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Add setVoltage method to SpeedController (#1997)

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Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.

Also update relevant examples.
This commit is contained in:
Oblarg
2019-11-01 12:32:40 -04:00
committed by Peter Johnson
parent f6e311ef86
commit 9ebd23d61e
12 changed files with 88 additions and 39 deletions
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9
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
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@@ -18,13 +18,14 @@ ShooterSubsystem::ShooterSubsystem()
m_shooterMotor(kShooterMotorPort),
m_feederMotor(kFeederMotorPort),
m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]) {
m_controller.SetTolerance(kShooterToleranceRPS);
m_controller.SetTolerance(kShooterToleranceRPS.to<double>());
m_shooterEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
}
void ShooterSubsystem::UseOutput(double output) {
// Use a feedforward of the form kS + kV * velocity
m_shooterMotor.Set(output + kSFractional + kVFractional * kShooterTargetRPS);
m_shooterMotor.SetVoltage(units::volt_t(output) + kS +
kV * kShooterTargetRPS);
}
void ShooterSubsystem::Disable() {
@@ -38,7 +39,9 @@ bool ShooterSubsystem::AtSetpoint() { return m_controller.AtSetpoint(); }
double ShooterSubsystem::GetMeasurement() { return m_shooterEncoder.GetRate(); }
double ShooterSubsystem::GetSetpoint() { return kShooterTargetRPS; }
double ShooterSubsystem::GetSetpoint() {
return kShooterTargetRPS.to<double>();
}
void ShooterSubsystem::RunFeeder() { m_feederMotor.Set(kFeederSpeed); }

14
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
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@@ -47,9 +47,9 @@ constexpr double kEncoderDistancePerPulse =
constexpr int kShooterMotorPort = 4;
constexpr int kFeederMotorPort = 5;
constexpr double kShooterFreeRPS = 5300;
constexpr double kShooterTargetRPS = 4000;
constexpr double kShooterToleranceRPS = 50;
constexpr auto kShooterFreeRPS = 5300_tr / 1_s;
constexpr auto kShooterTargetRPS = 4000_tr / 1_s;
constexpr auto kShooterToleranceRPS = 50_tr / 1_s;
constexpr double kP = 1;
constexpr double kI = 0;
@@ -57,10 +57,10 @@ constexpr double kD = 0;
// On a real robot the feedforward constants should be empirically determined;
// these are reasonable guesses.
constexpr double kSFractional = .05;
constexpr double kVFractional =
// Should have value 1 at free speed...
1. / kShooterFreeRPS;
constexpr auto kS = .05_V;
constexpr auto kV =
// Should have value 12V at free speed...
12_V / kShooterFreeRPS;
constexpr double kFeederSpeed = .5;
} // namespace ShooterConstants