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package frc.robot.subsystems;
import org.littletonrobotics.junction.Logger;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.Constants;
import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Seconds;
public class Arm extends SubsystemBase
{
// rad
private double m_setpoint = Constants.arm_initial_position;
private final CANSparkMax m_armL = new CANSparkMax(Constants.armL_ID, MotorType.kBrushless);
private final CANSparkMax m_armR = new CANSparkMax(Constants.armR_ID, MotorType.kBrushless);
private final RelativeEncoder m_encoderL = m_armL.getEncoder();
private final RelativeEncoder m_encoderR = m_armR.getEncoder();
private ArmFeedforward m_feedforward = new ArmFeedforward(Constants.ArmkS, Constants.ArmkG, Constants.ArmkV);
private ProfiledPIDController m_pidL = new ProfiledPIDController(Constants.ArmkP, Constants.ArmkI, Constants.ArmkD, Constants.arm_constraints);
private ProfiledPIDController m_pidR = new ProfiledPIDController(Constants.ArmkP, Constants.ArmkI, Constants.ArmkD, Constants.arm_constraints);
// SYSID
private final MutableMeasure<Voltage> m_voltage = mutable(Volts.of(0));
private final MutableMeasure<Angle> m_angle = mutable(Radians.of(0));
private final MutableMeasure<Velocity<Angle>> m_velocity = mutable(RadiansPerSecond.of(0));
private final SysIdRoutine m_sysIdRoutine = new SysIdRoutine(
new SysIdRoutine.Config(
Volts.per(Seconds).of(0.5),
Volts.of(3),
Seconds.of(10)),
new SysIdRoutine.Mechanism(
(Measure<Voltage> volts) -> {
m_armL.setVoltage(volts.in(Volts));
m_armR.setVoltage(volts.in(Volts));
},
log -> {
log.motor("arm-left")
.voltage(
m_voltage.mut_replace(
m_armL.getAppliedOutput() * m_armL.getBusVoltage(), Volts)
)
.angularPosition(m_angle.mut_replace(m_encoderL.getPosition(), Radians))
.angularVelocity(m_velocity.mut_replace(m_encoderL.getVelocity(), RadiansPerSecond));
log.motor("arm-right")
.voltage(
m_voltage.mut_replace(
m_armR.getAppliedOutput() * m_armR.getBusVoltage(), Volts)
)
.angularPosition(m_angle.mut_replace(m_encoderR.getPosition(), Radians))
.angularVelocity(m_velocity.mut_replace(m_encoderR.getVelocity(), RadiansPerSecond));
}, this));
public Arm()
{
m_armL.setInverted(false);
m_armR.setInverted(true);
m_encoderL.setPositionConversionFactor(2*Math.PI / Constants.ArmGearReduction);
m_encoderR.setPositionConversionFactor(2*Math.PI / Constants.ArmGearReduction);
reset();
}
// public Arm(double kP, double kI, double kD, double kS, double kG, double kV)
// {
// this();
// m_feedforward = new ArmFeedforward(kS, kG, kV);
// m_pidL = new ProfiledPIDController(kP, kI, kD, Constants.arm_constraints);
// m_pidR = new ProfiledPIDController(kP, kI, kD, Constants.arm_constraints);
// }
public void reset()
{
m_setpoint = Constants.arm_initial_position;
m_encoderL.setPosition(Constants.arm_initial_position);
m_encoderR.setPosition(Constants.arm_initial_position);
m_pidL.reset(Constants.arm_initial_position);
m_pidR.reset(Constants.arm_initial_position);
}
public double pos() {
return Math.min(m_encoderL.getPosition(), m_encoderR.getPosition()) * 180 / Math.PI;
}
// in rad
public void atAngle(double angle)
{
m_setpoint = angle;
m_pidL.setGoal(m_setpoint);
m_pidR.setGoal(m_setpoint);
voltage(
m_pidL.calculate(m_encoderL.getPosition()),
m_feedforward.calculate(m_pidL.getSetpoint().position, m_pidL.getSetpoint().velocity),
m_pidR.calculate(m_encoderR.getPosition()),
m_feedforward.calculate(m_pidR.getSetpoint().position, m_pidR.getSetpoint().velocity)
);
}
public void voltage(double leftVoltsPID, double leftVoltsFFW, double rightVoltsPID, double rightVoltsFFW)
{
Logger.recordOutput(getName() + "/leftPID", leftVoltsPID);
Logger.recordOutput(getName() + "/rightPID", rightVoltsPID);
Logger.recordOutput(getName() + "/leftFFW", leftVoltsFFW);
Logger.recordOutput(getName() + "/rightFFW", rightVoltsFFW);
m_armL.setVoltage(MathUtil.clamp(leftVoltsPID + leftVoltsFFW, -4, 4));
m_armR.setVoltage(MathUtil.clamp(rightVoltsPID + rightVoltsFFW, -4, 4));
}
// in deg
public void incrementAngleDegrees(double amount)
{
incrementAngle(amount * Math.PI / 180.0);
}
// in rad
public void incrementAngle(double amount)
{
atAngle(m_setpoint + amount);
}
// in deg
public void atAngleDegrees(double angle)
{
atAngle(angle * Math.PI / 180.0);
}
// in rad
public boolean isAtAngle(double angle)
{
if(Math.abs(m_encoderL.getPosition() - angle) < Constants.ArmEpsilon
&& Math.abs(m_encoderR.getPosition() - angle) < Constants.ArmEpsilon)
return true;
return false;
}
// in deg
public boolean isAtAngleDegree(double angle)
{
return isAtAngle(angle * Math.PI/180);
}
// in rad
// public boolean hasClearedAngle(double angle)
// {
// if(m_encoderL.getPosition() > angle
// && m_encoderR.getPosition() > angle)
// return true;
// return false;
// }
// public boolean hasClearedAngleDegree(double angle)
// {
// return hasClearedAngle(angle * Math.PI/180);
// }
@Override
public void periodic()
{
Logger.recordOutput(getName() + "/positionL", m_encoderL.getPosition() * 180/Math.PI);
Logger.recordOutput(getName() + "/positionR", m_encoderR.getPosition() * 180/Math.PI);
}
// Sysid
public Command sysIdQausistatic(SysIdRoutine.Direction direction)
{
return m_sysIdRoutine.quasistatic(direction);
}
public Command sysIdDynamic(SysIdRoutine.Direction direction)
{
return m_sysIdRoutine.dynamic(direction);
}
}
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