Climber Positions API + Rickaboot #148

ZachOrr · 2022-02-21T19:26:08Z

This PR attempts to abstract the idea of moving the climber so we don't have to talk voltages or speeds directly. Instead, commands that want to move the climber call moveToSetpoint with a setpoint to move the climber automatically. Right now - only rickaboot and start are supported. Internally, the climber manages moving itself to the proper position either via the string pot or encoders.

Nicholas-Stokes

I feel like the encoders are being neglected here, I guess this is really just setting up more advanced features to use in the future, maybe this name should be changed since we aren't really going to positions, just setting up dirty work.

src/main/java/frc/robot/commands/climber/ClimberJoystickCommand.java

Nicholas-Stokes · 2022-02-21T19:37:18Z

src/main/java/frc/robot/subsystems/Climber.java

-    return leftMotor.getSelectedSensorPosition();
+  /** Public API */
+
+  private boolean isStringPotConnected() {


Our voltage without the stringpot might still be a value

src/main/java/frc/robot/commands/climber/ClimberJoystickCommand.java

src/main/java/frc/robot/subsystems/Climber.java

src/main/java/frc/robot/commands/climber/ClimberJoystickCommand.java

src/main/java/frc/robot/subsystems/Climber.java

Nicholas-Stokes · 2022-02-22T14:59:02Z

I stayed up last night thinking about this, and I feel like we want the String Pot to be a luxury or periphery option instead of being our main focus for setting limits and positions. I feel like this is jumping through hoops in case the string pot breaks, where we should be able to write this so that it shouldn't matter if it breaks, it would just be nice to have. I think we need to step back and think about this in case we start merging a bunch of unnecessary code, i.e., we shouldn't have to rush this, we have three weeks until Livonia.

ZachOrr · 2022-03-09T19:17:02Z

src/main/java/frc/robot/subsystems/Climber.java

+  // private static final double MAX_SPEED = 0.70;
+  private static final double MAX_SPEED = 0.10;


Test this low, merge this higher

ZachOrr · 2022-03-09T19:17:32Z

src/main/java/frc/robot/subsystems/Climber.java

  private final AnalogInput stringPot = new AnalogInput(Constants.CLIMBER_STRING_POT_ID);
  private final TalonFX leftMotor = new TalonFX(Constants.CLIMBER_LEFT_MOTOR_ID);
  private final TalonFX rightMotor = new TalonFX(Constants.CLIMBER_RIGHT_MOTOR_ID);

+  private static final double STRING_POT_UPPER_SOFT_LIMIT = 3.0;


Find our string pot upper limit - probably via driving with a joystick

ZachOrr · 2022-03-09T19:18:06Z

src/main/java/frc/robot/subsystems/Climber.java

+  private static final double STRING_POT_UPPER_SOFT_LIMIT = 3.0;
+  private Double stringPotStartingVoltage;
+  private double stringPotVoltage;
+  private PIDController stringPotPIDController = new PIDController(0.1, 0.0, 0.0);


Be careful with this value - needs to be tuned. If anything, we might want to start this lower and start moving up as we go.

ZachOrr · 2022-03-09T19:18:38Z

src/main/java/frc/robot/subsystems/Climber.java

+  private double stringPotVoltage;
+  private PIDController stringPotPIDController = new PIDController(0.1, 0.0, 0.0);
+
+  private static final double ENCODER_UPPER_SOFT_LIMIT = 3000;


Find our upper limit here (pull value for the same location we pull the value for the string pot)

ZachOrr · 2022-03-09T19:19:15Z

src/main/java/frc/robot/subsystems/Climber.java

+  private PIDController stringPotPIDController = new PIDController(0.1, 0.0, 0.0);
+
+  private static final double ENCODER_UPPER_SOFT_LIMIT = 3000;
+  private static final double ENCODER_LOWER_SOFT_LIMIT = 0; // Zero == where the motor boots


As mentioned, our lower limits will almost certainly be lower than this due to our "pull up".

ZachOrr · 2022-03-09T19:25:53Z

src/main/java/frc/robot/subsystems/Climber.java

+    if (setpointPosition.sensor == ClimberSensor.ENCODER) {
+      // If we're using the encoders - set the internal encoder PID
+      // to move us to our position
+      setPosition(setpointPosition.value);


We need to have our range check here

ZachOrr · 2022-03-09T19:26:09Z

src/main/java/frc/robot/subsystems/Climber.java

+      // attempt to
+      // hold the climber at the setpoint. The brake mode motors do that for us.
+      if (stringPotPIDController.atSetpoint()) {
+        // TODO: Hold at position?


TODO? Worth talking with someone else to figure out if this is how we want this to work

ZachOrr · 2022-03-09T19:26:44Z

src/main/java/frc/robot/subsystems/Climber.java

+            stringPotStartingVoltage,
+            ClimberSensor.STRING_POT
+          );
+        case RICKABOOT:  // TODO: Figure out Rickaboot string pot voltage


ZachOrr · 2022-03-09T19:26:52Z

src/main/java/frc/robot/subsystems/Climber.java

+            0.0,
+            ClimberSensor.ENCODER
+          );
+        case RICKABOOT:  // TODO: Figure out Rickaboot encoder value


src/main/java/frc/robot/subsystems/Climber.java

Manual is still not working, PID looks good.

