Profiled PID for controlling the rotation of targeting commands #42
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Shom770
changed the title
sswadkar
requested changes
Mar 31, 2024
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| thetaPID.enableContinuousInput(-PI.radians, PI.radians) | ||
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| override fun initialize() { | ||
| thetaPID.reset() // maybe do first for x? | ||
| thetaPID.reset(0.degrees) // maybe do first for x? |
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what would we reset it to then? the current gyro angle?
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you're not resetting the angle, you're resetting the error it sees. we don't want error from the previous path to carry on, but rather recalculate in our execute function
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| thetaPID.enableContinuousInput(-PI.radians, PI.radians) | ||
| } | ||
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| override fun initialize() { | ||
| thetaPID.reset() | ||
| thetaPID.reset(0.degrees) | ||
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| if (thetakP.hasChanged() || thetakI.hasChanged() || thetakD.hasChanged()) { |
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please add tunable numbers for steering vel max and accel max as well
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for the rest of the commands as well
| @@ -69,7 +69,7 @@ object ControlBoard { | |||
| val climbAlignLeft = Trigger { driver.dPadLeft } | |||
| val climbAlignRight = Trigger { driver.dPadRight } | |||
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| val targetSpeaker = Trigger { driver.xButton } // TODO: switch back to climbAlignLeft | |||
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Uses the
ProfiledPIDControllerfor all targeting commands in regards to the rotation. Using a profiled PID controller helps us account for larger amounts of error and adjust accordingly, while adhering to our constraints. The controller was changed to a profiled PID controller for theTargetSpeakerCommand,TargetAngleCommand, andTargetNoteCommand.