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Merge pull request strongback#25 from Team3132/interfaceNetworkTable
Create a way to tune PID values on all motors using network tables.
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36 changes: 29 additions & 7 deletions
36
src/main/java/frc/robot/interfaces/NetworkTableHelperInterface.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,14 +1,36 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2018 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
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| package frc.robot.interfaces; | ||
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| public interface NetworkTableHelperInterface extends DashboardUpdater { | ||
| /** | ||
| * Gets a named double value from the network tables. If not found | ||
| * the defaultValue is returned. | ||
| * @param key the name to look up in the table | ||
| * @param defaultValue will be returned if key not found. | ||
| * @return the value in the table if found, defaultValue otherwise. | ||
| */ | ||
| public double get(String key, double defaultValue); | ||
| /** | ||
| * Gets a named Boolean value from the network tables. If not found | ||
| * the defaultValue is returned. | ||
| * @param key the name to look up in the table | ||
| * @param defaultValue will be returned if key not found. | ||
| * @return the value in the table if found, defaultValue otherwise. | ||
| */ | ||
| public boolean get(String key, boolean defaultValue); | ||
| /** | ||
| * Gets a named String value from the network tables. If not found | ||
| * the defaultValue is returned. | ||
| * @param key the name to look up in the table | ||
| * @param defaultValue will be returned if key not found. | ||
| * @return the value in the table if found, defaultValue otherwise. | ||
| */ | ||
| public String get(String key, String defaultValue); | ||
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| /** | ||
| * Sets a named double value from the network tables. | ||
| * @param key the name to look up in the table. | ||
| * @param value the value set to the network table. | ||
| */ | ||
| public void set(String key, double value); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| package frc.robot.lib; | ||
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| import org.strongback.Executable; | ||
| import org.strongback.Executor.Priority; | ||
| import org.strongback.Strongback; | ||
| import org.strongback.components.Motor; | ||
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| import frc.robot.Constants; | ||
| import frc.robot.interfaces.NetworkTableHelperInterface; | ||
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| /** | ||
| * Whenever a motor is created, networkTable for the motor PIDF values are implemented from here. | ||
| * The PIDF values are initiliased on the network table and and the motors are updated from the PIDF | ||
| * values in the network tables once per second. This allows the values to be updated on the fly by changing | ||
| * the values in the network tables. | ||
| */ | ||
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| class TunableMotor implements Executable { | ||
| private final Motor motor; | ||
| private final NetworkTableHelperInterface networkTable; | ||
| private double lastUpdateSec = 0; | ||
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| public static void tuneMotor(Motor motor, int id, double p, double i , double d , double f, NetworkTablesHelper networkTable) { | ||
| var tunable = new TunableMotor(motor, id, p, i, d, f, networkTable); | ||
| networkTable.set("p", p); | ||
| networkTable.set("i", i); | ||
| networkTable.set("d", d); | ||
| networkTable.set("f", f); | ||
| Strongback.executor().register(tunable, Priority.LOW); | ||
| } | ||
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| public TunableMotor(Motor motor, int id, double p, double i, double d, double f, NetworkTablesHelper networkTable) { | ||
| this.motor = motor; | ||
| this.networkTable = networkTable; | ||
| } | ||
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| // Executes the command 1 time every 1 second. | ||
| @Override | ||
| public void execute(long timeInMillis) { | ||
| double now = Strongback.timeSystem().currentTime(); | ||
| if (now < lastUpdateSec + Constants.DASHBOARD_UPDATE_INTERVAL_SEC) | ||
| return; | ||
| update(); | ||
| lastUpdateSec = now; | ||
| } | ||
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| private void update() { | ||
| double p = networkTable.get("p", Constants.DRIVE_P); | ||
| double i = networkTable.get("i", Constants.DRIVE_I); | ||
| double d = networkTable.get("d", Constants.DRIVE_D); | ||
| double f = networkTable.get("f", Constants.DRIVE_F); | ||
| motor.setPIDF(0, p, i, d, f); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -180,4 +180,4 @@ public void updateDashboard() { | |
| dashboard.putNumber(name + " ball count", getCount()); | ||
| } | ||
| } | ||
| } | ||
| } | ||
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