ZachOrr · 2022-03-10T17:40:40Z

src/main/java/frc/robot/RobotContainer.java

+    // NOTE: This is temp, and should not be checked in to main
+    operatorRightBumper.whenPressed(() -> climber.moveToSetpoint(ClimberSetpoint.RICKABOOT));
+    operatorRightBumper.whenReleased(() -> climber.moveToSetpoint(ClimberSetpoint.START));


Back this out before merge

ZachOrr · 2022-03-10T17:41:19Z

src/main/java/frc/robot/subsystems/Climber.java

+  private static final double STRING_POT_LOWER_SOFT_LIMIT = 0.1;
+
+  private Double stringPotStartingVoltage;
+  private PIDController stringPotPIDController = new PIDController(6.0, 0.0, 0.0);


This controller needs to be tuned some more. My guess is way more P + a bunch of D.

…edloopError

ZachOrr · 2022-03-10T17:43:15Z

src/main/java/frc/robot/subsystems/Climber.java

+    // configuration.nominalOutputForward = 0.1;
+    // configuration.nominalOutputReverse = 0.1;


Temp removed the nominal outputs while we're tuning the PID. I want to see what happens if we run without them. We might need them back in through for our position hold.

ZachOrr · 2022-03-10T17:45:13Z

src/main/java/frc/robot/subsystems/Climber.java

+
+      output = Math.copySign(Math.min(Math.abs(output), MAX_SPEED), output);
+
+      SmartDashboard.putNumber("Climber Output", output);


We can remove this once we have our PIDs tuned.

ZachOrr · 2022-03-10T17:46:18Z

src/main/java/frc/robot/subsystems/Climber.java

+          );
+        case RICKABOOT:
+          return new ClimberPosition(
+            148500, // TODO: This needs to be fixed...


This needs to be re-configured with the climber at it's new start location (~0.9something v). We were also having issues last night where we weren't getting close to the encoder values we expected. Need to figure out why that is.

ZachOrr · 2022-03-10T17:46:51Z

src/main/java/frc/robot/subsystems/Climber.java

+    }
+  }
+
+  // TODO: Make private - provide some other method here to move via joystick control


We're gonna merge with this TODO - since we're not going to convert the climber joystick drive code right this moment.

The logic that we had currently had the boolean causing a stop and conflicting our motors. By removing this stop, and moving it into the actual periodicMoveToSetpoint, we can use the joystick and the PID. Also, adjusted the volatage we get when the stringpot is disconnected to be accurate.

Nicholas-Stokes requested changes Feb 21, 2022

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Nicholas-Stokes closed this Feb 22, 2022

ZachOrr reopened this Feb 22, 2022

ZachOrr changed the title ~~Climber Positions~~ [WIP] Climber Positions Feb 22, 2022

ZachOrr force-pushed the zorr/climber-api branch from da6406c to 0bfedb5 Compare February 22, 2022 20:32

ZachOrr force-pushed the zorr/climber-api branch 3 times, most recently from a3de4f2 to 06a638b Compare March 9, 2022 19:15

ZachOrr commented Mar 9, 2022

View reviewed changes

ZachOrr changed the title ~~[WIP] Climber Positions~~ Climber Positions API + Rickaboot Mar 9, 2022

ZachOrr force-pushed the zorr/climber-api branch 2 times, most recently from ad5b5c0 to bf69584 Compare March 9, 2022 20:07

Climber API for moving climber between setpoint positions

f051926

ZachOrr force-pushed the zorr/climber-api branch from bf69584 to f051926 Compare March 9, 2022 22:40

Nicholas-Stokes and others added 2 commits March 9, 2022 21:52

Testing Changes

8d496d6

Manual is still not working, PID looks good.

Add method for getting current climber setpoint

d129f94

ZachOrr commented Mar 10, 2022

View reviewed changes

Use ENCODER_ALLOWABLE_CLOSED_LOOP_ERROR_TICKS for motor allowableClos…

eaf4dfa

…edloopError

ZachOrr commented Mar 10, 2022

View reviewed changes

ZachOrr and others added 2 commits March 10, 2022 12:52

Add comment on why we zero out the encoder in climber

86e707b

Nicholas-Stokes mentioned this pull request Mar 11, 2022

Limits on the Climber #201

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Climber Positions API + Rickaboot #148

Climber Positions API + Rickaboot #148

ZachOrr commented Feb 21, 2022 •

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		// private static final double MAX_SPEED = 0.70;
		private static final double MAX_SPEED = 0.10;

		// configuration.nominalOutputForward = 0.1;
		// configuration.nominalOutputReverse = 0.1;


		output = Math.copySign(Math.min(Math.abs(output), MAX_SPEED), output);

		SmartDashboard.putNumber("Climber Output", output);

Climber Positions API + Rickaboot #148

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Climber Positions API + Rickaboot #148

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ZachOrr commented Feb 21, 2022 •

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