feat(arm): Initial re-tune (without shooter).

Gongoliers · Apr 9, 2024 · 09f1b6c · 09f1b6c
1 parent ff15067
commit 09f1b6c
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Showing 5 changed files with 20 additions and 14 deletions.
diff --git a/src/main/java/frc/lib/controller/PositionControllerIO.java b/src/main/java/frc/lib/controller/PositionControllerIO.java
@@ -14,7 +14,13 @@ public static class PositionControllerIOConstants {
      * Interpret counterclockwise rotation on the motor face as having positive velocity, if set to
      * true.
      */
-    public boolean ccwPositive = true;
+    public boolean ccwPositiveMotor = true;
+
+    /**
+     * Interpret counterclockwise rotation on the encoder as having positive velocity, if set to
+     * true.
+     */
+    public boolean ccwPositiveAbsoluteEncoder = true;
 
     /** Use the motor to brake the controlled mechanism on neutral output, if set to true. */
     public boolean neutralBrake = false;

diff --git a/src/main/java/frc/lib/controller/PositionControllerIOTalonFX2.java b/src/main/java/frc/lib/controller/PositionControllerIOTalonFX2.java
@@ -83,7 +83,7 @@ public void configure(PositionControllerIOConstants constants) {
     TalonFXConfiguration motorConfig = new TalonFXConfiguration();
 
     motorConfig.MotorOutput.Inverted =
-        constants.ccwPositive
+        constants.ccwPositiveMotor
             ? InvertedValue.CounterClockwise_Positive
             : InvertedValue.Clockwise_Positive;
     motorConfig.MotorOutput.NeutralMode =
@@ -110,7 +110,7 @@ public void configure(PositionControllerIOConstants constants) {
 
     encoderConfig.MagnetSensor.MagnetOffset = constants.absoluteEncoderOffsetRotations;
     encoderConfig.MagnetSensor.SensorDirection =
-        constants.ccwPositive
+        constants.ccwPositiveAbsoluteEncoder
             ? SensorDirectionValue.CounterClockwise_Positive
             : SensorDirectionValue.Clockwise_Positive;
 

diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
@@ -47,5 +47,5 @@ public enum Subsystem {
       EnumSet.of(
           Subsystem.ARM, Subsystem.INTAKE, Subsystem.ODOMETRY, Subsystem.SHOOTER, Subsystem.SWERVE);
 
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = ALL_SUBSYSTEMS;
+  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.ARM);
 }
diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java
@@ -25,25 +25,25 @@ public static class ShoulderConstants {
 
     static {
       PIDF.kS = 0.14;
-      PIDF.kG = 0.45;
+      PIDF.kG = 0.18;
       PIDF.kV = 4.0;
-      PIDF.kP = 20.0;
+      PIDF.kP = 8.0;
     }
 
     /** Shoulder's controller constants. */
     public static final PositionControllerIOConstants CONTROLLER_CONSTANTS =
         new PositionControllerIOConstants();
 
     static {
-      CONTROLLER_CONSTANTS.ccwPositive = false;
+      CONTROLLER_CONSTANTS.ccwPositiveMotor = true;
+      CONTROLLER_CONSTANTS.ccwPositiveAbsoluteEncoder = false;
       CONTROLLER_CONSTANTS.neutralBrake = true;
       CONTROLLER_CONSTANTS.sensorToMechanismRatio = 39.771428571;
-      CONTROLLER_CONSTANTS.absoluteEncoderOffsetRotations =
-          Units.degreesToRotations(-146.77) + Units.degreesToRotations(-27.07);
+      CONTROLLER_CONSTANTS.absoluteEncoderOffsetRotations = Units.degreesToRotations(-173.135);
     }
 
     /** Maximum speed of the shoulder in rotations per second. */
-    public static final double MAXIMUM_SPEED = Units.degreesToRotations(60.0);
+    public static final double MAXIMUM_SPEED = Units.degreesToRotations(120.0);
 
     /** Maximum acceleration of the shoulder in rotations per second per second. */
     public static final double MAXIMUM_ACCELERATION =

diff --git a/src/main/java/frc/robot/arm/ArmState.java b/src/main/java/frc/robot/arm/ArmState.java
@@ -8,19 +8,19 @@
 
 public record ArmState(State shoulderRotations) {
 
-  public static final ArmState INITIAL = new ArmState(Rotation2d.fromDegrees(-26.45));
+  public static final ArmState INITIAL = new ArmState(Rotation2d.fromDegrees(-25));
 
-  public static final ArmState STOW = new ArmState(Rotation2d.fromDegrees(-26.45));
+  public static final ArmState STOW = new ArmState(Rotation2d.fromDegrees(-25));
 
   public static final ArmState SPEAKER = new ArmState(Rotation2d.fromDegrees(-15));
 
   public static final ArmState PASS = new ArmState(Rotation2d.fromDegrees(0));
 
   public static final ArmState EJECT = new ArmState(Rotation2d.fromDegrees(0));
 
-  public static final ArmState AMP = new ArmState(Rotation2d.fromDegrees(90));
+  public static final ArmState AMP = new ArmState(Rotation2d.fromDegrees(80));
 
-  public static final ArmState CLIMB = new ArmState(Rotation2d.fromDegrees(90));
+  public static final ArmState CLIMB = new ArmState(Rotation2d.fromDegrees(80));
 
   public ArmState {
     Objects.requireNonNull(shoulderRotations);