem(
     override fun getMeasurement() = armAngle
 
     companion object {
-        @JvmField
-        var target = 0.0
-
         @JvmField
         var kCos = 0.3