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Tracks how long for the motor to reach setpoint #125

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Tracks how long for the motor to reach setpoint #125

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Tracks how long for the motor to reach setpoint
Nicholas-Stokes Feb 20, 2022
217cf9f
Merge branch 'main' into shooter-reaching-pid
Nicholas-Stokes Feb 20, 2022
5ab3499
Code Review Changes
Nicholas-Stokes Feb 20, 2022
261f6b9
Cleanliness Changes
Nicholas-Stokes Feb 20, 2022
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24 changes: 23 additions & 1 deletion src/main/java/frc/robot/commands/shooter/StartShooter.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package frc.robot.commands.shooter;

import frc.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;

/**
Expand All @@ -11,16 +12,37 @@
public class StartShooter extends CommandBase {

private final Shooter shooter;
private double reachSetpointCycleCounter;
private boolean isShooterComingUpToSpeed = true;
private double previousSetpoint;
private double newSetpoint;

public StartShooter(Shooter shooter) {
this.shooter = shooter;

addRequirements(shooter);
}

@Override
public void initialize(){
reachSetpointCycleCounter = 0;
isShooterComingUpToSpeed = true;
}
@Override
public void execute() {
shooter.setSpeed(shooter.shooterSpeedFeetPerSecondWidget.getDouble(0));
double targetSetpoint = shooter.shooterSpeedFeetPerSecondWidget.getDouble(0);
newSetpoint = targetSetpoint;
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So if we're never resetting our reachSetpointCycleCounter or isShooterComingUpToSpeed - do we need to have a previous/next here? Or can we just have the single setpoint?

Doing the zeroing/resetting the way you were doing is fine. You'd only have to move your SmartDashboard.putNumber back in to that if (isShooterComingUpToSpeed block for that to still work.

Either approach is fine here IMO. I don't know if at this point in time we'll be like, holding the button to start the shooter and changing the values on the slider. I think it's more likely we'll set the value in code and then want to see how long the shooter takes to get up to speed between StartShooter calls.

shooter.setSpeed(targetSetpoint);
if (isShooterComingUpToSpeed || (previousSetpoint != newSetpoint)) {
if (!shooter.isShooterToSpeed()) {
reachSetpointCycleCounter ++;
} else {
isShooterComingUpToSpeed = false;
}
}
previousSetpoint = targetSetpoint;
//20 ms in a cycle, so we multiply our cycle time by 50 to get the amount of milliseconds, divide by 1000 to get seconds.
SmartDashboard.putNumber("Time to reach Setpoint in sec", ((reachSetpointCycleCounter * 50) / 1000));
}

@Override
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