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[examples] Armbot: rename kCos to kG (#3975)

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This commit is contained in:
Oblarg
2022-01-31 03:16:26 -05:00
committed by GitHub
parent a8f0f6bb90
commit d68d6674e8
9 changed files with 16 additions and 16 deletions
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2
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
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@@ -15,7 +15,7 @@ ArmSubsystem::ArmSubsystem()
kP, 0, 0, {kMaxVelocity, kMaxAcceleration})),
m_motor(kMotorPort),
m_encoder(kEncoderPorts[0], kEncoderPorts[1]),
m_feedforward(kS, kCos, kV, kA) {
m_feedforward(kS, kG, kV, kA) {
m_encoder.SetDistancePerPulse(kEncoderDistancePerPulse.value());
// Start arm in neutral position
SetGoal(State{kArmOffset, 0_rad_per_s});

2
wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
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@@ -46,7 +46,7 @@ constexpr double kP = 1;
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
constexpr auto kCos = 1_V;
constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;

2
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
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@@ -13,7 +13,7 @@ ArmSubsystem::ArmSubsystem()
: frc2::TrapezoidProfileSubsystem<units::radians>(
{kMaxVelocity, kMaxAcceleration}, kArmOffset),
m_motor(kMotorPort),
m_feedforward(kS, kCos, kV, kA) {
m_feedforward(kS, kG, kV, kA) {
m_motor.SetPID(kP, 0, 0);
}

2
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
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@@ -46,7 +46,7 @@ constexpr double kP = 1;
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
constexpr auto kCos = 1_V;
constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
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@@ -38,7 +38,7 @@ public final class Constants {
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
public static final double kCosVolts = 1;
public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -19,7 +19,7 @@ public class ArmSubsystem extends ProfiledPIDSubsystem {
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
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@@ -38,7 +38,7 @@ public final class Constants {
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
public static final double kCosVolts = 1;
public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
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@@ -16,7 +16,7 @@ public class ArmSubsystem extends TrapezoidProfileSubsystem {
new ExampleSmartMotorController(ArmConstants.kMotorPort);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */

16
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -35,14 +35,14 @@ class WPILIB_DLLEXPORT ArmFeedforward {
* Creates a new ArmFeedforward with the specified gains.
*
* @param kS The static gain, in volts.
* @param kCos The gravity gain, in volts.
* @param kG The gravity gain, in volts.
* @param kV The velocity gain, in volt seconds per radian.
* @param kA The acceleration gain, in volt seconds^2 per radian.
*/
constexpr ArmFeedforward(
units::volt_t kS, units::volt_t kCos, units::unit_t<kv_unit> kV,
units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0))
: kS(kS), kCos(kCos), kV(kV), kA(kA) {}
: kS(kS), kG(kG), kV(kV), kA(kA) {}
/**
* Calculates the feedforward from the gains and setpoints.
@@ -56,7 +56,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
units::unit_t<Velocity> velocity,
units::unit_t<Acceleration> acceleration =
units::unit_t<Acceleration>(0)) const {
return kS * wpi::sgn(velocity) + kCos * units::math::cos(angle) +
return kS * wpi::sgn(velocity) + kG * units::math::cos(angle) +
kV * velocity + kA * acceleration;
}
@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume max velocity is positive
return (maxVoltage - kS - kCos * units::math::cos(angle) -
return (maxVoltage - kS - kG * units::math::cos(angle) -
kA * acceleration) /
kV;
}
@@ -100,7 +100,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume min velocity is negative, ks flips sign
return (-maxVoltage + kS - kCos * units::math::cos(angle) -
return (-maxVoltage + kS - kG * units::math::cos(angle) -
kA * acceleration) /
kV;
}
@@ -121,7 +121,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Velocity> velocity) {
return (maxVoltage - kS * wpi::sgn(velocity) -
kCos * units::math::cos(angle) - kV * velocity) /
kG * units::math::cos(angle) - kV * velocity) /
kA;
}
@@ -144,7 +144,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
}
units::volt_t kS{0};
units::volt_t kCos{0};
units::volt_t kG{0};
units::unit_t<kv_unit> kV{0};
units::unit_t<ka_unit> kA{0};
};