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manipulator and elevator constants

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Tylr-J42 2025-02-11 00:55:28 -05:00
parent 96ad0ba088
commit ed1ffe7044
3 changed files with 24 additions and 25 deletions
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6
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -25,7 +25,7 @@ public class ElevatorConstants {
public static final double kPositionControllerI = 0;
public static final double kPositionControllerD = 0;
public static final double kAllowedError = 0.25;
public static final double kAllowedError = 0.5;
/*
public static final double kVelocityControllerP = 0;
@ -37,8 +37,8 @@ public class ElevatorConstants {
public static final double kFeedForwardG = 0.53; // calculated value
public static final double kFeedForwardV = 4.78; // calculated value
public static final double kMaxVelocity = 0;
public static final double kMaxAcceleration = 0;
public static final double kMaxVelocity = 120.0; // 120 inches per second (COOKING) calculated max is 184 in/s
public static final double kMaxAcceleration = 500.0; // 400 inches per second^2 (also COOKING) calculated max is 600 in/s^2
public static final double kCoralIntakePosition = 0;
public static final double kL1Position = 0;

35
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -19,37 +19,35 @@ public class ManipulatorPivotConstants {
public static final int kMotorAmpsMax = 40;
public static final double kPivotConversion = 12/60 * 20/60 * 28/12;
public static final double kPivotConversion = 12/60 * 20/60 * 12/28;
public static final double kPivotMaxVelocity = 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;
public static final double kPositionalTolerance = Units.degreesToRadians(3.0);
public static final double kFeedForwardS = 0;
public static final double kFeedForwardG = 0.41; // calculated value
public static final double kFeedForwardV = 0.68; //calculated value
// TODO Is this reasonable?
public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;
public static final double kFFGravityOffset = Units.degreesToRadians(-135.0);
public static final double kCoralIntakePosition = 0;
public static final double kL1Position = 0;
public static final double kL2Position = 0;
public static final double kL3Position = 0;
public static final double kMaxAcceleration = Units.degreesToRadians(1000.0); // degrees per second^2 calculated max = 2100
public static final double kMaxVelocity = Units.degreesToRadians(100.0); // degrees per second calculated max = 168
public static final double kCoralIntakePosition = Units.degreesToRadians(175.0);
public static final double kL1Position = Units.degreesToRadians(0.0);
public static final double kL2Position = Units.degreesToRadians(25.0);
public static final double kL3Position = Units.degreesToRadians(60.0);
public static final double kL4Position = 0;
public static final double kL2AlgaePosition = 0;
public static final double kL3AlgaePosition = 0;
/**The closest position to the elevator brace without hitting it */
public static final double kArmSafeStowPosition = 0;
public static final double kArmSafeStowPosition = Units.degreesToRadians(60.0);
/**The forward rotation limit of the arm */
public static final double kRotationLimit = 0;
public static final double kRotationLimit = Units.degreesToRadians(175.0);
public static final double kMagnetOffset = 0.0;
public static final double kAbsoluteSensorDiscontinuityPoint = 0.0;
@ -84,6 +82,15 @@ public class ManipulatorPivotConstants {
.smartCurrentLimit(kMotorAmpsMax)
.idleMode(kIdleMode);
motorConfig.encoder.positionConversionFactor(kPivotConversion);
motorConfig.closedLoop
.p(kPositionalP)
.i(kPositionalI)
.d(kPositionalD)
.velocityFF(0.0); // keep at zero for position pid
motorConfig.closedLoop.maxMotion
.maxAcceleration(kMaxAcceleration)
.maxVelocity(kMaxVelocity)
.allowedClosedLoopError(kPositionalTolerance);
}

8
src/main/java/frc/robot/subsystems/ManipulatorPivot.java
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@ -48,14 +48,6 @@ public class ManipulatorPivot extends SubsystemBase {
positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
positionController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);
velocityController = new PIDController(
ManipulatorPivotConstants.kVelocityP,
ManipulatorPivotConstants.kVelocityI,
ManipulatorPivotConstants.kVelocityD
);
velocityController.setTolerance(ManipulatorPivotConstants.kVelocityTolerance);
canCoder = new CANcoder(ManipulatorPivotConstants.kCANcoderID);
canCoder.getConfigurator().apply(ManipulatorPivotConstants.canCoderConfig);