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PIDController in CmdAlign #137

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PIDController in CmdAlign #137

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a51a29d
replace math w/ calculate
agheyi Sep 12, 2022
8bb89c8
fix problemos from adding calculate
agheyi Sep 13, 2022
5bf4906
currHorizontalOffset --> currError
agheyi Sep 13, 2022
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11 changes: 8 additions & 3 deletions src/main/java/frc/team3128/commands/CmdAlign.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package frc.team3128.commands;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
Expand All @@ -25,6 +26,7 @@ private enum VisionState {
private boolean isAligned;

private VisionState aimState = VisionState.SEARCHING;
private PIDController controller;

/**
* Aligns the robot to the hub using the limelight
Expand All @@ -45,6 +47,7 @@ public void initialize() {
// limelights.turnShooterLEDOn();
prevTime = RobotController.getFPGATime() / 1e6;
plateauCount = 0;
controller = new PIDController(VISION_PID_kP, VISION_PID_kI, VISION_PID_kD);
}

@Override
Expand All @@ -62,6 +65,7 @@ public void execute() {
currHorizontalOffset = limelights.getShooterTX();
prevError = goalHorizontalOffset - currHorizontalOffset;
aimState = VisionState.FEEDBACK;
controller.enableContinuousInput(-180, 180);
}
break;

Expand All @@ -70,16 +74,17 @@ public void execute() {
if(!limelights.getShooterHasValidTarget()) {
aimState = VisionState.SEARCHING;
plateauCount = 0;
controller.disableContinuousInput();
break;
}

// 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

double ff = Math.signum(currError) * VISION_PID_kF;
double feedbackPower = VISION_PID_kP * currError + VISION_PID_kD * (currError - prevError) / (currTime - prevTime) + ff;

double ff = Math.signum(currError) * VISION_PID_kF;
double feedbackPower = controller.calculate(currError) + ff;

feedbackPower = MathUtil.clamp(feedbackPower, -1, 1);

drive.tankDrive(-feedbackPower, feedbackPower);
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