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Fixed names to new config changes #29

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53e9f25
Fixed names to new config changes
Aug 1, 2018
7c20687
Fixed comments
Aug 1, 2018
ac174bd
Better fix for comments
Aug 1, 2018
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212 changes: 104 additions & 108 deletions C++/Config All/src/Configs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,27 +11,23 @@ struct configs {
ctre::phoenix::sensors::PigeonIMUConfiguration _pigeon;
ctre::phoenix::CANifierConfiguration _canifier;


configs() {
/*Construct all of the configurations with any set of values
*These are just arbitrary values to demonstrate the feature
*/





//TalonSRX:
_talon.primaryPID.selectedFeedbackSensor = FeedbackDevice::RemoteSensor0;
_talon.primaryPID.selectedFeedbackCoefficient = 0.328293;
_talon.auxilaryPID.selectedFeedbackSensor = FeedbackDevice::Analog;
_talon.auxilaryPID.selectedFeedbackCoefficient = 0.877686;
_talon.forwardLimitSwitchSource = LimitSwitchSource_Deactivated;
_talon.reverseLimitSwitchSource = LimitSwitchSource_RemoteTalonSRX;
_talon.sum_0 = FeedbackDevice::QuadEncoder; //FeedbackDevice::PulseWidthEncodedPosition;
_talon.sum_1 = FeedbackDevice::RemoteSensor0;
_talon.diff_0 = FeedbackDevice::RemoteSensor1;
_talon.diff_1 = FeedbackDevice::PulseWidthEncodedPosition;
_talon.sum0Term = FeedbackDevice::QuadEncoder; //FeedbackDevice::PulseWidthEncodedPosition;
_talon.sum1Term = FeedbackDevice::RemoteSensor0;
_talon.diff0Term = FeedbackDevice::RemoteSensor1;
_talon.diff1Term = FeedbackDevice::PulseWidthEncodedPosition;
_talon.peakCurrentLimit = 20;
_talon.peakCurrentDuration = 200;
_talon.continuousCurrentLimit = 30;
Expand All @@ -54,47 +50,47 @@ struct configs {
_talon.reverseSoftLimitThreshold = -1219;
_talon.forwardSoftLimitEnable = true;
_talon.reverseSoftLimitEnable = true;
_talon.slot_0.kP = 504.000000;
_talon.slot_0.kI = 5.600000;
_talon.slot_0.kD = 0.200000;
_talon.slot_0.kF = 19.300000;
_talon.slot_0.integralZone = 900;
_talon.slot_0.allowableClosedloopError = 217;
_talon.slot_0.maxIntegralAccumulator = 254.000000;
_talon.slot_0.closedLoopPeakOutput = 0.869990;
_talon.slot_0.closedLoopPeriod = 33;
_talon.slot_1.kP = 155.600000;
_talon.slot_1.kI = 5.560000;
_talon.slot_1.kD = 8.868600;
_talon.slot_1.kF = 454.000000;
_talon.slot_1.integralZone = 100;
_talon.slot_1.allowableClosedloopError = 200;
_talon.slot_1.maxIntegralAccumulator = 91.000000;
_talon.slot_1.closedLoopPeakOutput = 0.199413;
_talon.slot_1.closedLoopPeriod = 34;
_talon.slot_2.kP = 223.232000;
_talon.slot_2.kI = 34.000000;
_talon.slot_2.kD = 67.000000;
_talon.slot_2.kF = 6.323232;
_talon.slot_2.integralZone = 44;
