From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Mon, 20 Feb 2017 23:50:37 +0000 (-0800)
Subject: implement shooter pid
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=1782cbadb12ad13d30eab7597f656cbe17f48df2

implement shooter pid
---

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index c446a86..e6ad60d 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -6,8 +6,10 @@ import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
@@ -56,11 +58,19 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    updateSmartDashboard();
+  }
+
+  public void updateSmartDashboard() {
+    SmartDashboard.putNumber("angle", driveTrain.getAngle());
+    SmartDashboard.putNumber("voltage",
+        DriverStation.getInstance().getBatteryVoltage());
+    SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
+    SmartDashboard.putNumber("motor value", shooter.getCurrentShootingSpeed());
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 442897a..c5101fc 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -23,6 +23,7 @@ public class RunFlyWheel extends Command {
   private double wheelI;
   private double wheelD;
   private double target;
+  private double shooterSpeed = 0;
 
   public RunFlyWheel(double maxTimeOut) {
 
@@ -46,9 +47,9 @@ public class RunFlyWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    double shooterSpeed = this.wheelController
+    double calculatedShooterIncrement = this.wheelController
         .calcPID(this.shooter.getShooterRPM());
-
+    shooterSpeed += calculatedShooterIncrement;
     this.shooter.setFlyWheelMotorVal(shooterSpeed);
   }
 
diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index 047fad4..fa5426e 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -26,7 +26,7 @@ public class RunFlyWheelContinuous extends Command {
   private double wheelI;
   private double wheelD;
   private double target;
-  double shooterSpeed = 0;
+  private double shooterSpeed = 0;
 
   public RunFlyWheelContinuous() {
     this.wheelP = this.shooter.wheelP;
@@ -37,7 +37,7 @@ public class RunFlyWheelContinuous extends Command {
     this.wheelController.setDoneRange(10);
     this.wheelController.setMaxOutput(1.0);
     this.wheelController.setMinDoneCycles(3);
-    this.target = 2700;
+    this.target = shooter.getCurrentShootingSpeed();
   }
 
   @Override
@@ -50,11 +50,7 @@ public class RunFlyWheelContinuous extends Command {
     double calculatedShooterIncrement = this.wheelController
         .calcPID(this.shooter.getShooterRPM());
     shooterSpeed += calculatedShooterIncrement;
-    if (shooterSpeed > 1.0)
-      this.shooter.setFlyWheelMotorVal(1.0);
-    else
-      this.shooter.setFlyWheelMotorVal(shooterSpeed);
-    // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+    this.shooter.setFlyWheelMotorVal(shooterSpeed);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 7a11c2d..391eeaf 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -9,16 +9,16 @@ import com.ctre.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  public double wheelP = 0.0003, wheelI = 0, wheelD = -0.00004;
+  public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004;
   private static Shooter shooter;
   private static HallEffectSensor hallEffect;
   private final CANTalon flyWheel1, flyWheel2, indexWheel;
 
-  public static final double DEFAULT_INDEXING_SPEED = -1.0;
-  public static final double DEFAULT_SHOOTING_SPEED = 0.75;
-  public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+  public static final double DEFAULT_INDEXING_SPEED = -0.75;
+  public static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+  private static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
 
-  public static final double SHOOTING_SPEED_INCREMENT = 0.05;
+  public static final double SHOOTING_SPEED_INCREMENT = 25;
 
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);