From 1a0c0fade15d140a88cce92cb816a9d354fa9587 Mon Sep 17 00:00:00 2001 From: dkt01 Date: Thu, 26 Sep 2024 20:31:53 -0500 Subject: [PATCH] Re-tune for battery power --- src/PlatformApp/PlatformApp.h | 75 ++++++++++++++++++----------------- 1 file changed, 38 insertions(+), 37 deletions(-) diff --git a/src/PlatformApp/PlatformApp.h b/src/PlatformApp/PlatformApp.h index c099e1c..5dd0a3b 100644 --- a/src/PlatformApp/PlatformApp.h +++ b/src/PlatformApp/PlatformApp.h @@ -32,18 +32,19 @@ namespace controlLoop { constexpr double kI = 0.0; constexpr double kD = 0.0; constexpr double kF = 0.05; - constexpr double iZone = 100.0; + constexpr double iZone = 500.0; constexpr double allowableError = 0.0; } // namespace drive namespace rotate { - constexpr double kP = 0.005; - constexpr double kI = 0.00001; + constexpr double kP = 1.4; + constexpr double kI = 0.0005; constexpr double kD = 0.0; constexpr double kF = 0.0; - constexpr double iZone = 100.0; - constexpr double allowableError = 0.0; + constexpr double iZone = 500.0; + constexpr double allowableError = 10.0; } // namespace rotate } // namespace drive + constexpr static auto rampRate = 0_ms; } // namespace controlLoop namespace joystickAxisMaps { @@ -113,10 +114,10 @@ namespace motorConfig { constexpr static auto voltCompSat = 11.0_V; constexpr static auto nominalOutputForward = 0.0; constexpr static auto nominalOutputReverse = 0.0; - constexpr static auto peakOutputForward = 0.2; - constexpr static auto peakOutputReverse = -0.2; - constexpr static auto openLoopRamp = 3000_ms; - constexpr static auto closedLoopRamp = 3000_ms; + // constexpr static auto peakOutputForward = 0.2; + // constexpr static auto peakOutputReverse = -0.2; + // constexpr static auto openLoopRamp = controlLoop::rampRate; + // constexpr static auto closedLoopRamp = controlLoop::rampRate; constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor; constexpr static auto pid0_kP = controlLoop::drive::drive::kP; constexpr static auto pid0_kI = controlLoop::drive::drive::kI; @@ -143,10 +144,10 @@ namespace motorConfig { constexpr static auto voltCompSat = 11.0_V; constexpr static auto nominalOutputForward = 0.0; constexpr static auto nominalOutputReverse = 0.0; - constexpr static auto peakOutputForward = 0.2; - constexpr static auto peakOutputReverse = -0.2; - constexpr static auto openLoopRamp = 3000_ms; - constexpr static auto closedLoopRamp = 3000_ms; + // constexpr static auto peakOutputForward = 0.2; + // constexpr static auto peakOutputReverse = -0.2; + // constexpr static auto openLoopRamp = controlLoop::rampRate; + // constexpr static auto closedLoopRamp = controlLoop::rampRate; constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor; constexpr static auto pid0_kP = controlLoop::drive::drive::kP; constexpr static auto pid0_kI = controlLoop::drive::drive::kI; @@ -173,10 +174,10 @@ namespace motorConfig { constexpr static auto voltCompSat = 11.0_V; constexpr static auto nominalOutputForward = 0.0; constexpr static auto nominalOutputReverse = 0.0; - constexpr static auto peakOutputForward = 0.2; - constexpr static auto peakOutputReverse = -0.2; - constexpr static auto openLoopRamp = 3000_ms; - constexpr static auto closedLoopRamp = 3000_ms; + // constexpr static auto peakOutputForward = 0.2; + // constexpr static auto peakOutputReverse = -0.2; + // constexpr static auto openLoopRamp = controlLoop::rampRate; + // constexpr static auto closedLoopRamp = controlLoop::rampRate; constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor; constexpr static auto pid0_kP = controlLoop::drive::drive::kP; constexpr static auto pid0_kI = controlLoop::drive::drive::kI; @@ -203,10 +204,10 @@ namespace motorConfig { constexpr static auto voltCompSat = 11.0_V; constexpr static auto nominalOutputForward = 0.0; constexpr static auto nominalOutputReverse = 0.0; - constexpr static auto peakOutputForward = 0.2; - constexpr static auto