Use LinearProfile for flywheels #17

suryatho · 2024-02-15T05:25:43Z

Switched to using a linear profile to track setpoint and monitor check if flywheels are at the goal rpm. Tuned the sim gains to rev in ~1 sec.

Use LinearProfile for flywheels

src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/Flywheels.java

Check if at setpoint, not working when checking if equal within 1e-3, but works when checking withing 5 rpm

jwbonner

Fix issue with epsilon and idle mode with testing in sim (as discussed)

atGoal checks for setpoint equal to goal

Changes good

suryatho added 2 commits February 15, 2024 00:24

Added LinearProfile.java

ca94b07

Use LinearProfile for flywheels

Added LinearProfile.java

c5082a9

Use LinearProfile for flywheels

suryatho linked an issue Feb 15, 2024 that may be closed by this pull request

Profile flywheel speed #10

Closed

jwbonner requested changes Feb 15, 2024

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suryatho added 2 commits February 15, 2024 20:42

Use loopPeriodSecs

03b5bbc

Reset goal periodically

1a3cd19

Check if at setpoint, not working when checking if equal within 1e-3, but works when checking withing 5 rpm

jwbonner approved these changes Feb 16, 2024

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jwbonner previously requested changes Feb 16, 2024

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Only set goal if different from current goal

dcdd6bd

atGoal checks for setpoint equal to goal

camearle20 previously approved these changes Feb 17, 2024

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Merge branch 'main' into feature-profile-flywheel-speed

3f409d4

suryatho dismissed camearle20’s stale review via 3f409d4 February 17, 2024 00:38

Merge into main

d253093

camearle20 approved these changes Feb 17, 2024

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camearle20 merged commit 0e74252 into main Feb 17, 2024
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camearle20 deleted the feature-profile-flywheel-speed branch February 17, 2024 01:00

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