pid variable adjustments

team4099 · Jan 29, 2024 · bdc5bcc · bdc5bcc
1 parent af060f2
commit bdc5bcc
Show file tree

Hide file tree

Showing 6 changed files with 19 additions and 16 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt b/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt
@@ -6,10 +6,10 @@ package com.team4099.robot2023
 const val MAVEN_GROUP = ""
 const val MAVEN_NAME = "Crescendo-2024v2"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 102
-const val GIT_SHA = "604a3c944cf21d691d7f2d854357417009e237cd"
-const val GIT_DATE = "2024-01-28T19:00:59Z"
+const val GIT_REVISION = 103
+const val GIT_SHA = "af060f29e117bcb356a8028ace24474cd3e9c484"
+const val GIT_DATE = "2024-01-28T19:36:14Z"
 const val GIT_BRANCH = "shooter"
-const val BUILD_DATE = "2024-01-28T19:34:57Z"
-const val BUILD_UNIX_TIME = 1706488497518L
+const val BUILD_DATE = "2024-01-28T21:31:48Z"
+const val BUILD_UNIX_TIME = 1706495508778L
 const val DIRTY = 1
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/FlywheelConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/FlywheelConstants.kt
@@ -20,7 +20,7 @@ import org.team4099.lib.units.perSecond
 object FlywheelConstants {
   val LEFT_GEAR_RATIO = 1.0
 
-  val RIGHT_GEAR_RATIO = 24.0/48.0
+  val RIGHT_MOTOR_REVOLUTIONS_PER_FLYWHEEL_REVOLUTIONS = 48.0/24.0
 
   val VOLTAGE_COMPENSATION = 12.volts
 
@@ -39,39 +39,39 @@ object FlywheelConstants {
   val FLYWHEEL_TOLERANCE = 50.0.rotations.perMinute
   object PID {
     val RIGHT_REAL_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.0.volts / 1.0.rotations.perMinute
+      0.01.volts / 1.0.rotations.perMinute
     val RIGHT_REAL_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute * 1.0.seconds)
     val RIGHT_REAL_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val RIGHT_SIM_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.0.volts / 1.0.rotations.perMinute
+      0.001.volts / 1.0.rotations.perMinute
     val RIGHT_SIM_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.radians.perSecond * 1.0.seconds)
     val RIGHT_SIM_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val LEFT_REAL_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.1.volts / 1.0.rotations.perMinute
+      0.01.volts / 1.0.rotations.perMinute
     val LEFT_REAL_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute * 1.0.seconds)
     val LEFT_REAL_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val LEFT_SIM_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.1.volts / 1.0.rotations.perMinute
+      0.01.volts / 1.0.rotations.perMinute
     val LEFT_SIM_KI: IntegralGain<Velocity<Radian>, Volt> =
-      0.0.volts / (1.0.radians.perSecond * 1.0.seconds)
+      0.0.volts / (1.0.rotations.perSecond * 1.0.seconds)
     val LEFT_SIM_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val RIGHT_FLYWHEEL_KS = 0.001.volts
-    val RIGHT_FLYWHEEL_KV = 0.0075.volts / 1.radians.perSecond
+    val RIGHT_FLYWHEEL_KV = 0.0083.volts / 1.radians.perSecond
     val RIGHT_FLYWHEEL_KA = 0.09.volts / 1.radians.perSecond.perSecond
 
     val LEFT_FLYWHEEL_KS = 0.001.volts
-    val LEFT_FLYWHEEL_KV = 0.015.volts / 1.radians.perSecond
+    val LEFT_FLYWHEEL_KV = 0.02.volts / 1.radians.perSecond
     val LEFT_FLYWHEEL_KA = 0.03.volts / 1.radians.perSecond.perSecond
   }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/Flywheel.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/Flywheel.kt
@@ -173,6 +173,9 @@ class Flywheel(val io: FlywheelIO) : SubsystemBase() {
         FlywheelConstants.PID.LEFT_FLYWHEEL_KV,
         FlywheelConstants.PID.LEFT_FLYWHEEL_KA
       )
+    io.configPID(
+      rightkP.get(), rightkI.get(), rightkD.get(), leftkP.get(), leftkI.get(), leftkD.get()
+    )
   }
   override fun periodic() {
     io.updateInputs(inputs)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOSim.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOSim.kt
@@ -28,7 +28,7 @@ object FlywheelIOSim : FlywheelIO {
   private val flywheelLeftSim: FlywheelSim =
     FlywheelSim(
       DCMotor.getFalcon500(2),
-      FlywheelConstants.RIGHT_GEAR_RATIO,
+      FlywheelConstants.RIGHT_MOTOR_REVOLUTIONS_PER_FLYWHEEL_REVOLUTIONS,
       FlywheelConstants.INERTIA.inKilogramsMeterSquared
     )
 

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOTalon.kt
@@ -59,7 +59,7 @@ object FlywheelIOTalon : FlywheelIO {
   private val flywheelRightSensor =
     ctreAngularMechanismSensor(
       flywheelRightTalon,
-      FlywheelConstants.RIGHT_GEAR_RATIO,
+      FlywheelConstants.RIGHT_MOTOR_REVOLUTIONS_PER_FLYWHEEL_REVOLUTIONS,
       FlywheelConstants.VOLTAGE_COMPENSATION,
     )
 

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOTalon.kt
@@ -49,7 +49,7 @@ object WristIOTalon : WristIO {
   private val wristSensor =
     ctreAngularMechanismSensor(
       wristTalon,
-      FlywheelConstants.RIGHT_GEAR_RATIO,
+      FlywheelConstants.RIGHT_MOTOR_REVOLUTIONS_PER_FLYWHEEL_REVOLUTIONS,
       FlywheelConstants.VOLTAGE_COMPENSATION,
     )