search

Team2890HawkCollective / Quetzalcoatl

2019 Season FRC Robot code for Team 2890 - The Hawk Collective
2 stars 2 forks source link

Pid elevator #62

Closed Podcakero closed 5 years ago

Podcakero commented 5 years ago

All that needs to be done is testing and fine-tuning of the PID values.

Podcakero commented 5 years ago

The whole rationale behind the changes in MoveElevator is to utilise the built-in logic with PID to control the elevator's up and down movements. This will dynamically adjust speed to reach the target the most efficient way possible and minimise over/under shooting. It also decomplicates the code. requiring little logic and only tuning of PID values

Valance23322 commented 5 years ago

So the MoveElevator Command as it is now just sets the targets, the PID code in ElevatorSubSystem.java handles the logic of moving the elevator? If that's the case could you set the target point whereever you're initializing MoveElevator now? Maybe break out the constructor into a RobotMap method? It seems a bit hacky to have a command that doesn't do anything when executed

Podcakero commented 5 years ago

thats how pid commands work. its the way wpi has in their example.

Podcakero commented 5 years ago

we need the command for its is finished and initialise methods to actually initiate and stop the pid