pid gain scheduling

src/main/java/frc/robot/RobotContainer.java

@@ -139,6 +139,8 @@ public class RobotContainer {
 			startingConfig()
 		);
 
+		driver.y().onTrue(drivetrain.zeroHeading());
+		
 		driver.povDown().whileTrue(climberPivot.runPivot(-0.5));
 		driver.povUp().whileTrue(climberPivot.runPivot(0.5));
 
@@ -190,7 +192,6 @@ public class RobotContainer {
 			elevator.goToSetpoint(() -> ElevatorConstants.kL2Position)
 		);
 
-
 	}
 
 	private void configureNamedCommands() {
@@ -245,12 +246,12 @@ public class RobotContainer {
 		sensorTab.addDouble("ElevMotor2", elevator::getMotor2)
 			.withWidget(BuiltInWidgets.kGraph);
 
-		sensorTab.addDouble("Elevator setpoint", elevator::getPIDSetpoint)
+		sensorTab.addDouble("Elevator setpoint", elevator::getPIDUpSetpoint)
 			.withSize(1, 1)
 			.withPosition(5, 0)
 			.withWidget(BuiltInWidgets.kTextView);
 
-		sensorTab.addDouble("Elevator error", elevator::getPIDError)
+		sensorTab.addDouble("Elevator error", elevator::getPIDUpError)
 			.withSize(1, 1)
 			.withPosition(5, 1)
 			.withWidget(BuiltInWidgets.kTextView);
@@ -382,7 +383,6 @@ public class RobotContainer {
 	 * @param armPosition The target rotation of the arm
 	 * @return Moves the elevator and arm to the setpoints
 	 */
-	@SuppressWarnings("unused")
 	private Command safeMoveManipulator(double elevatorPosition, double armPosition) {
 		return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kPivotSafeStowPosition, false, true)
 			.andThen(manipulatorPivot.goToSetpoint(() -> armPosition));

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -43,14 +43,14 @@ public class ElevatorConstants {
     public static final double kL1Position = 0;
     public static final double kL2Position = 14.5;
     public static final double kL3Position = 29.0;
-    public static final double kL4Position = 53.0;
+    public static final double kL4Position = 52.0;
     public static final double kL4TransitionPosition = 40.0;
     public static final double kL2AlgaePosition = 22.0;
     public static final double kL3AlgaePosition = 39.0;
     public static final double kProcessorPosition = 4.0;
     /**The position of the top of the elevator brace */
     public static final double kBracePosition = 0;
-    public static final double kMaxHeight = 47.5; //actual is 53
+    public static final double kMaxHeight = 52.0; //actual is 52
 
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = .25;

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -248,9 +248,12 @@ public class Drivetrain extends SubsystemBase {
         m_rearRight.resetEncoders();
     }
 
-    /** Zeroes the heading of the robot. */
+    /** Zeroes the heading of the robot. 
-    public void zeroHeading() {
+     * @return */
+    public Command zeroHeading() {
+        return run(() -> {
             gyro.reset();
+        });
     }
 
     public double getGyroValue() {

src/main/java/frc/robot/subsystems/Elevator.java

@@ -24,7 +24,8 @@ public class Elevator extends SubsystemBase {
 
     private DigitalInput bottomLimitSwitch;
 
-    private PIDController pidController;
+    private PIDController pidControllerUp;
+    private PIDController pidControllerDown;
 
     private ElevatorFeedforward feedForward;
     
@@ -57,14 +58,23 @@ public class Elevator extends SubsystemBase {
             ElevatorConstants.kBottomLimitSwitchID
         );
 
-        pidController = new PIDController(
+        pidControllerDown = new PIDController(
             ElevatorConstants.kDownControllerP, 
             ElevatorConstants.kDownControllerI,
             ElevatorConstants.kDownControllerD
         );
-        pidController.setSetpoint(0);
+        pidControllerDown.setSetpoint(0);
 
