driveXFeet command (parameterized)

[her0me]

should take negatives

[her0me]

I started following this https://github.com/REVrobotics/SPARK-MAX-Examples/blob/master/Java/Velocity%20Closed%20Loop%20Control/src/main/java/frc/robot/Robot.java is it the right start?

[her0me]

I dont know where to go now for this

[Shalmezad]

1) You'll need to redo the command in robot builder as presently it's not paramaterized. It should take 2 parameters: feet, and max speed. 2) Add a second constructor for just feet, call the other constructor with a speed of 0.3. 3) Create a PIDController in the class. 4) During execute() figure out the feet you've gone based on the encoder ticks (there should be something like frontLeftMotor.getSelectedSensorPosition(), check the docs). 5) Once you have the ticks you've gone, call pidController.calculate(). One parameter is the feet you've gone, the other is the feet you're trying to reach (the parameter you passed in the constructor). Use the result to feed the motors 6) In isFinished(), return pidController.isAtSetpoint() 7) Make sure to stop the drive train in end() and interrupted().

[her0me]

okay, I added everything now, committing now.

[her0me]

the setpoint is not setting to the m_feet like I am expecting it to

[Shalmezad]

https://github.com/Team-5509/PrincessZeta/blob/master/PrincessZeta2020/src/main/java/frc/robot/commands/DriveXFeet.java#L60 initialEncoderPosition needs to be set in initialize (when you start the command).

[Shalmezad]

https://github.com/Team-5509/PrincessZeta/blob/master/PrincessZeta2020/src/main/java/frc/robot/commands/DriveXFeet.java#L54 DRY (don't repeat yourself). Call this(feet, 0.5). See info on constructor chaining for more details.

[Shalmezad]

https://github.com/Team-5509/PrincessZeta/blob/master/PrincessZeta2020/src/main/java/frc/robot/commands/DriveXFeet.java#L69 Make sure to call pidController.reset() in initialize.

[Shalmezad]

During execute(), throw pidController.getPositionError() on the smart dashboard to help debugging.

[Shalmezad]

https://github.com/Team-5509/PrincessZeta/blob/master/PrincessZeta2020/src/main/java/frc/robot/commands/DriveXFeet.java#L67 Our encoders don't loop, remove enableContinuousInput (only for things where max = min, like analog encoders, or gyros where 180 = -180)

[her0me]

I reupped the code, It has the stuff we have been throwing on smart dashboard. the setpoint is stuck at 0.7 when I want it to be 10

[her0me]

okay, the continous input thing fixed it

[her0me]

How do I set a max speed then?

[Shalmezad]

You'll have to manually do it. Pidcontroller calculate will always return (-1,1). So, if you want it to be (-0.5, 0.5)...

On Sat, Feb 15, 2020, 4:04 PM Corbin notifications@github.com wrote:

How do I set a max speed then?

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[her0me]

ok

[her0me]

Ready to test on main robot