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FRC5892 / 2021-Infinite-Recharge-2.0

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Problem with Hood.atSetpoint() #22

Closed Quantaly closed 3 years ago

Quantaly commented 3 years ago

The measurement used in Hood.atSetpoint() doesn't line up with the actual measurements used elsewhere in the PID. Compare Hood.atSetpoint()

https://github.com/FRC5892/2021-Infinite-Recharge-2.0/blob/727d4510f3a098cd120b105c9afb0785f5f91b08/src/main/java/frc/robot/subsystems/Hood.java#L47

to Hood.getMeasurement()

https://github.com/FRC5892/2021-Infinite-Recharge-2.0/blob/727d4510f3a098cd120b105c9afb0785f5f91b08/src/main/java/frc/robot/subsystems/Hood.java#L60

See where the problem is? The PID function wants whatever measurement is returned from Hood.getMeasurement() to be as close as possible to the setpoint, which means the setpoint is an angle (since Hood.getMeasurement() returns an angle), yet Hood.atSetpoint() compares it against a voltage.

Rather than fixing your own atSetpoint() implementation, why not use [the WPILib one](https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/controller/PIDController.html#atSetpoint())? It's on PIDController instead of PIDCommand; just have Hood.atSetpoint() return getController().atSetpoint(). This implementation also does a more intelligent/lenient check than strict equality based on a tolerance measurement that you're actually already configuring

https://github.com/FRC5892/2021-Infinite-Recharge-2.0/blob/727d4510f3a098cd120b105c9afb0785f5f91b08/src/main/java/frc/robot/subsystems/Hood.java#L29

and then never using.

Quantaly commented 3 years ago

Changed the title after realizing that you're (possibly) using SetHood differently than I would, which (would make) this a bit more pressing.