_talon.slot_2.allowableClosedloopError = 343;
_talon.slot_2.maxIntegralAccumulator = 334.000000;
_talon.slot_2.closedLoopPeakOutput = 0.399804;
_talon.slot_2.closedLoopPeriod = 14;
_talon.slot_3.kP = 34.000000;
_talon.slot_3.kI = 32.000000;
_talon.slot_3.kD = 436.000000;
_talon.slot_3.kF = 0.343430;
_talon.slot_3.integralZone = 2323;
_talon.slot_3.allowableClosedloopError = 543;
_talon.slot_3.maxIntegralAccumulator = 687.000000;
_talon.slot_3.closedLoopPeakOutput = 0.129032;
_talon.slot_3.closedLoopPeriod = 12;
_talon.slot0.kP = 504.000000;
_talon.slot0.kI = 5.600000;
_talon.slot0.kD = 0.200000;
_talon.slot0.kF = 19.300000;
_talon.slot0.integralZone = 900;
_talon.slot0.allowableClosedloopError = 217;
_talon.slot0.maxIntegralAccumulator = 254.000000;
_talon.slot0.closedLoopPeakOutput = 0.869990;
_talon.slot0.closedLoopPeriod = 33;
_talon.slot1.kP = 155.600000;
_talon.slot1.kI = 5.560000;
_talon.slot1.kD = 8.868600;
_talon.slot1.kF = 454.000000;
_talon.slot1.integralZone = 100;
_talon.slot1.allowableClosedloopError = 200;
_talon.slot1.maxIntegralAccumulator = 91.000000;
_talon.slot1.closedLoopPeakOutput = 0.199413;
_talon.slot1.closedLoopPeriod = 34;
_talon.slot2.kP = 223.232000;
_talon.slot2.kI = 34.000000;
_talon.slot2.kD = 67.000000;
_talon.slot2.kF = 6.323232;
_talon.slot2.integralZone = 44;
_talon.slot2.allowableClosedloopError = 343;
_talon.slot2.maxIntegralAccumulator = 334.000000;
_talon.slot2.closedLoopPeakOutput = 0.399804;
_talon.slot2.closedLoopPeriod = 14;
_talon.slot3.kP = 34.000000;
_talon.slot3.kI = 32.000000;
_talon.slot3.kD = 436.000000;
_talon.slot3.kF = 0.343430;
_talon.slot3.integralZone = 2323;
_talon.slot3.allowableClosedloopError = 543;
_talon.slot3.maxIntegralAccumulator = 687.000000;
_talon.slot3.closedLoopPeakOutput = 0.129032;
_talon.slot3.closedLoopPeriod = 12;
_talon.auxPIDPolarity = true;
_talon.filter_0.remoteSensorDeviceID = 22;
_talon.filter_0.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll;
_talon.filter_1.remoteSensorDeviceID = 41;
_talon.filter_1.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw;
_talon.remoteFilter0.remoteSensorDeviceID = 22;
_talon.remoteFilter0.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll;
_talon.remoteFilter1.remoteSensorDeviceID = 41;
_talon.remoteFilter1.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw;
_talon.motionCruiseVelocity = 37;
_talon.motionAcceleration = 3;
_talon.motionProfileTrajectoryPeriod = 11;
Expand All @@ -107,20 +103,20 @@ struct configs {
_talon.softLimitDisableNeutralOnLOS = false; //true;
_talon.pulseWidthPeriod_EdgesPerRot = 9;
_talon.pulseWidthPeriod_FilterWindowSz = 32;
_talon.customParam_0 = 3;
_talon.customParam_1 = 5;
//VictorSPX:
_talon.customParam0 = 3;
_talon.customParam1 = 5;

