Season 2022 sussy play ppid omg#76
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| PIDController(LiftPIDCoefficients.kI, LiftPIDCoefficients.kI, LiftPIDCoefficients.kD, LiftPIDCoefficients.kF), | ||
| LIFT_MAX_EXTENSION, | ||
| LIFT_MIN_EXTENSION, | ||
| LINEAR_SLIDE_TOLERANCE, |
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Need to make this Lift-specific. It's only used in the lift (fetcher tolerance is a literal constant now)
| null, | ||
| with (FetcherTelePIDCoefficients){PIDController(kP, kI, kD, kF)}, | ||
| FETCHER_MAX_EXTENSION, | ||
| 25, |
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Make this a constant for FETCHER_TOLERANCE
| const val LIFT_MAX_EXTENSION = 900 | ||
| const val LIFT_MAX_EXTENSION = 3.02 | ||
| const val LIFT_MIN_EXTENSION = 0.992 | ||
| const val LIFT_SENSITIVITY = 16.0 |
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With the max range of the lift changed from 900 counts to 2.0 volts, make sure this was scaled down similarly.
| const val FETCHER_SENSITIVITY = 44.0 | ||
| const val FETCHER_MAX_EXTENSION = 900 | ||
| const val LINEAR_SLIDE_TOLERANCE = 5 | ||
| const val LINEAR_SLIDE_TOLERANCE = 5.0 |
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With the max range of the lift changed from 900 counts to 2.0 volts, make sure this was scaled down similarly.
| const val kF = 0.0 | ||
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| } | ||
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With the max range of the lift changed from 900 counts to 2.0 volts, the gains probably need to be scaled up so that more power is generated from a small difference in positions.
| init { | ||
| assert(maxExtensionPosition > minExtensionPosition) { "maxExtensionPosition must be greater than minExtensionPosition" } | ||
| assert(maxCorrectionPower > 0 && maxCorrectionPower < 1.0) { "maxExtensionPower must be between 0 and 1"} | ||
| assert(tolerance >= 0) { "tolerance must be greater than or equal to 0" } |
| liftPotentiometer), | ||
| fetcher = LinearSlide(fetcher, | ||
| null, | ||
| with (FetcherTelePIDCoefficients){PIDController(kP, kI, kD, kF)}, |
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Wait what? Fetcher was not supposed to change in the PR!!!!
| with(LiftPIDCoefficients){ | ||
| hardware.lift.motor.setVelocityPIDFCoefficients(kP, kI, kD, kF) | ||
| hardware.lift.motor.setPositionPIDCoefficients(15.0) | ||
| } |
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This should be deleted. We are not using the internal lift PID anymore
| // telemetry.addData("Fetcher power", hardware.fetcher.extensionPower) | ||
| telemetry.addData("Lift encoder value: ", hardware.lift.extensionEncoder) | ||
| // telemetry.addData("Lift encoder value: ", hardware.lift.extensionEncoder) | ||
| telemetry.addData("Lift encoder value: ", hardware.lift.motor.encoderPosition) |
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Delete this entry, made redundant below.
| telemetry.addData("Lift encoder value: ", hardware.lift.extensionEncoder) | ||
| // telemetry.addData("Lift encoder value: ", hardware.lift.extensionEncoder) | ||
| telemetry.addData("Lift encoder value: ", hardware.lift.motor.encoderPosition) | ||
| telemetry.addData("Lift set point: ", hardware.lift.extensionSetPoint) |
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Delete this entry, made redundant below.
2 participants
Not sure this will work, but I will review it here.