Created Climb Subsystem #15
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Created Climb Subsystem
Adding PID to climb, changed to CANSparkFlex
i fixed it :DDDD (bugfixing lol)
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@Yumnah2 - need to fix spotlessJavaCheck failures. |
| private final SparkAbsoluteEncoder encoderLeft; | ||
| private final SparkAbsoluteEncoder encoderRight; |
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Should delete these, as the absolute encoder is only useful for measuring less than a single turn. Assuming climb rotates more than one turn, the RelativeEncoder returned from motorLeft.getEncoder() is what will need to be used.
| motorLeftPIDController.setFeedbackDevice(encoderLeft); | ||
| motorRightPIDController.setFeedbackDevice(encoderRight); | ||
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| //motor configuration |
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Need to also reset to factory default, set inverted mode (or not), set current limits, and burn configuration to flash so it persists across power loss. See https://github.com/robototes/ChargedUp2023/blob/f25191718390d11df9ddda789a0f0d5c35686734/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java#L124 for an example
| } | ||
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| public void setMotorDown() { | ||
| setMotor(-RETRACT_SPEED); |
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RETRACT_SPEED is already defined as negative above, so shouldn't be inverted again here.
| public void setMotorUp() { | ||
| setMotor(EXTEND_SPEED); | ||
| } |
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FYI that when climbing at the edges (where the chain will be much higher on one side of the robot than the other), the left & right climb motors may need to go up to different heights. Fine to assume climbing in the middle with both sides going to the same level, but the controls may need to be more complex later to handle cases where left & right sides need to go up to different heights.
| motorRight.set(speed); | ||
| } | ||
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| public void stopArm() { |
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Rename for climb. Maybe just stop()
| @@ -0,0 +1,5 @@ | |||
| package motorRight; | |||
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| public class getAbsoluteEncoder { | |||
| public void climb(double rotations) { | ||
| motorLeftPIDController.setReference(rotations, ControlType.kPosition); | ||
| motorRightPIDController.setReference(rotations, ControlType.kPosition); | ||
| } |
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I'm not sure what happens when using both the built-in PID controller (by setting the reference value here) and also setting a raw power (the .set() commands above). Having the ability to specify a raw power when retracting the climb arms has been useful in the past. But for extension, it'd likely be better to just use .setReference() so the units are in "amount being extended" instead of "speed of extension".
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| //calculate height climbed | ||
| //reset encoder to 0 if reset == true | ||
| public void resetEncoder(boolean reset) { |
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What's the intented purpose of the reset parameter here? Could omit it and only call resetEncoder() when the encoder needs to be reset.
| encoderLeft.setPositionConversionFactor(0); | ||
| encoderRight.setPositionConversionFactor(0); |
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Since this factor is multiplied by the raw value from the encoder (docs), this will make the encoder always return a position of 0, even after moving.
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no more climb :C |
Created Climb Subsystem