PID Visualizer for tuning #51

tbohlen · 2022-02-27T23:39:40Z

No description provided.

KenwoodFox · 2022-02-28T00:42:08Z

dashboard/Pipfile.lock

-            "python_version": "3.8"
+            "python_version": "3.10"


Will have to test this later, a bug in cbor2 was having some issues with python 3.10

KenwoodFox · 2022-02-28T00:43:51Z

Looking awesome! Should be good using this in conjunction with sysid https://docs.wpilib.org/en/stable/docs/software/pathplanning/system-identification/introduction.html

github-actions · 2022-03-03T21:30:06Z

rio/subsystems/yoke.py

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[blackfmt] _{reported by reviewdog 🐶}

Suggested change

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github-actions · 2022-03-03T21:30:11Z

rio/subsystems/yoke.py

@@ -67,6 +175,7 @@ def __init__(self) -> None:

        # Get PID controller objects
        self.primaryPID = self.primaryYokeMotor.getPIDController()
+        self.primaryPIDReference = 0 # can't retrieve this from PID, so store manually


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

self.primaryPIDReference = 0 # can't retrieve this from PID, so store manually

self.primaryPIDReference = 0 # can't retrieve this from PID, so store manually

github-actions · 2022-03-03T21:30:11Z

rio/subsystems/yoke.py

+        self.graph_data = self.pid_NT.getEntry("graph_data");
+        self.graph_data.setDoubleArray([0, 0]);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

self.graph_data = self.pid_NT.getEntry("graph_data");

self.graph_data.setDoubleArray([0, 0]);

self.graph_data = self.pid_NT.getEntry("graph_data")

self.graph_data.setDoubleArray([0, 0])

github-actions · 2022-03-03T21:30:12Z

rio/subsystems/yoke.py

+        self.shooter_NT = self.pid_NT.getSubTable("shooter")
+
+        # NOTE: you can add additional tables to this array to auto set them up
+        for [table, motorName] in [[self.primary_yoke_NT, "primary"], [self.shooter_NT, "shooter"]]:


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

for [table, motorName] in [[self.primary_yoke_NT, "primary"], [self.shooter_NT, "shooter"]]:

for [table, motorName] in [

[self.primary_yoke_NT, "primary"],

[self.shooter_NT, "shooter"],

]:

github-actions · 2022-03-03T21:30:12Z

rio/subsystems/yoke.py

+        #     self.updatePIDForSubsystem(self.portPID, self.shooter_NT)
+        #     TODO: Update to publish shooter PID data.
+        #     self.publishGraphingData(self.portPID)
+    def publishPIDForSubsystem(self, table, motorName):


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

def publishPIDForSubsystem(self, table, motorName):

def publishPIDForSubsystem(self, table, motorName):

github-actions · 2022-03-03T21:30:13Z

rio/subsystems/yoke.py

+        networkTableMin = subtable.getEntry("min").getDouble(currentMin)
+
+        if currentP != networkTableP:
+            pid.setP(networkTableP);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

pid.setP(networkTableP);

pid.setP(networkTableP)

github-actions · 2022-03-03T21:30:13Z

rio/subsystems/yoke.py

+        if currentP != networkTableP:
+            pid.setP(networkTableP);
+        if currentI != networkTableI:
+            pid.setI(networkTableI);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

pid.setI(networkTableI);

pid.setI(networkTableI)

github-actions · 2022-03-03T21:30:13Z

rio/subsystems/yoke.py

+        if currentI != networkTableI:
+            pid.setI(networkTableI);
+        if currentD != networkTableD:
+            pid.setD(networkTableD);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

pid.setD(networkTableD);

pid.setD(networkTableD)

github-actions · 2022-03-03T21:30:13Z

rio/subsystems/yoke.py

+        if currentD != networkTableD:
+            pid.setD(networkTableD);
+        if currentFF != networkTableFF:
+            pid.setFF(networkTableFF);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

pid.setFF(networkTableFF);

pid.setFF(networkTableFF)

github-actions · 2022-03-03T21:30:13Z

rio/subsystems/yoke.py

+        if currentFF != networkTableFF:
+            pid.setFF(networkTableFF);
+        if currentMaxI != networkTableMaxI:
+            pid.setIMaxAccum(networkTableMaxI);


[blackfmt] _{reported by reviewdog 🐶}

Suggested change

pid.setIMaxAccum(networkTableMaxI);

pid.setIMaxAccum(networkTableMaxI)

tbohlen added 3 commits February 23, 2022 09:28

Finishes PID visualization tool

3595bd3

Fixes port on deploy

0a38524

DRYs code and updates graphing

3817d6e

KenwoodFox reviewed Feb 28, 2022

View reviewed changes

KenwoodFox added 2 commits March 3, 2022 16:13

Merge branch 'main' into features/pid-viz

c1adc50

Fix styles

eedd399

github-actions bot reviewed Mar 3, 2022

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PID Visualizer for tuning #51

PID Visualizer for tuning #51

tbohlen commented Feb 27, 2022

KenwoodFox Feb 28, 2022

KenwoodFox commented Feb 28, 2022

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	self.primaryPIDReference = 0 # can't retrieve this from PID, so store manually
	self.primaryPIDReference = 0 # can't retrieve this from PID, so store manually

		self.graph_data = self.pid_NT.getEntry("graph_data");
		self.graph_data.setDoubleArray([0, 0]);

	def publishPIDForSubsystem(self, table, motorName):

	def publishPIDForSubsystem(self, table, motorName):

	pid.setIMaxAccum(networkTableMaxI);
	pid.setIMaxAccum(networkTableMaxI)

PID Visualizer for tuning #51

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PID Visualizer for tuning #51

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tbohlen commented Feb 27, 2022

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