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Added Get Current Pos and added spaces to the String Builder #45

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Added Get Current Pos and added spaces to the String Builder #45

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2 changes: 1 addition & 1 deletion Java General/MotionMagic/.wpilib/wpilib_preferences.json
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "Beta2020-2",
"projectYear": "2020",
"teamNumber": 1718
}
2 changes: 1 addition & 1 deletion Java General/MotionMagic/build.gradle
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2020.1.2"
id "edu.wpi.first.GradleRIO" version "2020.3.2"
}

sourceCompatibility = JavaVersion.VERSION_11
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34 changes: 26 additions & 8 deletions Java General/MotionMagic/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@
import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;

public class Robot extends TimedRobot {
Expand Down Expand Up @@ -113,8 +114,8 @@ public void robotInit() {
* have green LEDs when driving Talon Forward / Requesting Postiive Output Phase
* sensor to have positive increment when driving Talon Forward (Green LED)
*/
_talon.setSensorPhase(false);
_talon.setInverted(false);
_talon.setSensorPhase( false );
_talon.setInverted( false );

/* Set relevant frame periods to be at least as fast as periodic rate */
_talon.setStatusFramePeriod(StatusFrameEnhanced.Status_13_Base_PIDF0, 10, Constants.kTimeoutMs);
Expand All @@ -134,11 +135,26 @@ public void robotInit() {
_talon.config_kD(Constants.kSlotIdx, Constants.kGains.kD, Constants.kTimeoutMs);

/* Set acceleration and vcruise velocity - see documentation */
_talon.configMotionCruiseVelocity(15000, Constants.kTimeoutMs);
_talon.configMotionAcceleration(6000, Constants.kTimeoutMs);
_talon.configMotionCruiseVelocity( 15000, Constants.kTimeoutMs);
_talon.configMotionAcceleration( 6000, Constants.kTimeoutMs);

/* Zero the sensor once on robot boot up */
_talon.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);

/* Use for sensors that don't role over back to Zero similar to a Potentiometer */
//_talon.configFeedbackNotContinuous(true, Constants.kTimeoutMs);

/* Zero Encoder on Reverce Limit switch or Forward Limit switch*/
//_talon.configClearPositionOnLimitR(true, Constants.kTimeoutMs);
//_talon.configClearPositionOnLimitF(true, Constants.kTimeoutMs);

/* Configure Current Limits */
//_talon.configPeakCurrentLimit(30);
//_talon.configPeakCurrentDuration(150);
// _talon.configContinuousCurrentLimit(20);

// put all Talon SRX into brake mode
//_talon.setNeutralMode(NeutralMode.Brake);
}

/**
Expand All @@ -155,10 +171,12 @@ public void teleopPeriodic() {
double motorOutput = _talon.getMotorOutputPercent();

/* Prepare line to print */
_sb.append("\tOut%:");
_sb.append("\t Out%:");
_sb.append(motorOutput);
_sb.append("\tVel:");
_sb.append("\t Vel:");
_sb.append(_talon.getSelectedSensorVelocity(Constants.kPIDLoopIdx));
_sb.append("\t Current Pos:");
_sb.append(_talon.getSelectedSensorPosition());

/**
* Peform Motion Magic when Button 1 is held, else run Percent Output, which can
Expand All @@ -172,9 +190,9 @@ public void teleopPeriodic() {
_talon.set(ControlMode.MotionMagic, targetPos);

/* Append more signals to print when in speed mode */
_sb.append("\terr:");
_sb.append("\t err:");
_sb.append(_talon.getClosedLoopError(Constants.kPIDLoopIdx));
_sb.append("\ttrg:");
_sb.append("\t trg:");
_sb.append(targetPos);
} else {
/* Percent Output */
Expand Down