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The-Charge / Recharge2020

Main repository for the 2020 Build Season
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DriveXFeet #15

Open AshwinS27 opened 4 years ago

AshwinS27 commented 4 years ago

We want this command and the related method in DriveTrain because it would be crucial for AUTON. Look at PowerUp2018 and SteamBot2017 for reference.

madehong22 commented 4 years ago

Finished coding all methods for the command DriveXFeet. We still need to determine MotionMagic/PID constants.

abcurrie commented 4 years ago

Please look her for advise on setting PID values for Motion Magic. https://phoenix-documentation.readthedocs.io/en/latest/ch16_ClosedLoop.html#motion-magic-position-velocity-current-closed-loop-closed-loop

Cross the Road Electonics has some great examples for this and for normal PID control loop also.

I think Motion Magic could also be used for "Turn N degrees" and "Turn N degrees absolute" too.

On Sat, Jan 18, 2020 at 3:46 PM madehong22 notifications@github.com wrote:

Finished coding all methods for the command DriveXFeet. We still need to determine MotionMagic/PID constants.

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AshwinS27 commented 4 years ago

https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages/blob/master/Java/MotionMagic_TalonFX_AuxStraightPigeon/src/main/java/frc/robot/Constants.java#L33 CTRE just updated and added an example for MotionMagic for TalonFX. The link provides some constant, which could be a start for tuning on the actual Robot.