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[wpimath] Fully discretized ElevatorFF and ArmFF (#7024)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:10:45 -04:00
committed by GitHub
parent 5d9a553104
commit 4adfa8bf64
31 changed files with 1004 additions and 425 deletions
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2
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
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@@ -48,7 +48,7 @@ void Elevator::ReachGoal(units::meter_t goal) {
auto pidOutput = m_controller.Calculate(m_encoder.GetDistance(),
m_setpoint.position / 1_m);
auto feedforwardOutput =
m_feedforward.Calculate(m_setpoint.velocity, next.velocity, 20_ms);
m_feedforward.Calculate(m_setpoint.velocity, next.velocity);
m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput);

1
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
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@@ -7,6 +7,7 @@
#include <numbers>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/time.h>
#include <units/voltage.h>

2
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
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@@ -28,5 +28,5 @@ class ShooterSubsystem : public frc2::PIDSubsystem {
frc::PWMSparkMax m_shooterMotor;
frc::PWMSparkMax m_feederMotor;
frc::Encoder m_shooterEncoder;
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward;
};

2
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
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@@ -38,7 +38,7 @@ class Shooter : public frc2::SubsystemBase {
frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
ShooterConstants::kEncoderPorts[1],
ShooterConstants::kEncoderReversed};
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward{
frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
ShooterConstants::kS, ShooterConstants::kV};
frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
};

2
wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h
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@@ -60,7 +60,7 @@ inline constexpr units::turns_per_second_t kShooterTolerance = 50_tps;
inline constexpr double kP = 1.0;
inline constexpr units::volt_t kS = 0.05_V;
inline constexpr kv_unit_t kV = (12_V) / kShooterFreeSpeed;
inline constexpr kv_unit_t kV = 12_V / kShooterFreeSpeed;
inline constexpr ka_unit_t kA = 0_V * 1_s * 1_s / 1_tr;
inline constexpr double kFeederSpeed = 0.5;

2
wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h
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@@ -48,6 +48,6 @@ class Shooter : public frc2::SubsystemBase {
},
this}};
frc::PIDController m_shooterFeedback{constants::shooter::kP, 0, 0};
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward{
frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
constants::shooter::kS, constants::shooter::kV, constants::shooter::kA};
};