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Pid branch maria #13

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9c0b339
pid shit
peachswag05 Feb 4, 2023
f37062d
girlboss update
peachswag05 Feb 4, 2023
3b1025f
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peachswag05 Feb 4, 2023
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3 changes: 3 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,5 +41,8 @@ public static class ControlConstants {
public static final double MAX_ROBOT_SPEED = 1;
public static final double MIN_ROBOT_SPEED = -1;
public static final double MAX_TURN_SPEED = 0.7;



}
}
31 changes: 24 additions & 7 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -29,6 +29,10 @@


import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj2.command.PIDCommand;
import edu.wpi.first.math.controller.PIDController;


public class Drivetrain extends SubsystemBase {
private CANSparkMax frontLeft;
private CANSparkMax frontRight;
Expand All @@ -39,6 +43,11 @@ public class Drivetrain extends SubsystemBase {
private RelativeEncoder backRighte;
private RelativeEncoder frontLefte;
private boolean finetuned;

private PIDController pidFR;
private PIDController pidBR;
private PIDController pidFL;
private PIDController pidBL;


public Drivetrain() {
Expand All @@ -52,11 +61,19 @@ public Drivetrain() {
backLefte = backLeft.getEncoder();
backRighte = backRight.getEncoder();

double kP = 0.2;
double kI = 0.05;
double kD = 0.0;

}
pidFR = new PIDController(kP,kI,kD);
pidBR = new PIDController(kP,kI,kD);
pidFL = new PIDController(kP,kI,kD);
pidBL = new PIDController(kP,kI,kD);



}

@Override
public void periodic() {

Expand All @@ -75,6 +92,8 @@ public void periodic() {
SmartDashboard.putNumber("CountsPerRevolution", CPR);
SmartDashboard.putNumber("Revolutions", revolutions);



}

// 2020 mecanum drive code
Expand Down Expand Up @@ -109,8 +128,6 @@ public void mecanumDrive(double joystickX, double joystickY, double rotation) {





//finetuned driving system

if (finetuned == true) {
Expand All @@ -127,10 +144,10 @@ public void mecanumDrive(double joystickX, double joystickY, double rotation) {


// Power the motors
frontLeft.set(frontLeftPower);
frontRight.set(frontRightPower);
backLeft.set(backLeftPower);
backRight.set(backRightPower);
frontLeft.set(pidFL.calculate(frontLefte.getVelocity(), frontLeftPower));
frontRight.set(pidFR.calculate(frontRighte.getVelocity(), frontRightPower));
backLeft.set(pidBL.calculate(backLefte.getVelocity(), frontLeftPower));
backRight.set(pidBR.calculate(backRighte.getVelocity(), frontLeftPower));

}
public double getBackRightPosition() {
Expand Down