Team_2648/2025_Robot_Code
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Resolving some issues related to the use of the CANcoder, and added some missing constants and instantiations for PIDControllers related to the Arm

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This commit is contained in:
Bradley Bickford 2025-01-18 12:57:02 -05:00
parent ecf4916b93
commit c1dddcace5
2 changed files with 39 additions and 4 deletions
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22
src/main/java/frc/robot/constants/ArmConstants.java
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@ -1,15 +1,27 @@
package frc.robot.constants;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import edu.wpi.first.math.util.Units;
public class ArmConstants {
public static final int kArmMotorID = 0;
public static final int kCANcoderID = 0;
public static final double kEncoderConversionFactor = 0;
public static final double kArmMaxVelocity = 0;
public static final double kPositionalP = 0;
public static final double kPositionalI = 0;
public static final double kPositionalD = 0;
public static final double kPositionalTolerance = Units.degreesToRadians(1);
public static final double kVelocityP = 0;
public static final double kVelocityI = 0;
public static final double kVelocityD = 0;
// TODO Is this reasonable?
public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
public static final double kArmCoralIntakePosition = 0;
public static final double kArmL1Position = 0;
public static final double kArmL2Position = 0;
@ -21,5 +33,9 @@ public class ArmConstants {
public static final CANcoderConfiguration canCoderConfig = new CANcoderConfiguration();
static {
canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
canCoderConfig.MagnetSensor.MagnetOffset = 0.0;
canCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
}
}

21
src/main/java/frc/robot/subsystems/Arm.java
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@ -29,7 +29,26 @@ public class Arm extends SubsystemBase {
MotorType.kBrushless
);
positionController = new PIDController(
ArmConstants.kPositionalP,
ArmConstants.kPositionalI,
ArmConstants.kPositionalD
);
// TODO: Generate constants for continuous input range based on CANcoder configuration?
positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
positionController.setTolerance(ArmConstants.kPositionalTolerance);
velocityController = new PIDController(
ArmConstants.kVelocityP,
ArmConstants.kVelocityI,
ArmConstants.kVelocityD
);
velocityController.setTolerance(ArmConstants.kVelocityTolerance);
canCoder = new CANcoder(ArmConstants.kCANcoderID);
canCoder.getConfigurator().apply(ArmConstants.canCoderConfig);
}
/**
@ -85,7 +104,7 @@ public class Arm extends SubsystemBase {
}
public double getEncoderPosition() {
return Units.rotationsToRadians(canCoder.getPosition().getValueAsDouble());
return Units.rotationsToRadians(canCoder.getAbsolutePosition().getValueAsDouble());
}
public double getEncoderVelocity() {