peakOutputReverse = -0.2; - constexpr static auto openLoopRamp = 3000_ms; - constexpr static auto closedLoopRamp = 3000_ms; + // constexpr static auto peakOutputForward = 0.2; + // constexpr static auto peakOutputReverse = -0.2; + // constexpr static auto openLoopRamp = controlLoop::rampRate; + // constexpr static auto closedLoopRamp = controlLoop::rampRate; constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor; constexpr static auto pid0_kP = controlLoop::drive::drive::kP; constexpr static auto pid0_kI = controlLoop::drive::drive::kI; @@ -229,10 +230,10 @@ namespace motorConfig { constexpr static auto neutralDeadband = 0.001; constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake; constexpr static auto voltCompSat = 11.0_V; - constexpr static auto nominalOutputForward = 0.1; - constexpr static auto nominalOutputReverse = -0.1; - constexpr static auto openLoopRamp = 750_ms; - constexpr static auto closedLoopRamp = 750_ms; + // constexpr static auto nominalOutputForward = 0.1; + // constexpr static auto nominalOutputReverse = -0.1; + // constexpr static auto openLoopRamp = closedLoop::rampRate; + // constexpr static auto closedLoopRamp = closedLoop::rampRate; constexpr static auto remoteFilter0_addr = sensorConfig::drive::frontLeftTurn::address; constexpr static auto remoteFilter0_type = ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder; @@ -260,10 +261,10 @@ namespace motorConfig { constexpr static auto neutralDeadband = 0.001; constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake; constexpr static auto voltCompSat = 11.0_V; - constexpr static auto nominalOutputForward = 0.1; - constexpr static auto nominalOutputReverse = -0.1; - constexpr static auto openLoopRamp = 750_ms; - constexpr static auto closedLoopRamp = 750_ms; + // constexpr static auto nominalOutputForward = 0.1; + // constexpr static auto nominalOutputReverse = -0.1; + // constexpr static auto openLoopRamp = closedLoop::rampRate; + // constexpr static auto closedLoopRamp = closedLoop::rampRate; constexpr static auto remoteFilter0_addr = sensorConfig::drive::frontRightTurn::address; constexpr static auto remoteFilter0_type = ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder; @@ -291,10 +292,10 @@ namespace motorConfig { constexpr static auto neutralDeadband = 0.001; constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake; constexpr static auto voltCompSat = 11.0_V; - constexpr static auto nominalOutputForward = 0.1; - constexpr static auto nominalOutputReverse = -0.1; - constexpr static auto openLoopRamp = 750_ms; - constexpr static auto closedLoopRamp = 750_ms; + // constexpr static auto nominalOutputForward = 0.1; + // constexpr static auto nominalOutputReverse = -0.1; + // constexpr static auto openLoopRamp = closedLoop::rampRate; + // constexpr static auto closedLoopRamp = closedLoop::rampRate; constexpr static auto remoteFilter0_addr = sensorConfig::drive::rearRightTurn::address; constexpr static auto remoteFilter0_type = ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder; @@ -322,10 +323,10 @@ namespace motorConfig { constexpr static auto neutralDeadband = 0.001; constexpr static auto neutralMode = ctre::phoenix::motorcontrol::NeutralMode::Brake; constexpr static auto voltCompSat = 11.0_V; - constexpr static auto nominalOutputForward = 0.1; - constexpr static auto nominalOutputReverse = -0.1; - constexpr static auto openLoopRamp = 750_ms; - constexpr static auto closedLoopRamp = 750_ms; + // constexpr static auto nominalOutputForward = 0.1; + // constexpr static auto nominalOutputReverse = -0.1; + // constexpr static auto openLoopRamp = closedLoop::rampRate; + // constexpr static auto closedLoopRamp = closedLoop::rampRate; constexpr static auto remoteFilter0_addr = sensorConfig::drive::rearLeftTurn::address; constexpr static auto remoteFilter0_type = ctre::phoenix::motorcontrol::RemoteSensorSource::RemoteSensorSource_CANCoder;