working motor (velocity) PIDS

unofficial-rev-port · Jun 20, 2024 · 90d0b07 · 90d0b07
1 parent 4aef530
commit 90d0b07
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/REVHubInterface/REVMotor.py b/REVHubInterface/REVMotor.py
@@ -61,6 +61,7 @@ def resetMotorEncoder(commObj, destination, motorChannel):
 
 
 def setMotorConstantPower(commObj, destination, motorChannel, powerLevel):
+    print('setpower')
     setMotorConstantPowerMsg = REVMsg.SetMotorConstantPower()
     setMotorConstantPowerMsg.payload.motorChannel = motorChannel
     setMotorConstantPowerMsg.payload.powerLevel = powerLevel
@@ -89,6 +90,7 @@ def getMotorTargetVelocity(commObj, destination, motorChannel):
 
 
 def setMotorTargetPosition(commObj, destination, motorChannel, position, atTargetTolerance):
+    print(getMotorTargetPosition(commObj, destination, motorChannel)[0])
     setMotorTargetPositionMsg = REVMsg.SetMotorTargetPosition()
     setMotorTargetPositionMsg.payload.motorChannel = motorChannel
     setMotorTargetPositionMsg.payload.position = position

diff --git a/REVHubInterface/__main__.py b/REVHubInterface/__main__.py
@@ -652,7 +652,7 @@ def __init__(self, root):
         self.DC_Motor.grid_columnconfigure(0, weight=1)
         self.DC_Motor.grid_rowconfigure(0, weight=1)
 
-        self.Tab_frame.add(self.motorPID, text='Motor PID')
+        self.Tab_frame.add(self.motorPID, text='Motor Velocity PID')
 
         self.motorPID.grid_columnconfigure(0, weight=1)
         self.motorPID.grid_rowconfigure(0, weight=1)
@@ -726,9 +726,10 @@ def javaMotorEntry(self, motorNumber, moduleNumber, *args):
 
     def javaTargetEntry(self, motorNumber, moduleNumber, *args):
         target = int(self.pid_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
-        self.REVModules[moduleNumber].motors[motorNumber].setTargetPosition(target, 20)
-        self.REVModules[moduleNumber].motors[motorNumber].setMode(2, 1)
-        self.REVModules[moduleNumber].motors[motorNumber].setPower(float(32000))
+        self.REVModules[moduleNumber].motors[motorNumber].setTargetVelocity(target)
+        self.REVModules[moduleNumber].motors[motorNumber].setMode(1, 1)
+        self.REVModules[moduleNumber].motors[motorNumber].setTargetVelocity(target)
+
         self.repetitiveFunctions = [(lambda: self.send_all_KA())]
         self.repetitiveFunctions.append((lambda: self.updateMotorLabels(motorNumber, moduleNumber)))
         return True