Limelight code #6
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changed arcade drive to commands added vidion pid
# Conflicts: # MotionProfiling_Project/src/main/java/frc/robot/RobotConstants.java
# Conflicts: # MotionProfiling_Project/src/main/java/frc/robot/PidSettings.java # MotionProfiling_Project/src/main/java/frc/robot/Robot.java # MotionProfiling_Project/src/main/java/frc/robot/RobotConstants.java
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| /** | ||
| * Add your docs here. | ||
| */ |
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remove commants, or do documentation.
| /* Copyright (c) 2018 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ |
| @Override | ||
| public double pidGet() { | ||
| return -Robot.limelight.getDistance(); | ||
| } |
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why minus?? and why .getDistance()? x should change the rotention of the robot and y should change the back/forward values.
| /* Copyright (c) 2018 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ |
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| /** | ||
| * Add your docs here. | ||
| */ |
| pidControllerX.close(); | ||
| pidControllerY.disable(); | ||
| pidControllerY.close(); | ||
| Robot.drivetrain.arcadeDrive(0, 0); |
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first disable then close:
pidControllerX.disable();
pidControllerX.disable();
pidControllerY.close();
pidControllerY.close();
| end(); | ||
| testCommand.cancel(); | ||
| testCommand.close(); | ||
| } |
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move these lines to end():
testCommand.cancel();
testCommand.close();
| @@ -27,14 +34,20 @@ | |||
| public static Drivetrain drivetrain; | |||
| public static OI oi; | |||
| public static PathCreater pathCreater; | |||
| public static Limelight limelight; | |||
| public static VisionPIDSourceX visionPIDSourceX; | |||
| public static VisionPIDSourceY visionPIDSourceY; | |||
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what the heck is that doing here??!
public static VisionPIDSourceX visionPIDSourceX;
public static VisionPIDSourceY visionPIDSourceY;
you should remove this from here...
| Robot.drivetrain = new Drivetrain(); | ||
| Robot.visionPIDSourceX = new VisionPIDSourceX(); | ||
| Robot.visionPIDSourceY = new VisionPIDSourceY(); | ||
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Robot.visionPIDSourceX = new VisionPIDSourceX();
Robot.visionPIDSourceY = new VisionPIDSourceY();
and put these in the FollowTarger command, instead of using Robot.visionPIDSourceX/Y in the command....
| @@ -48,11 +46,11 @@ public void tankDrive(double leftSpeed, double rightSpeed) { | |||
| } | |||
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| public void arcadeDrive(double x, double y) { | |||
| this.driveTrain.arcadeDrive(y, x); | |||
| this.driveTrain.arcadeDrive(x, y); | |||
| } | |||
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Your WRONG, read the docs on the .arcadeDrive() function:
void edu.wpi.first.wpilibj.drive.DifferentialDrive.arcadeDrive(double xSpeed, double zRotation)
Arcade drive method for differential drive platform. The calculated values will be squared to decrease sensitivity at low speeds.
Parameters:
xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive. That is the Y value (speed forward or back)
zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive. That is the X value (turning in place)
Branch contains Limelight code, data reception class and control commands such as follow vision target and turn to target with vision and gyro.