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selym3Sam-BelliveauProg694
authoredMar 18, 2022
Implement PID tuned shooter (#91)
* code does not work * upload some fixes / more implementation * Add integrator filter class * begin implementing pidflywheel in subsystem * add pid flywheel documentation * add is empty method * add align to shoot command * spotless apply * encapsulate alignment helpers * add constant for debounce time * add feedforward, pid to shooter settings * implement rest of shooter api in pid shooter * add documentation * [not finished] reimplement smartpidcontroller * configure motors in subsystem * add target filter * spotless apply * fix typo * update pid gains and min/max pid output * uncomment constants * revert constant (again) * small changes * Update StuyLib * Merged Clamping PID Controllers * fix typos / slight fixes * add shooter, feeder configuration. shooter data * sysid values * change pid flywheel to use array of motors * add tuned values from characterization/auto tuning * change integral max adjust * add new shuffleboard for tuning * add characterization data Co-authored-by: Sam Belliveau <[email protected]> Co-authored-by: Prog694 <[email protected]>
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SPLI#22022
1 parent 2e069af commit 429afac

27 files changed

+517667
-370
lines changed
 

‎.SysId/sysid.json

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,10 @@
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{
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"SysId": {
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"Analysis Type": "General Mechanism",
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"NetworkTables Settings": {
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"serverTeam": "694"
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},
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"mode": "Client",
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"serverTeam": "694"
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}
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}

‎.vscode/settings.json

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Original file line numberDiff line numberDiff line change
@@ -25,5 +25,6 @@
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}
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},
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],
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"java.test.defaultConfig": "WPIlibUnitTests"
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"java.test.defaultConfig": "WPIlibUnitTests",
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"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m"
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}

‎build.gradle

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@@ -11,7 +11,7 @@ allprojects {
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}
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}
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final String STUYLIB_VERSION = 'v2022.1.2'
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final String STUYLIB_VERSION = 'v2022.2.0'
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def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"
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sourceCompatibility = JavaVersion.VERSION_11

