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use outboard steering control only
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@truher
truher committed Nov 6, 2024
1 parent 74956a9 commit 0869d9f
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Showing 2 changed files with 9 additions and 72 deletions.
4 changes: 0 additions & 4 deletions lib/src/main/java/org/team100/lib/experiments/Experiment.java
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,6 @@ public enum Experiment {
* Filter rotational output to remove oscillation
*/
UseThetaFilter,
/**
* Use outboard closed-loop position control for steering instead of onboard PID
*/
OutboardSteering,
/**
* Use low-pass filter and deadbanding on controller feedback, to prevent
* overresponse to noise and jitter around zero.
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77 changes: 9 additions & 68 deletions lib/src/main/java/org/team100/lib/motion/drivetrain/module/WCPSwerveModule100.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@
import org.team100.lib.encoder.EncoderDrive;
import org.team100.lib.encoder.RotaryPositionSensor;
import org.team100.lib.encoder.Talon6Encoder;
import org.team100.lib.framework.TimedRobot100;
import org.team100.lib.logging.LoggerFactory;
import org.team100.lib.motion.drivetrain.kinodynamics.SwerveKinodynamics;
import org.team100.lib.motion.mechanism.LinearMechanism;
Expand All @@ -18,16 +17,13 @@
import org.team100.lib.motion.mechanism.SimpleRotaryMechanism;
import org.team100.lib.motion.servo.AngularPositionServo;
import org.team100.lib.motion.servo.LinearVelocityServo;
import org.team100.lib.motion.servo.OnboardAngularPositionServo;
import org.team100.lib.motion.servo.OutboardAngularPositionServo;
import org.team100.lib.motion.servo.OutboardLinearVelocityServo;
import org.team100.lib.motor.Falcon6Motor;
import org.team100.lib.motor.Kraken6Motor;
import org.team100.lib.motor.MotorPhase;
import org.team100.lib.profile.Profile100;

import edu.wpi.first.math.controller.PIDController;

public class WCPSwerveModule100 extends SwerveModule100 {
private static final double kSteeringSupplyLimit = 10;
private static final double kSteeringStatorLimit = 20;
Expand Down Expand Up @@ -77,10 +73,7 @@ public static WCPSwerveModule100 getKrakenDrive(
SwerveKinodynamics kinodynamics,
EncoderDrive drive,
MotorPhase motorPhase) {
//
// note the outboard steering setting!
//
final boolean useOutboardSteering = true;

LinearVelocityServo driveServo = driveKrakenServo(
parent.child("Drive"),
supplyLimitAmps,
Expand All @@ -96,8 +89,7 @@ public static WCPSwerveModule100 getKrakenDrive(
kSteeringRatio,
kinodynamics,
drive,
motorPhase,
useOutboardSteering);
motorPhase);

return new WCPSwerveModule100(driveServo, turningServo);
}
Expand All @@ -118,10 +110,6 @@ public static WCPSwerveModule100 getFalconDrive(
SwerveKinodynamics kinodynamics,
EncoderDrive drive,
MotorPhase motorPhase) {
//
// note the outboard steering setting!
//
final boolean useOutboardSteering = true;
LinearVelocityServo driveServo = driveFalconServo(
parent.child("Drive"),
supplyLimitAmps,
Expand All @@ -137,8 +125,7 @@ public static WCPSwerveModule100 getFalconDrive(
kSteeringRatio,
kinodynamics,
drive,
motorPhase,
useOutboardSteering);
motorPhase);
return new WCPSwerveModule100(driveServo, turningServo);
}

Expand Down Expand Up @@ -204,21 +191,12 @@ private static AngularPositionServo turningServo(
double gearRatio,
SwerveKinodynamics kinodynamics,
EncoderDrive drive,
MotorPhase motorPhase,
boolean useOutboardSteering) {
MotorPhase motorPhase) {

PIDConstants lowLevelPID = null;
if (useOutboardSteering) {
// Talon outboard POSITION PID
// 10/2/24 drive torque produces about a 0.5 degree deviation so maybe
// this is too low.
lowLevelPID = new PIDConstants(10.0, 0.0, 0.0);
} else {
// These parameters are handed to Talon outboard VELOCITY PID
// this seems more likely to oscillate
// this is tuned in air, not on carpet, so it's probably too soft.
lowLevelPID = new PIDConstants(0.3, 0.0, 0.0);
}
// Talon outboard POSITION PID
// 10/2/24 drive torque produces about a 0.5 degree deviation so maybe
// this is too low.
PIDConstants lowLevelPID = new PIDConstants(10.0, 0.0, 0.0);

// java uses this to calculate feedforward voltages from target velocities etc
Feedforward100 ff = Feedforward100.makeWCPSwerveTurningFalcon6();
Expand Down Expand Up @@ -251,19 +229,8 @@ private static AngularPositionServo turningServo(
builtInEncoder,
gearRatio);

if (useOutboardSteering) {
AngularPositionServo turningServo = getOutboard(
parent,
turningEncoder,
profile,
mech);
turningServo.reset();
return turningServo;
}

AngularPositionServo turningServo = getOnboard(
AngularPositionServo turningServo = getOutboard(
parent,
kinodynamics,
turningEncoder,
profile,
mech);
Expand All @@ -288,31 +255,6 @@ private static AngularPositionServo getOutboard(
return servo;
}

private static AngularPositionServo getOnboard(
LoggerFactory parent,
SwerveKinodynamics kinodynamics,
RotaryPositionSensor turningEncoder,
Profile100 profile,
RotaryMechanism mech) {
// This is the top-level position controller
// this is tuned in air, not on carpet, so it's probably too soft.
PIDController onboardPositionController = new PIDController(
20, // kP
0, // kI
0, // kD
TimedRobot100.LOOP_PERIOD_S);
onboardPositionController.enableContinuousInput(-Math.PI, Math.PI);
onboardPositionController.setTolerance(0.02, 0.02);
AngularPositionServo servo = new OnboardAngularPositionServo(
parent,
mech,
turningEncoder,
kinodynamics.getMaxSteeringVelocityRad_S(),
onboardPositionController);
servo.setProfile(profile);
return servo;
}

private static RotaryPositionSensor turningEncoder(
Class<? extends RotaryPositionSensor> encoderClass,
LoggerFactory parent,
Expand All @@ -334,7 +276,6 @@ private static RotaryPositionSensor turningEncoder(
drive);
}
throw new IllegalArgumentException("unknown encoder class: " + encoderClass.getName());

}

private WCPSwerveModule100(
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