-        pidController.setTolerance(ElevatorConstants.kAllowedError);
+        pidControllerDown.setTolerance(ElevatorConstants.kAllowedError);
+
+        pidControllerUp = new PIDController(
+            ElevatorConstants.kUpControllerP, 
+            ElevatorConstants.kUpControllerI,
+            ElevatorConstants.kUpControllerD
+        );
+        pidControllerUp.setSetpoint(0);
+
+        pidControllerUp.setTolerance(ElevatorConstants.kAllowedError);
 
         feedForward = new ElevatorFeedforward(
             ElevatorConstants.kFeedForwardS, 
@@ -132,53 +142,30 @@ public class Elevator extends SubsystemBase {
 
         return startRun(() -> {
             
-        //pidController.reset();
+
-       // pidController.setSetpoint(encoder.getPosition());
         }, 
         () -> {
-            /*if (!pidController.atSetpoint()) {
+            if (!pidControllerUp.atSetpoint()) {
+                if(encoder.getPosition()>pidControllerUp.getSetpoint()){
                     elevatorMotor1.setVoltage(
-                    pidController.calculate(
+                        pidControllerUp.calculate(
                             encoder.getPosition()
                         ) + feedForward.calculate(0)
                     );
                 }else{
                     elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
+                        pidControllerDown.calculate(
-                );
+                            encoder.getPosition()
-            }*/
-
-            elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
-                );
-        });
-        
-            
-            
-            
-            /*
-            elevatorMotor1.setVoltage(
-                pidController.calculate(
-                    encoder.getPosition(),
-                    clampedSetpoint
-                ) + feedForward.calculate(0)
-            );
-*/
-            /* 
-            if (!pidController.atSetpoint()) {
-                elevatorMotor1.setVoltage(
-                    pidController.calculate(
-                        encoder.getPosition(),
-                        clampedSetpoint
                         ) + feedForward.calculate(0)
                     );
+                }
             } else {
                 elevatorMotor1.setVoltage(
                     feedForward.calculate(0)
                 );
             }
+        });
         
-        });*/
     }
 
     /**
@@ -192,25 +179,27 @@ public class Elevator extends SubsystemBase {
 
         return startRun(() -> {
         
-        pidController.setSetpoint(setpoint.getAsDouble());
+        pidControllerUp.setSetpoint(setpoint.getAsDouble());
-        pidController.reset();
+        pidControllerDown.setSetpoint(setpoint.getAsDouble());
+        pidControllerUp.reset();
+        pidControllerDown.reset();
         }, 
         () -> {
-            if (!pidController.atSetpoint()) {
+            if(setpoint.getAsDouble()>encoder.getPosition())
                 elevatorMotor1.setVoltage(
-                    pidController.calculate(
+                    pidControllerUp.calculate(
-                        encoder.getPosition(),
+                        encoder.getPosition()
-                        setpoint.getAsDouble()
                     ) + feedForward.calculate(0)
                 );
-            } else {
+            else{
                 elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
+                    pidControllerDown.calculate(
+                        encoder.getPosition()
+                    ) + feedForward.calculate(0)
                 );
             }
-        }).until(() -> pidController.atSetpoint());
-        
         
+        }).until(() -> pidControllerUp.atSetpoint());
   
             
             /*
@@ -293,11 +282,19 @@ public class Elevator extends SubsystemBase {
         return elevatorMotor2.getAppliedOutput()*elevatorMotor2.getBusVoltage();
     }
 
-    public double getPIDSetpoint() {
+    public double getPIDUpSetpoint() {
-        return pidController.getSetpoint();
+        return pidControllerUp.getSetpoint();
     }
 
-    public double getPIDError() {
+    public double getPIDUpError() {
-        return pidController.getError();
+        return pidControllerUp.getError();
+    }
+
+    public double getPIDDownSetpoint() {
+        return pidControllerDown.getSetpoint();
+    }
+
+    public double getPIDDownError() {
+        return pidControllerDown.getError();
     }
 }