Drive holdheading encoder pid by ashergottlieb · Pull Request #34 · FRC125/NU17-FRamework

ashergottlieb · 2017-02-21T23:54:18Z

Before Merging

Check the following subsystems work:

Drivetrain

Teleop w/ joysticks
Hold heading
~~Turn to angle~~

Shooter

Shooter motor spins at right speed
Feeder runs forward and backwards on butttons
Shoot at least one ball

Turret/Vision

All other subsystems work w/ camera unplugged
Turret turns to limit switches w/ manual control
~~Turns to target w/ vision~~

Climbtake

Intake runs forward
Runs backward
Climbs

Auto

At least one auto mode has been run

teleHoldHeading for the teleop specific command.

…to registerTele.

MiloDavis · 2017-02-22T00:06:53Z

src/com/nutrons/steamworks/Drivetrain.java

  private final ConnectableFlowable<Double> currentHeading;
+  private final TimeUnit pidTerminateUnit = TimeUnit.MILLISECONDS;
+  private final long pidTerminateTime = 1000;
+  private final double distanceP = 0.2;


Make these static constants

MiloDavis · 2017-02-22T00:07:16Z

src/com/nutrons/steamworks/Drivetrain.java

    this.teleHoldHeading = teleHoldHeading;
  }

+  private Flowable<?> pidTerminator(Flowable<Double> error, double tolerance) {


Move this into FRamework (time permitting)

MiloDavis · 2017-02-22T00:07:35Z

src/com/nutrons/steamworks/Drivetrain.java

   */
-  public Command driveDistanceAction(double distance, double speed) {
-    System.out.println(FEET_PER_ENCODER_ROTATION);
+  public Command driveDistance(double distance,


Move all three to separate lines

MiloDavis · 2017-02-22T00:08:57Z

src/com/nutrons/steamworks/Drivetrain.java

-  public Command driveDistanceAction(double distance, double speed) {
-    System.out.println(FEET_PER_ENCODER_ROTATION);
+  public Command driveDistance(double distance,
+                               double distanceTolerance, double angleTolerance) {


Add a comment explaining that this just stores the current heading

MiloDavis · 2017-02-22T00:09:28Z

src/com/nutrons/steamworks/Drivetrain.java

    double setpoint = distance / FEET_PER_ENCODER_ROTATION;
-    System.out.println(setpoint);
-    Command resetRight = Command.just(x -> {
+    Flowable<Double> distanceError = toFlow(() ->


Where does the 2.0 come from?

It's the simple average of the two controllers' positions.

MiloDavis · 2017-02-22T00:09:59Z

src/com/nutrons/steamworks/Drivetrain.java

-    Command resetRight = Command.just(x -> {
+    Flowable<Double> distanceError = toFlow(() ->
+        (rightDrive.position() + leftDrive.position()) / 2.0 - setpoint);
+    Flowable<Double> distanceOutput = distanceError


Move .onBackpressureDrop to new line

MiloDavis · 2017-02-22T00:11:42Z

src/com/nutrons/steamworks/Drivetrain.java

+    distanceOutput.subscribe(new WpiSmartDashboard().getTextFieldDouble("distance"));
+    Command right = Command.fromSubscription(() ->
+        combineLatest(distanceOutput, angleOutput, (x, y) -> x + y)
+            .map(limitWithin(-1.0, 1.0))


Do we need this?

MiloDavis · 2017-02-22T00:12:24Z

src/com/nutrons/steamworks/Drivetrain.java

+        .terminable(pidTerminator(distanceError,
+            distanceTolerance / WHEEL_ROTATION_PER_ENCODER_ROTATION))
+        .then(driveHoldHeading(noDrive, noDrive, Flowable.just(true), targetHeading)
+            .terminable(pidTerminator(angleError, angleTolerance))


Do we want this hard coded in?

Doesn't this stop us from going a longer distance?

MiloDavis · 2017-02-22T00:13:06Z

src/com/nutrons/steamworks/Drivetrain.java

              .subscribeOn(Schedulers.io())
              .onBackpressureDrop()
              .map(limitWithin(-1.0, 1.0))
-              .map(Events::power)


Use lambda notation

MiloDavis · 2017-02-22T00:14:01Z

src/com/nutrons/steamworks/RobotBootstrapper.java

  public Command registerAuto() {
-    Command drive = this.drivetrain.driveDistanceAction(4.0, 0.3);
-    return drive.then(this.drivetrain.turn(-85, 1)).then(drive);
+    return Command.serial(


This looks really nice. Very declarative!

MiloDavis · 2017-02-22T01:25:04Z

src/com/nutrons/steamworks/Drivetrain.java

  private static final double FEET_PER_ENCODER_ROTATION =
      FEET_PER_WHEEL_ROTATION * WHEEL_ROTATION_PER_ENCODER_ROTATION;
+  // PID for turning to an angle based on the gyro
+  private static final double angleP = 0.09;


Make constant notation

MiloDavis · 2017-02-22T01:26:52Z

src/com/nutrons/steamworks/Turret.java

  public void registerSubscriptions() {
-    FlowOperators.deadband(joyControl).map(FlowOperators::printId).map(x -> Events.power(x / 4))
+    FlowOperators.deadband(joyControl).map(x -> Events.power(x / 4))
        .subscribe(hoodMaster); //TODO: remove this joystick


Has this TODO been done?

Fixed in Lydia's branch, wait for that to be merged.

lydiaxing and others added 30 commits February 17, 2017 20:06

initial commit

4f604b1

working??? I want to sleep

d93f584

merged with week 0

03db5b6

only bug need to press b to start driving

880a5ae

pressed ctrl-alt-l

2f0183b

dt auto

aa27b90

auto

f5bf989

updated framework

7a17711

merged week0 into

3a783a8

switched to 1 second auto

9265b9c

updated to add drive distance auto

c95192f

Added drive hold heading command and changed holdHeading to

a521b69

teleHoldHeading for the teleop specific command.

Updated to latest commit of week0-auto Framework and added drivetele …

e0117d8

…to registerTele.

updated some stuff

3680227

doing stuff on Escape Velocity

1a9574f

updated framework

e251556

updated to have better interfaces

4db3495

reverted RobotMap

502898b

added turn to angle

4091e14

updated framework

ace0949

with new framework version

c34b149

reverted robotmap

25d175f

working distance

2d60401

fixed turn

e2f2b41

some testing

8c23e66

working

879ddcf

updated to newest week0-auto

2648765

merged master into week0-auto

7b6302b

updated framework submodule, fixed checkstyle warnings

1270283

test reimplementation

b359013

NUTRONSDS and others added 3 commits February 21, 2017 18:21

working encoder and gyro pid

0529ab8

merged master into drive-holdheading-encoder-pid

a8b757b

removed duplicate method, added javadoc, added auto

0d519d8

MiloDavis suggested changes Feb 22, 2017

View reviewed changes

Asher Gottlieb added 2 commits February 21, 2017 20:03

style and javadocs

e547039

Merge branch 'master' into drive-holdheading-encoder-pid

cd51c5c

MiloDavis suggested changes Feb 22, 2017

View reviewed changes

changed to constant naming convention

7377590

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ashergottlieb commented Feb 21, 2017 • edited by kreeve Loading Uh oh! There was an error while loading. Please reload this page.

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Before Merging

Drivetrain

Shooter

Turret/Vision

Climbtake

Auto

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ashergottlieb commented Feb 21, 2017 •

edited by kreeve

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