PIDController in CmdAlign #137
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mika-okamoto
commented
Sep 13, 2022
| @@ -62,6 +65,7 @@ public void execute() { | |||
| currHorizontalOffset = limelights.getShooterTX(); | |||
| prevError = goalHorizontalOffset - currHorizontalOffset; | |||
| aimState = VisionState.FEEDBACK; | |||
| controller.disableContinuousInput(); | |||
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this should be .enable not .disable because you're switching from searching to feedback
| @@ -70,16 +74,16 @@ public void execute() { | |||
| if(!limelights.getShooterHasValidTarget()) { | |||
| aimState = VisionState.SEARCHING; | |||
| plateauCount = 0; | |||
| controller.enableContinuousInput(-180, 180); | |||
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| double feedbackPower = controller.calculate(currHorizontalOffset); |
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keep the ff line in here and set feedbackPower = the code you have in here with .calculate() + ff
double ff = Math.signum(currError) * VISION_PID_kF
mika-okamoto
commented
Sep 13, 2022
| break; | ||
| } | ||
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| // turn with PID loop using input as horizontal tx error to target | ||
| currHorizontalOffset = limelights.getShooterTX(); | ||
| currError = goalHorizontalOffset - currHorizontalOffset; // currError is positive if we are too far left | ||
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| double feedbackPower = controller.calculate(currHorizontalOffset); | ||
| double ff = Math.signum(currError) * VISION_PID_kF; | ||
| double feedbackPower = controller.calculate(currHorizontalOffset) + ff; |
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use currError instead of currHorizontalOffset
ControlsNarwhal
approved these changes
Sep 13, 2022
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