Phoenix6 update #3
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katzuv
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Dec 11, 2023
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katzuv
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Dec 16, 2023
Merged
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vichik123
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Jan 14, 2024
Still needs work
Yes I know it's bad sorry
katzuv
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Jan 15, 2024
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One comment left! #3 (comment) |
vichik123
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vichik123
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| driveMotor.getConfigurator().apply(driveConfig.Slot0); | ||
| angleMotor.getConfigurator().apply(angleConfig.Slot0); |
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I'm sorry, I just have two last little things.
- It's not a very good idea to update the PID inside the motor every loop. You need to use the
hasChangedmethod in theLoggedTunableNumberobject. - The
Slot0object is never updated, so the PID would never really change.
katzuv
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Jan 16, 2024
| private final Integral driveSupplyChargeUsedCoulomb = new Integral(); | ||
| private final Integral driveStatorChargeUsedCoulomb = new Integral(); | ||
| private final Integral angleSupplyChargeUsedCoulomb = new Integral(); | ||
| private final Integral angleStatorChargeUsedCoulomb = new Integral(); | ||
| private final MotionMagicVoltage angleControlRequest = | ||
| new MotionMagicVoltage(0).withEnableFOC(true).withSlot(0); | ||
| private final PositionVoltage angleControlRequest = |
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Should use the new Motion Magic Expo mode
https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/device-specific/talonfx/motion-magic.html#motion-magic-expo
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We tried using the motion magic expo, and we tried normal motion magic. But in the end we found that regular position control is best.
…update them in ModuleIO
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