// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
ArmPIDSubsystem::ArmPIDSubsystem()
: PIDSubsystem("ArmPIDSubsystem", Kp, Ki, Kd),
upperArmLimitHit(false),
lowerArmLimitHit(false),
pidEnabled(false),
potOrigin(PotOriginDefault),
potOriginCheckComplete(false)
{
Logger::GetInstance()->Log(ArmPIDSubsystemLogId, Logger::kINFO, "ArmPIDSubsystem::ctor() called.");
SetAbsoluteTolerance(0.2);
GetPIDController()->SetContinuous(false);
LiveWindow::GetInstance()->AddActuator("Arm PID Subsystem", "PIDSubsystem Controller", GetPIDController());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
potentiometer1 = RobotMap::armPIDSubsystemPotentiometer1;
armSpeedController = RobotMap::armPIDSubsystemSpeedController1;
upperArmLimit = RobotMap::armPIDSubsystemupperArmLimit;
lowerArmLimit = RobotMap::armPIDSubsystemlowerArmLimit;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
Logger::GetInstance()->Log(ArmPIDSubsystemLogId, Logger::kINFO, "ArmPIDSubsystem::ctor() exiting.");
SmartDashboard::PutBoolean(ReadyToFireField, false);
}
void HorizontalAlign::Initialize()
{
printf("test");
auto pid = GetPIDController();
pid->SetAbsoluteTolerance(40);
pid->SetSetpoint(SCREEN_CENTER_X); //Point we're trying to get to
pid->Disable();
pid->SetOutputRange(-(ROT_SPEED_CAP - ROT_SPEED_MIN), ROT_SPEED_CAP - ROT_SPEED_MIN);
}
Wrist::Wrist() : frc::PIDSubsystem("Wrist", kP_real, 0.0, 0.0) {
#ifdef SIMULATION // Check for simulation and update PID values
GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
#endif
SetAbsoluteTolerance(2.5);
// Let's show everything on the LiveWindow
AddChild("Motor", m_motor);
AddChild("Pot", m_pot);
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
ShooterSubsystem::ShooterSubsystem() : PIDSubsystem("ShooterSubsystem", 1.0, 0.0, 0.0) {
SetAbsoluteTolerance(0.2);
GetPIDController()->SetContinuous(false);
LiveWindow::GetInstance()->AddActuator("ShooterSubsystem", "PIDSubsystem Controller", GetPIDController());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
shooterEncoder = RobotMap::shooterSubsystemShooterEncoder;
shooterWheelJaguar = RobotMap::shooterSubsystemShooterWheelJaguar;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
Catapult::Catapult() : PIDSubsystem("Catapult", -0.003, -0.001, -0.005) {
SetAbsoluteTolerance(5.0);
GetPIDController()->SetContinuous(false);
LiveWindow::GetInstance()->AddActuator("Catapult", "PIDSubsystem Controller", GetPIDController());
GetPIDController()->SetOutputRange(-1.0, 0.35);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
encoder = RobotMap::catapultEncoder;
jag2 = RobotMap::catapultJag2;
jag3 = RobotMap::catapultJag3;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
Arm::Arm() : PIDSubsystem("Arm", 1.0, 0.0, 0.0) {
SetAbsoluteTolerance(0.2);
GetPIDController()->SetContinuous(false);
LiveWindow::GetInstance()->AddActuator("Arm", "PIDSubsystem Controller", GetPIDController());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
motor = RobotMap::armMotor;
pot = RobotMap::armPot;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
ShooterArm::ShooterArm() : PIDSubsystem("ShooterArm", 0.75, 0.16, 0.7) {
SetAbsoluteTolerance(0.3);
GetPIDController()->SetContinuous(false);
LiveWindow::GetInstance()->AddActuator("ShooterArm", "PIDSubsystem Controller", GetPIDController());
GetPIDController()->SetOutputRange(-1.0, 0.75);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
shooterArmPot = RobotMap::shooterArmshooterArmPot;
shooterArmMotor = RobotMap::shooterArmshooterArmMotor;
fiveVoltMeasure = RobotMap::shooterArmFiveVoltMeasure;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
GetPIDController()->SetInputRange(MIN_ANGLE, MAX_ANGLE);//Minimum voltage defines the max angle, max volage defines the min angle
_targetAngle = 0.0;
_onStage2 = false;
_onStage3 = false;
_targetPosition = CUSTOM;
ResetPID();
}
SlavedLauncherPID::SlavedLauncherPID(std::string side, MotorPin motorPin, MotorPin motorPin2, DIOPin encoderPin) :
PIDSubsystem(side + "SlavedLauncherPID", 4.5, 0.167, .0),
pidMotor(motorPin),
pidMotor2(motorPin2),
pidEncoder(encoderPin),
reverseMultiplier(1)
{
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "PIDController", GetPIDController());
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "OutputMotor", pidMotor);
