arm #20
arm #20
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The method getAngle in Arm system will change.
I added 2 methods for 2 different directions - backwards and forward.
src/main/java/subSystems/Arm.java
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| private CANSparkMax master; | ||
| private CANSparkMax follower; | ||
| private PidController pid; | ||
| private final double KP = 0; |
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Add the word static to each constant field.
src/main/java/actions/SetAngle.java
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| @Override | ||
| public void initialize(ActionControl control) { | ||
| arm.pidReset(); |
src/main/java/subSystems/Arm.java
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| this.master = master; | ||
| this.follower = follower; | ||
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| follower.follow(master); |
src/main/java/subSystems/Arm.java
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| } | ||
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| public double getAngle(){ | ||
| return 5; //Will change |
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In here, read the absolute encoder in order to find out current angle.
How to read and use the encoder
Moreover, you can always use Ctrl + B in order to see how the DutyCycelEncoder works
src/main/java/subSystems/Arm.java
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| } | ||
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| public void stop(){ master.stopMotor();} | ||
| } |
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Once you've fixed everything, commit & push, and pull request again
src/main/java/subSystems/Arm.java
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| public class Arm extends Subsystem { | ||
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| private double angle; |
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Specify the variable to angle2Target
| super(robotControl); | ||
| arm = SystemFactory.createArm(); |
| public static final int ARM_MASTER = 3; | ||
| public static final int ARM_FOLLOW = 3; | ||
| public static final HidChannel ARM_ENCODER = RoboRio.newHidChannel(0); | ||
| public static final double ARM_ANGLE = 0; |
| CANSparkMax master = new CANSparkMax(RobotMap.ARM_MASTER, CANSparkMaxLowLevel.MotorType.kBrushed); | ||
| CANSparkMax follow = new CANSparkMax(RobotMap.ARM_FOLLOW, CANSparkMaxLowLevel.MotorType.kBrushless); | ||
| DutyCycleEncoder encoder = new DutyCycleEncoder((DutyCycle) RobotMap.ARM_ENCODER); | ||
| double angle2Target = RobotMap.ARM_ANGLE; |
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The angle2Target is set by the encoder value! :) use the encoder.position
| CANSparkMax follow = new CANSparkMax(RobotMap.ARM_FOLLOW, CANSparkMaxLowLevel.MotorType.kBrushless); | ||
| DutyCycleEncoder encoder = new DutyCycleEncoder((DutyCycle) RobotMap.ARM_ENCODER); | ||
| double angle2Target = RobotMap.ARM_ANGLE; | ||
| return new Arm(angle2Target, master, follow, encoder); |
src/main/java/subSystems/Arm.java
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| private static final double KI = 0; | ||
| private static final double KD = 0; | ||
| private static final double KF = 0; | ||
| private static final double ERROR = 0; |
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Set error and limit values- it's an angle, so don't use set too much but not so little as well. Choose from 0.5-1
src/main/java/subSystems/Arm.java
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| public double getAngle2Target(){ | ||
| encoder.reset(); |
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It shouldn't be here. It should be in the initialize- We don't want everysingle second to reset the encoder
src/main/java/subSystems/Arm.java
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| public double getAngle2Target(){ | ||
| encoder.reset(); | ||
| return encoder.getPositionOffset(); |
src/main/java/subSystems/Arm.java
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| } | ||
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| public double speed(){ | ||
| return pid.applyAsDouble(getAngle2Target(), angle2Target); |
| @@ -0,0 +1,23 @@ | |||
| <component name="ProjectRunConfigurationManager"> | |||
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@NoamZW there are conflicts. |
src/main/java/subSystems/Arm.java
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| return encoder.getPositionOffset(); | ||
| } | ||
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| public double speed(){ |
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We don't want to use just a specific set point, as you do with angle2Target value. But rather we are looking for the target angle to be provided depending on use, so it should actually be a parameter.
@NoamZW @Maayan-Luzon you may want to discuss this with @stavit456.
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