PIDController in CmdAlign - #137
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mika-okamoto
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Sep 13, 2022
| currHorizontalOffset = limelights.getShooterTX(); | ||
| prevError = goalHorizontalOffset - currHorizontalOffset; | ||
| aimState = VisionState.FEEDBACK; | ||
| controller.disableContinuousInput(); |
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this should be .enable not .disable because you're switching from searching to feedback
| if(!limelights.getShooterHasValidTarget()) { | ||
| aimState = VisionState.SEARCHING; | ||
| plateauCount = 0; | ||
| controller.enableContinuousInput(-180, 180); |
| double ff = Math.signum(currError) * VISION_PID_kF; | ||
| double feedbackPower = VISION_PID_kP * currError + VISION_PID_kD * (currError - prevError) / (currTime - prevTime) + ff; | ||
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| double feedbackPower = controller.calculate(currHorizontalOffset); |
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keep the ff line in here and set feedbackPower = the code you have in here with .calculate() + ff
double ff = Math.signum(currError) * VISION_PID_kF
mika-okamoto
commented
Sep 13, 2022
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| double feedbackPower = controller.calculate(currHorizontalOffset); | ||
| double ff = Math.signum(currError) * VISION_PID_kF; | ||
| double feedbackPower = controller.calculate(currHorizontalOffset) + ff; |
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use currError instead of currHorizontalOffset
ControlsNarwhal
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Sep 13, 2022
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looks good - mika
(this is anwika's pr, I made the pr from my account so am approving with this account)
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