Пример #1
0
  public Tensioner() {

    super(
        "Tensioner",
        RobotPreferences.getTensionerP(),
        RobotPreferences.getTensionerI(),
        RobotPreferences.getTensionerD());
    getPIDController().setContinuous(false);
    getPIDController()
        .setInputRange(
            RobotPreferences.getTensionerMinVolts(), RobotPreferences.getTensionerMaxVolts());
    getPIDController().setOutputRange(TENSIONER_MIN_MOTOR_SPEED, TENSIONER_MAX_MOTOR_SPEED);
    getPIDController().setAbsoluteTolerance(threshold_volts);
    setSetpoint(RobotPreferences.getTensionerDefaultVolts());

    // TODO:  Enable this once the PID Controllers are
    // tuned.

    // enable();

  }
Пример #2
0
/**
 * The Tensioner class manages the robot mechanism which controls the tension of a kicking system
 * comprised of bands which store energy in order to "kick" the game ball. The tensioner has a close
 * relationship and must work in concert with the Leg subystem.
 *
 * <p>The Tensioner has three logical states:
 *
 * <p>- High Tension (ready to kick) - Low Tension (ready to "putt") - Slack Tension
 *
 * <p>A tensioning bar is controlled by a motor, and limit switches are used to define the limits of
 * motion.
 *
 * <p>An Potentiometer sensor measures the position of the tension bar, from which the current
 * tension level is derived.
 *
 * <p>In order to maintain high tension, a locking mechanism is provided, controlled by a relay.
 * This lock must be enabled in order to maintain a high tension level.
 */
public class Tensioner extends PIDSubsystem {
  // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
  SpeedController leftSC =
      RobotMap.tensionerLeftSC; // Positive == Detension; Negative == Tensioning
  DigitalInput leftMin = RobotMap.tensionerLeftMin; // true == Low Tension
  DigitalInput leftMax = RobotMap.tensionerLeftMax; // true == High Tension
  AnalogChannel sensor = RobotMap.tensionerSensor;
  // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS

  static double TENSIONER_MIN_MOTOR_SPEED = -1;
  static double TENSIONER_MAX_MOTOR_SPEED = 1;

  public static final int kTensionSlack = 0;
  public static final int kTensionMin = 1;
  public static final int kTensionMax = 2;
  public static final int kTensionIntermediate = 3;

  double min_tension_volts = RobotPreferences.getTensionerMinVolts();
  double slack_tension_volts = RobotPreferences.getTensionerSlackVolts();
  double max_tension_volts = RobotPreferences.getTensionerMaxVolts();
  double threshold_volts = RobotPreferences.getTensionerOnTargetToleranceVolts();

  public Tensioner() {

    super(
        "Tensioner",
        RobotPreferences.getTensionerP(),
        RobotPreferences.getTensionerI(),
        RobotPreferences.getTensionerD());
    getPIDController().setContinuous(false);
    getPIDController()
        .setInputRange(
            RobotPreferences.getTensionerMinVolts(), RobotPreferences.getTensionerMaxVolts());
    getPIDController().setOutputRange(TENSIONER_MIN_MOTOR_SPEED, TENSIONER_MAX_MOTOR_SPEED);
    getPIDController().setAbsoluteTolerance(threshold_volts);
    setSetpoint(RobotPreferences.getTensionerDefaultVolts());

    // TODO:  Enable this once the PID Controllers are
    // tuned.

    // enable();

  }

  public boolean isDetensioned() {
    double curr_volts = sensor.getAverageVoltage();
    boolean on_target =
        ((curr_volts > (slack_tension_volts - threshold_volts))
            && (curr_volts < (slack_tension_volts + threshold_volts)));
    boolean at_min = leftMin.get();
    return (on_target || at_min);
  }

  public double getTensionLevel() {
    return sensor.getAverageVoltage();
  }

  public boolean isEnabled() {
    return this.getPIDController().isEnable();
  }

  // Put methods for controlling this subsystem
  // here. Call these from Commands.

  public void initDefaultCommand() {
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND

    // Set the default command for a subsystem here.
    // setDefaultCommand(new MySpecialCommand());
  }

  // Returns current tension level in volts

  protected double returnPIDInput() {
    return sensor.getAverageVoltage();
  }

  // Controls output of both left and right motors
  // NOTE:  Only one motor may actually be used;
  // in this case, the right speed controller will
  // not be used.

  protected void usePIDOutput(double output) {

    //
    // Important:  invert the motor polarity!
    //             (Positive Motor Voltage -> Lower Tension)
    //

    output = -output;

    //
    // Only allow the arms to move in a direction away from a limit switch
    // if that limit switch is closed, unless the motor command is 0.0
    // (so the motor controller can be disabled)
    //

    if ((output > 0.0 && !leftMin.get()) || (output < 0.0 && !leftMax.get()) || (output == 0.0))
      this.leftSC.set(output);
    else this.leftSC.set(0);
  }
}