// Called just before this Command runs the first time
  protected void initialize() {
    Robot.driveTrain.reset();

    // Make input infinite
    leftPID.setContinuous();
    rightPID.setContinuous();

    // Set output speed range
    if (speed > 0) {
      leftPID.setOutputRange(-speed, speed);
      rightPID.setOutputRange(-speed, speed);
    } else {
      leftPID.setOutputRange(speed, -speed);
      rightPID.setOutputRange(speed, -speed);
    }

    Robot.driveTrain.initGyro = Robot.driveTrain.getHeading();

    leftPID.setSetpoint(distance);
    rightPID.setSetpoint(distance);

    // Will accept within 5 inch of target
    leftPID.setAbsoluteTolerance(5.0 / 12);
    rightPID.setAbsoluteTolerance(5.0 / 12);

    // Start going to location
    leftPID.enable();
    // rightPID.enable();
  }
Example #2
0
  public ElevatorPID(Robot robot) {
    this.robot = robot;
    elevatorPot = new AnalogPotentiometer(Constants.elevatorPot);

    elevatorPID = new PIDController(p, i, d, this, robot.elevator.elevatorSingle);
    elevatorPID.setAbsoluteTolerance(Constants.elevatorPIDTolerance);
  }
Example #3
0
 static {
   // stealerEncoder.setDistancePerPulse(.0245);
   stealerEncoder.setMaxPeriod(1 /* seconds */);
   stealerEncoder.reset();
   lassoCounter.reset();
   controller.setOutputRange(-0.2, 0.2);
   controller.setAbsoluteTolerance(50);
 }
Example #4
0
  public void robotInit() {
    j1 = new Joystick(1);
    j2 = new Joystick(0);
    shooter = new Victor(2);
    shooter2 = new Victor(4);
    intake = new Victor(3);
    right = new Victor(0);
    left = new Victor(1);
    rd = new RobotDrive(left, right);
    light = new DigitalInput(3);
    count = 0;

    comp = new Compressor();
    inup = new DoubleSolenoid(0, 1);
    inup2 = new DoubleSolenoid(2, 3);

    gyro = new AnalogGyro(0);
    gyro.setSensitivity(.007);
    gyro.calibrate();
    gyro.reset();

    enc = new Encoder(1, 2, true, Encoder.EncodingType.k4X);
    enc.setDistancePerPulse(.11977); // circumference of wheel/200 (PPR)
    enc.setPIDSourceType(PIDSourceType.kDisplacement);
    enc.reset();

    out =
        new PIDOutput() {
          @Override
          public void pidWrite(double out) {
            rd.setLeftRightMotorOutputs(out, out);
          }
        };

    controller = new PIDController(.007, 0, 0, enc, out);
    controller.setAbsoluteTolerance(.25);
    controller.disable();

    gcontroller = new PIDController(kp, ki, kd, gyro, out);
    gcontroller.setAbsoluteTolerance(ktol);
    gcontroller.disable();

    timerStart = -1;
    timeToCancel = -1;
  }
Example #5
0
 public DriveStraight(double distance) {
   requires(Robot.drivetrain);
   pid =
       new PIDController(
           4,
           0,
           0,
           new PIDSource() {
             public double pidGet() {
               return Robot.drivetrain.getDistance();
             }
           },
           new PIDOutput() {
             public void pidWrite(double d) {
               Robot.drivetrain.drive(d, d);
             }
           });
   pid.setAbsoluteTolerance(0.01);
   pid.setSetpoint(distance);
 }
  protected void initialize() {

    // Use standard mecanum drive
    drivebase.initMecanum(false);

    /*
     *  Enable drivebase rotational PID
     */
    // Set target angle
    m_pc.setSetpoint(m_target);

    // Throttle down the max allowed speed
    m_pc.setOutputRange(-0.5, 0.5);

    // Set tolerance around the target angle
    m_pc.setAbsoluteTolerance(5);

    // Reset and enable PID controller
    m_pc.reset();
    m_pc.enable();
  }