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Gotta love PID

This commit is contained in:
Justin 2024-01-11 20:24:14 -06:00
parent dc514553f8
commit bdff6587b0
3 changed files with 51 additions and 5 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/drive/DriveConstants.java
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@ -68,8 +68,8 @@ public class DriveConstants {
*/ */
public static double MAX_VEL = 50; public static double MAX_VEL = 50;
public static double MAX_ACCEL = 50; public static double MAX_ACCEL = 50;
public static double MAX_ANG_VEL = Math.toRadians(120); public static double MAX_ANG_VEL = 15;
public static double MAX_ANG_ACCEL = Math.toRadians(120); public static double MAX_ANG_ACCEL = 8;
public static double encoderTicksToInches(double ticks) { public static double encoderTicksToInches(double ticks) {
return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV; return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/drive/SampleMecanumDrive.java
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@ -39,8 +39,8 @@ import java.util.List;
@Config @Config
public class SampleMecanumDrive extends MecanumDrive { public class SampleMecanumDrive extends MecanumDrive {
public static PIDCoefficients TRANSLATIONAL_PID = new PIDCoefficients(8, 0, 0); public static PIDCoefficients TRANSLATIONAL_PID = new PIDCoefficients(7, 0, 1);
public static PIDCoefficients HEADING_PID = new PIDCoefficients(8, 0, 0); public static PIDCoefficients HEADING_PID = new PIDCoefficients(6.8, 0, 0);
public static double LATERAL_MULTIPLIER = 1; public static double LATERAL_MULTIPLIER = 1;
@ -65,7 +65,7 @@ public class SampleMecanumDrive extends MecanumDrive {
super(DriveConstants.kV, DriveConstants.kA, DriveConstants.kStatic, DriveConstants.TRACK_WIDTH, DriveConstants.TRACK_WIDTH, LATERAL_MULTIPLIER); super(DriveConstants.kV, DriveConstants.kA, DriveConstants.kStatic, DriveConstants.TRACK_WIDTH, DriveConstants.TRACK_WIDTH, LATERAL_MULTIPLIER);
follower = new HolonomicPIDVAFollower(TRANSLATIONAL_PID, TRANSLATIONAL_PID, HEADING_PID, follower = new HolonomicPIDVAFollower(TRANSLATIONAL_PID, TRANSLATIONAL_PID, HEADING_PID,
new Pose2d(0.5, 0.5, Math.toRadians(5)), 0.5); new Pose2d(0.5, 0.5, Math.toRadians(1)), 0.5);
LynxModuleUtil.ensureMinimumFirmwareVersion(hardwareMap); LynxModuleUtil.ensureMinimumFirmwareVersion(hardwareMap);

46
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roadrunner/drive/opmode/Spinning.java Normal file
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@ -0,0 +1,46 @@
package org.firstinspires.ftc.teamcode.roadrunner.drive.opmode;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
/*
* Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
* classes). The robot drives back and forth in a straight line indefinitely. Utilization of the
* dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
* to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
* using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
* you've successfully connected, start the program, and your robot will begin moving forward and
* backward. You should observe the target position (green) and your pose estimate (blue) and adjust
* your follower PID coefficients such that you follow the target position as accurately as possible.
* If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
* If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
* These coefficients can be tuned live in dashboard.
*
* This opmode is designed as a convenient, coarse tuning for the follower PID coefficients. It
* is recommended that you use the FollowerPIDTuner opmode for further fine tuning.
*/
//@Config
@Autonomous(group = "drive")
public class Spinning extends LinearOpMode {
public static double ANGLE = 50;
@Override
public void runOpMode() throws InterruptedException {
SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
waitForStart();
while (opModeIsActive() && !isStopRequested()) {
drive.turn(Math.toRadians(90));
sleep(1000);
drive.turn(Math.toRadians(-90));
sleep(1000);
}
}
}