Logging and Tuning Improvements #120
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Implement rbsiPeriodic() in RBSISubsystem that child classes must override for periodic input updating and other tasks. The upshot of this is that subsystems would need to have a `rbsiPeriodic()` method for the input updating and other tasks, rather than a `periodic()`. The autologging of periodic timing is a major 👍!
Some characterizable constants like slip current and wheel radius have been moved to the ``DrivetrainConstants`` section of the constants file to make it easier to modify them during drivetrain tuning. Conformal changes to allow downstream modules to properly find these values.
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Instead of different commands having their own ProfiledPIDController for robot rotation, define it in `Drive.java` and use it everywhere else. This works since the drivebase can only be doing one command at a time, so there is no need to have multiple controllers running around. Also, streamline where constants are defined and used to minimize repeated definitions and contain all drivebase-related constants in the ``DrivebaseConstants`` class.
Instead of using arbitrary maximum angular velocity and acceleration, use the combination of the specified maximum linear limits and drivebase radius to compute the angular limits.
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This PR brings improvements to Az-RBSI's logging and tuning capabilities.
Subsystem periodic logging has been adjusted by adding a RBSI wrapper to include timing and logging of each subsystem's periodic loop. This necessitates changing the periodic loop declaration in any child class that
extends RBSISubsystemfrom:to
For tuning, additional drivetrain variables have been moved into
Constants.DrivebaseConstantsfor easier tuning. Conformal changes to other modules have been made to point to the new location of these variables.