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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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7 changes: 4 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
Expand Up @@ -65,7 +65,7 @@ public void execute() {
currHorizontalOffset = limelights.getShooterTX();
prevError = goalHorizontalOffset - currHorizontalOffset;
aimState = VisionState.FEEDBACK;
controller.disableContinuousInput();
controller.enableContinuousInput(-180, 180);
}
break;

Expand All @@ -74,15 +74,16 @@ public void execute() {
if(!limelights.getShooterHasValidTarget()) {
aimState = VisionState.SEARCHING;
plateauCount = 0;
controller.enableContinuousInput(-180, 180);
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 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


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

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