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Set motion magic hard coded values to values in preferences #249

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Set motion magic hard coded values to values in preferences #249

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d56e760
Set motion magic hard coded values to values in preferences
dunep Mar 16, 2024
8f537f3
added names to differentiate magic motion prefs
dunep Mar 16, 2024
9ecc59a
un-changed changed value
dunep Mar 16, 2024
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11 changes: 11 additions & 0 deletions src/main/java/frc/robot/RobotPreferences.java
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Original file line number Diff line number Diff line change
Expand Up @@ -190,6 +190,11 @@ public static final class prefPitch {
public static final SN_DoublePreference pitchP = new SN_DoublePreference("pitchP", 300); // 100
public static final SN_DoublePreference pitchI = new SN_DoublePreference("pitchI", 0);
public static final SN_DoublePreference pitchD = new SN_DoublePreference("pitchD", 0);
public static final SN_DoublePreference MotionMagicCruiseVelocity = new SN_DoublePreference(
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// - Motion Magic -
/**
* Units: Rotations per second (rps)
*/
public static final SN_DoublePreference climberCruiseVelocity = new SN_DoublePreference(
"climberCruiseVelocity", 80);

/**
 * <b> Units: </b> Rotations per second per second (rps/s)
 */
public static final SN_DoublePreference climberAcceleration = new SN_DoublePreference(
    "climberAcceleration", 160);
/**
 * <b> Units: </b> Rotations per second per second per second (rps/s/s)
 */
public static final SN_DoublePreference climberJerk = new SN_DoublePreference("climberJerk", 1600);

"MotionMagicCruiseVelocity", 80);
public static final SN_DoublePreference MotionMagicAcceleration = new SN_DoublePreference("MotionMagicAcceleration",
160);
public static final SN_DoublePreference MotionMagicJerk = new SN_DoublePreference("MotionMagicJerk", 1600);

/**
* Takes a percentage of the controller joystick input to set as the manual
Expand Down Expand Up @@ -454,6 +459,12 @@ public static final class prefTurret {
public static final SN_DoublePreference turretCurrentTimeThreshold = new SN_DoublePreference(
"turretCurrentTimeThreshold", 0.1);

public static final SN_DoublePreference MotionMagicCruiseVelocity = new SN_DoublePreference(
"MotionMagicCruiseVelocity", 80);
public static final SN_DoublePreference MotionMagicAcceleration = new SN_DoublePreference("MotionMagicAcceleration",
160);
public static final SN_DoublePreference MotionMagicJerk = new SN_DoublePreference("MotionMagicJerk", 1600);

/**
* <b>Units:</b> Degrees
*/
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9 changes: 6 additions & 3 deletions src/main/java/frc/robot/subsystems/Pitch.java
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Expand Up @@ -71,9 +71,12 @@ public void configure() {
pitchConfig.Slot0.kI = prefPitch.pitchI.getValue();
pitchConfig.Slot0.kD = prefPitch.pitchD.getValue();

pitchConfig.MotionMagic.MotionMagicCruiseVelocity = 80; // Target cruise velocity of 80 rps
pitchConfig.MotionMagic.MotionMagicAcceleration = 160; // Target acceleration of 160 rps/s (0.5 seconds)
pitchConfig.MotionMagic.MotionMagicJerk = 1600; // Target jerk of 1600 rps/s/s (0.1 seconds)
pitchConfig.MotionMagic.MotionMagicCruiseVelocity = prefPitch.MotionMagicCruiseVelocity.getValue();
// Target cruise velocity of 80 rps
pitchConfig.MotionMagic.MotionMagicAcceleration = prefPitch.MotionMagicAcceleration.getValue();
// Target acceleration of 160 rps/s (0.5 seconds)
pitchConfig.MotionMagic.MotionMagicJerk = prefPitch.MotionMagicJerk.getValue();
// Target jerk of 1600 rps/s/s (0.1 seconds)

pitchConfig.SoftwareLimitSwitch.ForwardSoftLimitEnable = true;
pitchConfig.SoftwareLimitSwitch.ForwardSoftLimitThreshold = prefPitch.pitchForwardLimit.getValue();
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/Turret.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,9 +81,9 @@ public void configure() {
turretConfig.Slot0.kI = prefTurret.turretI.getValue();
turretConfig.Slot0.kD = prefTurret.turretD.getValue();

turretConfig.MotionMagic.MotionMagicCruiseVelocity = 160; // rps
turretConfig.MotionMagic.MotionMagicAcceleration = 160; // rps/s
turretConfig.MotionMagic.MotionMagicJerk = 1600; // rps/s/s
turretConfig.MotionMagic.MotionMagicCruiseVelocity = prefTurret.MotionMagicCruiseVelocity.getValue(); // rps
turretConfig.MotionMagic.MotionMagicAcceleration = prefTurret.MotionMagicAcceleration.getValue(); // rps/s
turretConfig.MotionMagic.MotionMagicJerk = prefTurret.MotionMagicJerk.getValue(); // rps/s/s

turretConfig.SoftwareLimitSwitch.ForwardSoftLimitEnable = true;
turretConfig.SoftwareLimitSwitch.ForwardSoftLimitThreshold = prefTurret.turretForwardLimit.getValue();
Expand Down