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "OutputMotor2", pidMotor2);
LiveWindow::GetInstance()->AddSensor(side + "LauncherPID2", side + "Encoder", pidEncoder);
// SmartDashboard::PutData(side+"LauncherPidController", GetPIDController().get());
GetPIDController()->SetOutputRange(0,1);
SetAbsoluteTolerance(.05);
SetPIDSourceType(PIDSourceType::kDisplacement);
pidEncoder.SetSamplesToAverage(1);
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
void OpenSMOKE_ICEM::DefineFromFile(const std::string inputFile)
{
double double_value;
std::string string_value;
int int_value;
vector<string> string_vector;
OpenSMOKE_Dictionary_ICEM dictionary;
dictionary.ParseFile(inputFile);
// COMPULSORY: Rotation Rate
if (dictionary.Return("#RotationRate", double_value, string_value))
AssignRotationRate(string_value, double_value);
// COMPULSORY: Compression Ratio
if (dictionary.Return("#CompressionRatio", double_value))
AssignCompressionRatio(double_value);
// COMPULSORY: Reactor Clearance Volume
if (dictionary.Return("#ClearanceVolume", double_value, string_value))
AssignClearanceVolume(string_value, double_value);
// COMPULSORY: Arm Ratio
if (dictionary.Return("#ArmRatio", double_value))
AssignArmRatio(double_value);
// COMPULSORY: Start angle
if (dictionary.Return("#StartAngle", double_value, string_value))
AssignStartAngle(string_value, double_value);
// COMPULSORY: Start angle
if (dictionary.Return("#Diameter", double_value, string_value))
AssignDiameter(string_value, double_value);
// OPTIONAL: Number of cycles
if (dictionary.Return("#NumberOfCycles", double_value))
SetNumberOfCycles(double_value);
// OPTIONAL: KeySpecies
if (dictionary.Return("#Key", string_vector))
SetKeySpecies(string_vector);
// OPTIONAL: Output folder
if (dictionary.Return("#Output", string_value))
SetOutputFolder(string_value);
// OPTIONAL: Print Options
if (dictionary.Return("#Nvideo", int_value))
SetVideoOptions(int_value);
// OPTIONAL: Print Options
if (dictionary.Return("#Nfile", int_value))
SetFileOptions(int_value);
// OPTIONAL: Print Options
if (dictionary.Return("#NoVerbose"))
UnsetVerbose();
// OPTIONAL: Verbose Energy
if (dictionary.Return("#VerboseEnergy"))
SetVerboseEnergy();
// OPTIONAL: Global kinetics
if (dictionary.Return("#GlobalKinetics"))
SetGlobalKinetics();
// OPTIONAL: Relative tolerance
if (dictionary.Return("#RelTol", double_value))
SetRelativeTolerance(double_value);
// OPTIONAL: Absolute tolerance
if (dictionary.Return("#AbsTol", double_value))
SetAbsoluteTolerance(double_value);
// OPTIONAL: Adiabatic
if (dictionary.Return("#Adiabatic"))
SetAdiabatic();
// OPTIONAL: Heat flux
if (dictionary.Return("#Qe", double_value, string_value))
SetConstantHeatFlux(double_value, string_value);
// OPTIONAL: Exchange area
if (dictionary.Return("#A", double_value, string_value))
SetConstantExchangeArea(double_value, string_value);
// OPTIONAL: Exchange coefficient
if (dictionary.Return("#U", double_value, string_value))
SetConstantHeatExchangeCoefficient(double_value, string_value);
// OPTIONAL: Ambient temperature
if (dictionary.Return("#Twall", double_value, string_value))
SetConstantAmbientTemperature(double_value, string_value);
// OPTIONAL: UserDefined_Qe
if (dictionary.Return("#UserDefined_Qe", string_value))
SetUserDefinedHeatFlux(string_value);
// OPTIONAL: UserDefined_Ae
if (dictionary.Return("#UserDefined_A", string_value))
SetUserDefinedExchangeArea(string_value);
// OPTIONAL: UserDefined_U
if (dictionary.Return("#UserDefined_U", string_value))
SetUserDefinedHeatExchangeCoefficient(string_value);
// OPTIONAL: UserDefined_Twall
if (dictionary.Return("#UserDefined_Twall", string_value))
SetUserDefinedAmbientTemperature(string_value);
// OPTIONAL: TwoEquationModel
if (dictionary.Return("#2E_Model"))
SetTwoEquationModel();
// OPTIONAL: Reaction Rates
if (dictionary.Return("#ReactionRates", string_vector))
SetReactionRatesOnFile(string_vector);
// OPTIONAL: Formation Rates
if (dictionary.Return("#FormationRates", string_vector))
SetFormationRatesOnFile(string_vector);
// OPTIONAL: Rate of Production Analysis
if (dictionary.Return("#ROPA"))
SetROPAOnFile();
// OPTIONAL: Sensitivity Analysis
if (dictionary.Return("#Sensitivity", string_vector))
SetSensitivityOnFile(string_vector);
Lock();
}
