Made tunnable pid numbers work + made shooter idle mode coast#76
Made tunnable pid numbers work + made shooter idle mode coast#76JAMthepersonj wants to merge 4 commits intomainfrom
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JAMthepersonj
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MikeKantrowitz,
armadilloz and
batchen1
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| config | ||
| .smartCurrentLimit(pidConfig.getCurrentLimit()) | ||
| .closedLoopRampRate(RAMP_RATE) | ||
| .idleMode(IdleMode.kBrake); |
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You don't want to change this here because it will affect all the PID motors (turret, angler).
batchen1
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batchen1
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I don't understand your change. Now the leader is in Brake mode and the follower in coast. This is not what we need.
| config | ||
| .smartCurrentLimit(pidConfig.getCurrentLimit()) | ||
| .closedLoopRampRate(RAMP_RATE) | ||
| .idleMode(IdleMode.kBrake); |
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Wouldn't it be simpler to add idleMode to the SparkMaxPidConfig and use it from there in all the existing code?
So in here it would be .idleMode(pidConfig.getIdleMode()
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The shooter Subsystem does not pass in a SparkMaxPidConfig instead we are passing in a boolean value for using maxMotion
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The proposed solution would have the shooter subsystem create a SparkMaxPidConfig with kBrakeMode and pass this into the existing constructor of SparkMaxPidMotor. This would be following the same pattern as the other config parameters.
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So here is what I propose:
In the shooter subsystem:
SparkMaxPidConfig config = new SparkMaxPidConfig(false).setIdleMode(kCoast);
SparkMaxPidMotor motor = new SparkMaxPidMotor(id, config);
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I will fix this when i get to robotics later i should be there at around 5-6
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