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Feature/motion magic turret #21

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Feature/motion magic turret #21

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7 changes: 3 additions & 4 deletions src/main/java/com/stuypulse/robot/constants/Gains.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,8 @@
/***************************************************************/
package com.stuypulse.robot.constants;

import com.stuypulse.stuylib.network.SmartNumber;

import com.pathplanner.lib.config.PIDConstants;
import com.stuypulse.stuylib.network.SmartNumber;

public class Gains {

Expand Down Expand Up @@ -40,7 +39,7 @@ public interface slot0 {
double kD = 0.0;

double kS = 0.4775;
double kV = 0.0;
double kV = 0.12;
double kA = 0.0;
}

Expand All @@ -50,7 +49,7 @@ public interface slot1 {
SmartNumber kD = new SmartNumber("Superstructure/Turret/Gains/kD", 10.0);

SmartNumber kS = new SmartNumber("Superstructure/Turret/Gains/kS", 0.4775);
SmartNumber kV = new SmartNumber("Superstructure/Turret/Gains/kV", 0.0);
SmartNumber kV = new SmartNumber("Superstructure/Turret/Gains/kV", 0.12);
SmartNumber kA = new SmartNumber("Superstructure/Turret/Gains/kA", 0.0);
}

Expand Down
9 changes: 6 additions & 3 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,6 @@
/***************************************************************/
package com.stuypulse.robot.constants;

import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;

import com.ctre.phoenix6.CANBus;
import com.pathplanner.lib.path.PathConstraints;
import com.stuypulse.stuylib.network.SmartBoolean;
Expand All @@ -21,6 +18,8 @@
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.wpilibj.LEDPattern;
import edu.wpi.first.wpilibj.util.Color;

Expand Down Expand Up @@ -224,6 +223,10 @@ public interface Angles {
}

public interface Turret {
//Set these arbitarily high such that the motion magic acts like a pure PID control
final double MAX_VELOCITY_DEG_PER_SEC = 600.0;
final double MAX_ACCEL_DEG_PER_SEC_SQ = 1000.0;

public final Rotation2d MAX_VEL = new Rotation2d(Units.degreesToRadians(600.0));
public final Rotation2d MAX_ACCEL = new Rotation2d(Units.degreesToRadians(600.0));
public final Rotation2d TOLERANCE = Rotation2d.fromDegrees(2.0);
Expand Down
55 changes: 29 additions & 26 deletions src/main/java/com/stuypulse/robot/subsystems/superstructure/turret/TurretImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,26 @@
/***************************************************************/
package com.stuypulse.robot.subsystems.superstructure.turret;

import java.util.Optional;

import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.controls.MotionMagicVoltage;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import com.stuypulse.robot.Robot;
import com.stuypulse.robot.RobotContainer;
import com.stuypulse.robot.Robot.RobotMode;
import com.stuypulse.robot.RobotContainer;
import com.stuypulse.robot.RobotContainer.EnabledSubsystems;
import com.stuypulse.robot.constants.DriverConstants;
import com.stuypulse.robot.constants.Gains;
import com.stuypulse.robot.constants.Motors;
import com.stuypulse.robot.constants.Ports;
import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain;
import com.stuypulse.robot.util.EnergyUtil;
import com.stuypulse.robot.util.PhoenixUtil;
import com.stuypulse.robot.util.SysId;
import com.stuypulse.robot.util.superstructure.TurretAngleCalculator;
Expand All @@ -28,17 +37,6 @@
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;

import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;

import java.util.Optional;

public class TurretImpl extends Turret {
private final Motors.TalonFXConfig turretConfig;
private final Motors.CANCoderConfig encoder17tConfig;
Expand All @@ -53,6 +51,7 @@ public class TurretImpl extends Turret {

private Optional<Double> voltageOverride;
private final PositionVoltage controller;
private final MotionMagicVoltage motionMagicVoltageController;

private double prevActualTargetAngle;
private boolean isWrapping;
Expand Down Expand Up @@ -89,10 +88,11 @@ public TurretImpl() {
Gains.Superstructure.Turret.slot1.kI.get(), Gains.Superstructure.Turret.slot1.kD.get(), 1)
.withFFConstants(Gains.Superstructure.Turret.slot1.kS.get(), Gains.Superstructure.Turret.slot1.kV.get(),
Gains.Superstructure.Turret.slot1.kA.get(), 1)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign, 1)

.withSensorToMechanismRatio(Settings.Superstructure.Turret.GEAR_RATIO_MOTOR_TO_MECH)

.withMotionProfile(Settings.Superstructure.Turret.MAX_VELOCITY_DEG_PER_SEC,
Settings.Superstructure.Turret.MAX_ACCEL_DEG_PER_SEC_SQ)

.withSoftLimits(
false, false,
Settings.Superstructure.Turret.SoftwareLimit.FORWARD_MAX_ROTATIONS,
Expand Down Expand Up @@ -122,6 +122,7 @@ public TurretImpl() {
prevActualTargetAngle = getTargetAngle().getDegrees();

controller = new PositionVoltage(getTargetAngle().getRotations()).withEnableFOC(true);
motionMagicVoltageController = new MotionMagicVoltage(getTargetAngle().getRotations()).withEnableFOC(true);

turretMotor.getClosedLoopError().setUpdateFrequency(1000.0);

Expand Down Expand Up @@ -260,16 +261,18 @@ public void periodicAfterScheduler() {
turretMotor.setVoltage(voltageOverride.get());
}
else {
double omega = CommandSwerveDrivetrain.getInstance().getChassisSpeeds().omegaRadiansPerSecond;
double omegaFF = Gains.Superstructure.Turret.kOmega.get() * omega;
// double setpointVelocityRPS = delta / (360 * Settings.DT);
// double translationFF = Gains.Superstructure.Turret.slot0.kV * setpointVelocityRPS;

turretMotor.setControl(controller
.withPosition(prevActualTargetAngle / 360.0)
.withSlot(slot)
.withFeedForward(omegaFF /* + translationFF */)
);
// double omega = CommandSwerveDrivetrain.getInstance().getChassisSpeeds().omegaRadiansPerSecond;
// double omegaFF = Gains.Superstructure.Turret.kOmega.get() * omega;
// // double setpointVelocityRPS = delta / (360 * Settings.DT);
// // double translationFF = Gains.Superstructure.Turret.slot0.kV * setpointVelocityRPS;

// turretMotor.setControl(controller
// .withPosition(prevActualTargetAngle / 360.0)
// .withSlot(slot)
// .withFeedForward(omegaFF /* + translationFF */)
// );
motionMagicVoltageController.withPosition(prevActualTargetAngle / 360.0)
.withSlot(slot);
}
} else {
turretMotor.stopMotor();
Expand Down
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