‎shuffleboard.json

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@@ -140,6 +140,43 @@
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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}
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},
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"0,0": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Climber/Max Extension",
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"_title": "Max Extension"
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}
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},
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"1,0": {
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"size": [
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2,
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2
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],
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"content": {
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"_type": "Boolean Box",
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"_source0": "network_table:///SmartDashboard/Climber/Stall Detection",
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"_title": "Stall Detection",
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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}
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},
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"9,0": {
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"size": [
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2,
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2
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],
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"content": {
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"_type": "Boolean Box",
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"_source0": "network_table:///SmartDashboard/Climber/Enable Encoders",
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"_title": "Enable Encoders",
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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}
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}
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}
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}
@@ -739,8 +776,7 @@
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"Y-axis/Upper bound": 4000.0,
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"Y-axis/Lower bound": 0.0,
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"Y-axis/Unit": "rpm",
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"Visible data/SmartDashboard/Debug/Shooter/Shooter RPM": true,
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"Visible data/SmartDashboard/Shooter/Target": true
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"Visible data/SmartDashboard/Debug/Shooter/Shooter RPM": true
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}
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},
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"2,1": {
@@ -792,8 +828,7 @@
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"Y-axis/Upper bound": 4000.0,
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"Y-axis/Lower bound": 0.0,
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"Y-axis/Unit": "rpm",
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"Visible data/SmartDashboard/Debug/Shooter/Feeder RPM": true,
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"Visible data/SmartDashboard/Shooter/Target": true
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"Visible data/SmartDashboard/Debug/Shooter/Feeder RPM": true
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}
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}
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}
@@ -1056,15 +1091,218 @@
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"_source0": "network_table:///SmartDashboard/Intake/Locked Speed",
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"_title": "Locked Speed"
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}
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},
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"0,0": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Boolean Box",
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"_source0": "network_table:///SmartDashboard/Intake/Auto Retract",
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"_title": "Auto Retract",
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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}
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}
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}
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}
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},
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{
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"title": "Shooter",
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"autoPopulate": true,
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"autoPopulatePrefix": "network_table:///SmartDashboard/Shooter/",
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"widgetPane": {
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"gridSize": 100.0,
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"showGrid": true,
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"hgap": 16.0,
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"vgap": 16.0,
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"titleType": 0,
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"tiles": {
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"10,3": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/Tuning Speed",
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"_title": "Feeder/Tuning Speed"
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}
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},
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"5,3": {
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"size": [
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3,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Target RPM",
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"_title": "Target RPM"
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}
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},
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"1,2": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/Tuning PID",
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"_title": "Shooter/Tuning PID"
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}
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},
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"5,4": {
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"size": [
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3,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder Multipler",
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"_title": "Feeder Multipler"
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}
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},
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"5,0": {
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"size": [
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3,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Ring RPM",
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"_title": "Ring RPM"
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}
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},
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"1,3": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/Tuning Speed",
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"_title": "Shooter/Tuning Speed"
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}
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},
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"5,1": {
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"size": [
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3,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Fender RPM",
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"_title": "Fender RPM"
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}
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},
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"9,3": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/D",
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"_title": "Feeder/D"
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}
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},
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"9,2": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/I",
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"_title": "Feeder/I"
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}
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},
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"10,2": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/Tuning PD",
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"_title": "Feeder/Tuning PD"
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}
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},
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"9,1": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/P",
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"_title": "Feeder/P"
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}
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},
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"3,3": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/D",
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"_title": "Shooter/D"
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}
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},
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"3,2": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/I",
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"_title": "Shooter/I"
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}
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},
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"1,1": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/Tuning PD",
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"_title": "Shooter/Tuning PD"
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}
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},
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"3,1": {
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"size": [
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1,
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1
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],
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"content": {
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"_type": "Text View",
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"_source0": "network_table:///SmartDashboard/Shooter/Shooter/P",
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"_title": "Shooter/P"
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}
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},
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"10,1": {
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"size": [
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2,
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1
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],
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"content": {
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Shooter/Feeder/Tuning PID",
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"_title": "Feeder/Tuning PID"
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}
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}
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}
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}
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}
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],
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"windowGeometry": {
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"x": 60.0,
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"y": 25.0,
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"width": 1620.0,
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"height": 1025.0
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"x": -7.199999809265137,
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"y": -7.199999809265137,
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"width": 1550.4000244140625,
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"height": 838.4000244140625
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}
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}

‎src/main/java/com/stuypulse/robot/RobotContainer.java

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import com.stuypulse.robot.commands.conveyor.*;
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import com.stuypulse.robot.commands.drivetrain.*;
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import com.stuypulse.robot.commands.intake.*;
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import com.stuypulse.robot.commands.leds.LEDSetCommand;
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import com.stuypulse.robot.commands.shooter.*;
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import com.stuypulse.robot.constants.*;
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import com.stuypulse.robot.subsystems.*;
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import com.stuypulse.robot.util.LEDColor;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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operator.getLeftButton().whileHeld(new ConveyorForceEjectCommand(conveyor));
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/*** Drivetrain ***/
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driver.getLeftButton().whileHeld(new ConveyorShootCommand(conveyor).perpetually());
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driver.getBottomButton()
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.whileHeld(
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new DrivetrainAlignCommand(
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drivetrain, Settings.Limelight.RING_SHOT_DISTANCE)
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.perpetually())
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.whenReleased(new LEDSetCommand(leds, LEDColor.GREEN));
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new DrivetrainAlignToShootCommand(
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drivetrain, conveyor, Settings.Limelight.RING_SHOT_DISTANCE));
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driver.getDPadLeft()
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.whileHeld(
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new DrivetrainTuneCommand.Angle(
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drivetrain, Settings.Limelight.RING_SHOT_DISTANCE));
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driver.getDPadRight()
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driver.getTopButton()
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.whileHeld(
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new DrivetrainTuneCommand.Speed(
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drivetrain, Settings.Limelight.RING_SHOT_DISTANCE));
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new DrivetrainAlignCommand(
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drivetrain, Settings.Limelight.RING_SHOT_DISTANCE)
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.perpetually());
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/*** Intake ***/
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operator.getRightTriggerButton()

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