//VictorSPX:
_victor.primaryPID.selectedFeedbackSensor = RemoteFeedbackDevice::RemoteFeedbackDevice_SoftwareEmulatedSensor;
_victor.primaryPID.selectedFeedbackCoefficient = 0.122208;
_victor.auxilaryPID.selectedFeedbackSensor = RemoteFeedbackDevice::RemoteFeedbackDevice_SensorDifference;
_victor.auxilaryPID.selectedFeedbackCoefficient = 0.290985;
_victor.forwardLimitSwitchSource = RemoteLimitSwitchSource_RemoteTalonSRX;
_victor.reverseLimitSwitchSource = RemoteLimitSwitchSource_Deactivated;
_victor.sum_0 = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor0;
_victor.sum_1 = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor1;
_victor.diff_0 = RemoteFeedbackDevice::RemoteFeedbackDevice_SoftwareEmulatedSensor;
_victor.diff_1 = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor0;
_victor.sum0Term = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor0;
_victor.sum1Term = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor1;
_victor.diff0Term = RemoteFeedbackDevice::RemoteFeedbackDevice_SoftwareEmulatedSensor;
_victor.diff1Term = RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor0;
_victor.openloopRamp = 0.300882;
_victor.closedloopRamp = 0.100294;
_victor.peakOutputForward = 0.659824;
Expand All @@ -140,47 +136,47 @@ struct configs {
_victor.reverseSoftLimitThreshold = -9023;
_victor.forwardSoftLimitEnable = false; //true;
_victor.reverseSoftLimitEnable = true;
_victor.slot_0.kP = 0.100000;
_victor.slot_0.kI = 0.010000;
_victor.slot_0.kD = 0.050000;
_victor.slot_0.kF = 0.320000;
_victor.slot_0.integralZone = 900;
_victor.slot_0.allowableClosedloopError = 124;
_victor.slot_0.maxIntegralAccumulator = 22.000000;
_victor.slot_0.closedLoopPeakOutput = 0.599218;
_victor.slot_0.closedLoopPeriod = 33;
_victor.slot_1.kP = 0.400000;
_victor.slot_1.kI = 0.300000;
_victor.slot_1.kD = 0.100000;
_victor.slot_1.kF = 0.923000;
_victor.slot_1.integralZone = 90;
_victor.slot_1.allowableClosedloopError = 21;
_victor.slot_1.maxIntegralAccumulator = 54.000000;
_victor.slot_1.closedLoopPeakOutput = 0.399804;
_victor.slot_1.closedLoopPeriod = 23;
_victor.slot_2.kP = 2.200000;
_victor.slot_2.kI = 0.670000;
_victor.slot_2.kD = 9.232000;
_victor.slot_2.kF = 1.121000;
_victor.slot_2.integralZone = 19;
_victor.slot_2.allowableClosedloopError = 190;
_victor.slot_2.maxIntegralAccumulator = 37.000000;
_victor.slot_2.closedLoopPeakOutput = 0.299120;
_victor.slot_2.closedLoopPeriod = 9;
_victor.slot_3.kP = 10.000000;
_victor.slot_3.kI = 11.000000;
_victor.slot_3.kD = 12.000000;
_victor.slot_3.kF = 13.000000;
_victor.slot_3.integralZone = 654;
_victor.slot_3.allowableClosedloopError = 557;
_victor.slot_3.maxIntegralAccumulator = 342.000000;
_victor.slot_3.closedLoopPeakOutput = 0.899316;
_victor.slot_3.closedLoopPeriod = 21;
_victor.slot0.kP = 0.100000;
_victor.slot0.kI = 0.010000;
_victor.slot0.kD = 0.050000;
_victor.slot0.kF = 0.320000;
_victor.slot0.integralZone = 900;
_victor.slot0.allowableClosedloopError = 124;
_victor.slot0.maxIntegralAccumulator = 22.000000;
_victor.slot0.closedLoopPeakOutput = 0.599218;
_victor.slot0.closedLoopPeriod = 33;
_victor.slot1.kP = 0.400000;
_victor.slot1.kI = 0.300000;
_victor.slot1.kD = 0.100000;
_victor.slot1.kF = 0.923000;
_victor.slot1.integralZone = 90;
_victor.slot1.allowableClosedloopError = 21;
_victor.slot1.maxIntegralAccumulator = 54.000000;
_victor.slot1.closedLoopPeakOutput = 0.399804;
_victor.slot1.closedLoopPeriod = 23;
_victor.slot2.kP = 2.200000;
_victor.slot2.kI = 0.670000;
_victor.slot2.kD = 9.232000;
_victor.slot2.kF = 1.121000;
_victor.slot2.integralZone = 19;
_victor.slot2.allowableClosedloopError = 190;
_victor.slot2.maxIntegralAccumulator = 37.000000;
_victor.slot2.closedLoopPeakOutput = 0.299120;
_victor.slot2.closedLoopPeriod = 9;
_victor.slot3.kP = 10.000000;
_victor.slot3.kI = 11.000000;
_victor.slot3.kD = 12.000000;
_victor.slot3.kF = 13.000000;
_victor.slot3.integralZone = 654;
_victor.slot3.allowableClosedloopError = 557;
_victor.slot3.maxIntegralAccumulator = 342.000000;
_victor.slot3.closedLoopPeakOutput = 0.899316;
_victor.slot3.closedLoopPeriod = 21;
_victor.auxPIDPolarity = true;
_victor.filter_0.remoteSensorDeviceID = 22;
_victor.filter_0.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll;
_victor.filter_1.remoteSensorDeviceID = 41;
_victor.filter_1.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw;
_victor.remoteFilter0.remoteSensorDeviceID = 22;
_victor.remoteFilter0.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll;
_victor.remoteFilter1.remoteSensorDeviceID = 41;
_victor.remoteFilter1.remoteSensorSource = RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw;
_victor.motionCruiseVelocity = 50;
_victor.motionAcceleration = 3;
_victor.motionProfileTrajectoryPeriod = 20;
Expand All @@ -193,24 +189,24 @@ struct configs {
_victor.softLimitDisableNeutralOnLOS = true;
_victor.pulseWidthPeriod_EdgesPerRot = 8;
_victor.pulseWidthPeriod_FilterWindowSz = 19;
_victor.customParam_0 = 7;
_victor.customParam_1 = 9;
_victor.customParam0 = 7;
_victor.customParam1 = 9;


