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Added more Talon SRX documentation and PID samples.

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Change-Id: I2b1326c11452c6895846ded1277dbf4d38a5222d
This commit is contained in:
James Kuszmaul
2014-12-05 17:11:38 -05:00
parent 16f9db30a9
commit 4833316571
7 changed files with 269 additions and 23 deletions
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99
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -75,7 +75,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
}
@Override
public void pidWrite(double output) {
public void pidWrite(double output)
{
if (getControlMode() == ControlMode.PercentVbus) {
set(output);
}
@@ -342,6 +343,12 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
m_controlEnabled = false;
}
/**
* Get the current proportional constant.
*
* @returns double proportional constant for current profile.
* @throws IllegalStateException if not in Position of Speed mode.
*/
public double getP() {
if(!(m_controlMode.equals(ControlMode.Position) || m_controlMode.equals(ControlMode.Speed))) {
throw new IllegalStateException("PID mode only applies in Position and Speed modes.");
@@ -353,6 +360,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_P);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long pp = CanTalonJNI.new_doublep();
m_impl.GetPgain(m_profile, new SWIGTYPE_p_double(pp, true));
return CanTalonJNI.doublep_value(pp);
@@ -369,6 +379,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_I);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long ip = CanTalonJNI.new_doublep();
m_impl.GetIgain(m_profile, new SWIGTYPE_p_double(ip, true));
return CanTalonJNI.doublep_value(ip);
@@ -385,6 +398,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_D);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long dp = CanTalonJNI.new_doublep();
m_impl.GetDgain(m_profile, new SWIGTYPE_p_double(dp, true));
return CanTalonJNI.doublep_value(dp);
@@ -401,6 +417,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_F);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long fp = CanTalonJNI.new_doublep();
m_impl.GetFgain(m_profile, new SWIGTYPE_p_double(fp, true));
return CanTalonJNI.doublep_value(fp);
@@ -417,6 +436,9 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_IZone);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long fp = CanTalonJNI.new_intp();
m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
return CanTalonJNI.intp_value(fp);
@@ -433,34 +455,97 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
else
m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_CloseLoopRampRate);
// Briefly wait for new values from the Talon.
Timer.delay(1);
long fp = CanTalonJNI.new_intp();
m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
return CanTalonJNI.intp_value(fp);
}
/**
* Set the proportional value of the currently selected profile.
*
* @param p Proportional constant for the currently selected PID profile.
* @see setProfile For selecting a certain profile.
*/
public void setP(double p) {
m_impl.SetPgain(m_profile, p);
}
/**
* Set the integration constant of the currently selected profile.
*
* @param i Integration constant for the currently selected PID profile.
* @see setProfile For selecting a certain profile.
*/
public void setI(double i) {
m_impl.SetIgain(m_profile, i);
}
/**
* Set the derivative constant of the currently selected profile.
*
* @param d Derivative constant for the currently selected PID profile.
* @see setProfile For selecting a certain profile.
*/
public void setD(double d) {
m_impl.SetDgain(m_profile, d);
}
/**
* Set the feedforward value of the currently selected profile.
*
* @param f Feedforward constant for the currently selected PID profile.
* @see setProfile For selecting a certain profile.
*/
public void setF(double f) {
m_impl.SetFgain(m_profile, f);
}
/**
* Set the integration zone of the current Closed Loop profile.
*
* Whenever the error is larger than the izone value, the accumulated
* integration error is cleared so that high errors aren't racked up when at
* high errors.
* An izone value of 0 means no difference from a standard PIDF loop.
*
* @param izone Width of the integration zone.
* @see setProfile For selecting a certain profile.
*/
public void setIZone(int izone) {
m_impl.SetIzone(m_profile, izone);
}
public void setRampRate(int rampRate) {
m_impl.SetCloseLoopRampRate(m_profile, rampRate);
/**
* Set the closed loop ramp rate for the current profile.
*
* Limits the rate at which the throttle will change.
* Only affects position and speed closed loop modes.
*
* @param rampRate Maximum change in voltage, in volts / sec.
* @see setProfile For selecting a certain profile.
*/
public void setCloseLoopRampRate(double rampRate) {
// CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
m_impl.SetCloseLoopRampRate(m_profile, rate);
}
/**
* Set the voltage ramp rate for the current profile.
*
* Limits the rate at which the throttle will change.
* Affects all modes.
*
* @param rampRate Maximum change in voltage, in volts / sec.
*/
public void setVoltageRampRate(double rampRate) {
// CanTalonSRX takes units of Throttle (0 - 1023) / 10ms.
int rate = (int) (rampRate * 1023.0 / 12.0 * 100.0);
m_impl.SetRampThrottle(rate);
}
/**
@@ -479,7 +564,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* on hand in the talon. In order to switch profiles without recalling setPID,
* you must call setProfile().
*/
public void setPID(double p, double i, double d, double f, int izone, int ramprate, int profile) {
public void setPID(double p, double i, double d, double f, int izone, int ramprate, int profile)
{
if (profile != 0 && profile != 1)
throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
m_profile = profile;
@@ -489,7 +575,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
setD(d);
setF(f);
setIZone(izone);
setRampRate(ramprate);
setCloseLoopRampRate(ramprate);
}
public void setPID(double p, double i, double d) {
setPID(p, i, d, 0, 0, 0, m_profile);
@@ -499,7 +585,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
* Select which closed loop profile to use, and uses whatever PIDF gains and
* the such that are already there.
*/
public void setProfile(int profile) {
public void setProfile(int profile)
{
if (profile != 0 && profile != 1)
throw new IllegalArgumentException("Talon PID profile must be 0 or 1.");
m_profile = profile;