128 make lift use pids #129
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Closed
reediculous456
requested changes
Mar 16, 2024
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| rightBumper.and(leftBumper.negate()).whileTrue(new RightLiftUpCommand()); | ||
| rightTrigger.and(leftTrigger.negate()).whileTrue(new RightLiftDownCommand()); | ||
| rightBumper.and(leftBumper.negate()).whileTrue(new LiftUpCommand()); |
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since left bumper/trigger is no longer used
Suggested change
| rightBumper.and(leftBumper.negate()).whileTrue(new LiftUpCommand()); | |
| rightBumper.whileTrue(new LiftUpCommand()); |
| } | ||
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| @Override | ||
| public void execute() { | ||
| lift.runLeftUp(); | ||
| lift.runRightUp(); | ||
| lift.enable(); |
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enable should be in initialize
| @@ -192,11 +182,130 @@ public boolean rightLowerLimitReached() { | |||
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| @Override | |||
| public void periodic() { | |||
| if (enabled) { | |||
| double output = verticalController.calculate(getLeftPosition()); | |||
| double error = errorController.calculate(DriveTrain.getInstance().getPitch()); | |||
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I would store driveTrain as a private variable on this class so that we don't have to get instance more than once
| double power = MathUtil.clamp(output, LiftConstants.backwardsMotorSpeed, LiftConstants.motorSpeed); | ||
| double clampedError = MathUtil.clamp(error, LiftConstants.backwardsMotorSpeed, LiftConstants.motorSpeed); | ||
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| double left = DriveTrain.getInstance().getPitch() > 0 ? power + clampedError : power; |
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I would store pitch in a variable so that we only read it once per execution
Comment on lines
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| runLeftUp(left); | ||
| runRightUp(right); |
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I think we need to replace runLeftUp with runLeft and allow it to go up or down from that function, otherwise the PID can only run the motor up
| * @param ElevatorSetpoints - desired setpoint | ||
| */ | ||
| public void setSetpoint(double setpoint) { | ||
| verticalController.setSetpoint(MathUtil.clamp(setpoint, 0, LiftConstants.maxExtension)); |
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Suggested change
| verticalController.setSetpoint(MathUtil.clamp(setpoint, 0, LiftConstants.maxExtension)); | |
| verticalController.setSetpoint(MathUtil.clamp(setpoint, LiftConstants.minExtension, LiftConstants.maxExtension)); |
| /** | ||
| * Returns the position of the left lift encoder. | ||
| * | ||
| * @return double - current encoder position |
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Suggested change
| * @return double - current encoder position | |
| * @return current encoder position |
you don't need to mention the data type in javadoc, this is handled automatically
reediculous456
previously approved these changes
Mar 18, 2024
reediculous456
previously approved these changes
Mar 23, 2024
reediculous456
approved these changes
Mar 23, 2024
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Pull Request
Issue Number
Closes #128
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