//PigeonIMU:
_pigeon.customParam_0 = 6;
_pigeon.customParam_1 = 14;
_pigeon.customParam0 = 6;
_pigeon.customParam1 = 14;

//CANifier
_canifier.velocityMeasurementPeriod = CANifierVelocityMeasPeriod::Period_50Ms;
_canifier.velocityMeasurementWindow = 8;
_canifier.clearPositionOnLimitF = true;
_canifier.clearPositionOnLimitR = false; //true;
_canifier.clearPositionOnQuadIdx = true;
_canifier.customParam_0 = 2;
_canifier.customParam_1 = 1;
_canifier.customParam0 = 2;
_canifier.customParam1 = 1;

}
};

#endif /* SRC_CONFIGS_H_ */
6 changes: 3 additions & 3 deletions C++/Config All/src/Robot.cpp
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Expand Up @@ -3,8 +3,8 @@
#include <string>

/* This project may be used to test the GetAllConfigs, ConfigAllSettings, and ConfigFactoryDefault
* Functions. Note that this project requires at least firmware 3.11 on Victors/Talons
* for full function. Also, if firmware greater than 0.41 on the pigeon and 0.42 on the canfier
* Functions. Note that this project requires at least firmware 3.10/11.10 on Victors/Talons
* for full function. Also, if firmware greater than 0.41 on the pigeon and 0.42 on the canifier
* isn't used, the pigeon/canifier won't retain configs on reboot.
* Some recommended tests:
* 1. Set to custom configs and then read configs. Confirm that read and write are the same.
Expand All @@ -16,7 +16,7 @@
class Robot: public IterativeRobot {
private:

TalonSRX * _talon = new TalonSRX(23);
TalonSRX * _talon = new TalonSRX(1);
VictorSPX * _victor = new VictorSPX(2);
PigeonIMU * _pigeon = new PigeonIMU(3);
CANifier * _canifier = new CANifier(4);
Expand Down
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