Create arm subsystem #11

rbhog · 2018-01-18T23:12:16Z

Resolves #9.

…nto encoders

…eir respective helper methods

…nto encoders

plusparth · 2018-01-25T16:38:37Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+     */
+    private fun setArmPower(power: Double) {
+        armState = ArmState.VELOCITY_CONTROL
+        masterSRX.set(ControlMode.MotionMagic, Math.abs(power))


velocity control != motionmagic, use velocity control mode

plusparth · 2018-01-25T16:38:52Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+
+    @Synchronized override fun stop() {
+        movementState = MovementState.STATIONARY
+        setArmPower(0.0)


actuate brake in this situation too

plusparth · 2018-01-25T16:40:16Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                when (armState) {
+                    Arm.ArmState.LOW -> {
+                        masterSRX.set(ControlMode.MotionMagic, ArmConversion.radiansToPulses(ArmState.LOW.targetPos).toDouble())
+                        armAngle = ArmState.LOW.targetPos


armAngle should always track current angle, not target position -- there's some method to get that from the talon

plusparth · 2018-01-25T16:49:19Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    }
+                    ArmState.VELOCITY_CONTROL -> {
+                        masterSRX.set(ControlMode.Velocity, 0.0)
+                        when (movementState) {


movement states should be set regardless of whether or not it's in velocity control.

Also, in velocity control, more than just the state will be set -- have it literally just pass in this case, and let the setPower function be public (in velocity control mode, use that function to control movement and direction)

notjagan

Some issues with timing on stationary mode and braking.

notjagan · 2018-01-25T18:11:34Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                } else if (masterSRX.sensorCollection.quadratureVelocity > 0) {
+                    movementState = Arm.MovementState.UP
+                } else if (masterSRX.sensorCollection.quadratureVelocity == 0) {
+                    stationaryTime ++


stationaryTime is never actually set to zero, so the second time this happens it will instantly activate stationary. Also, stylistically the ++ shouldn't have a space before it.

Either way, it's probably better not to use just a counter but instead actually keep track of time elapsed; @plato2000 mentioned that there was some timing method that was used last year in the intake code if you want a reference point.

notjagan · 2018-01-25T18:12:24Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    movementState = Arm.MovementState.UP
+                } else if (masterSRX.sensorCollection.quadratureVelocity == 0) {
+                    stationaryTime ++
+                    if (stationaryTime >= 100) {


By the way, the loop is on a roughly 50ms cycle, so this condition would take a full 5 seconds.

notjagan · 2018-01-25T18:15:42Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                }
+                armAngle = ArmConversion.pulsesToRadians(masterSRX.sensorCollection.pulseWidthPosition) - armBaseAngle
+                if (movementState == Arm.MovementState.STATIONARY) {
+                    brake.set(DoubleSolenoid.Value.kReverse)


The brake is actuated in stationary, but is never actually un-actuated when the arm starts moving. Additionally, it might be a good idea to add a timer that prevents the arm from moving for some amount of time after the brake disengages - although that may be something to implement at a later date.

notjagan · 2018-01-25T18:18:17Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+    @Synchronized override fun stop() {
+        movementState = MovementState.STATIONARY
+        setArmVelocity(0.0)
+        brake.set(DoubleSolenoid.Value.kReverse)


We might have to switch all the kReverse and kForward settings later, but that's not that big of a deal.

notjagan

A few more timer issues.

notjagan · 2018-01-27T17:00:02Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

-                    if (stationaryTime >= 100) {
+                    if (movementState != Arm.MovementState.STATIONARY && brake.get() == DoubleSolenoid.Value.kReverse) {
+                        brakeTime = Timer.getFPGATimestamp()
+                        stationaryTime++


stationaryTime is still using a counter instead of an actual timestamp.

notjagan · 2018-01-27T17:00:46Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                        stationaryTime++
+                        brake.set(DoubleSolenoid.Value.kForward)
+                    }
+                    if (Timer.getFPGATimestamp() - brakeTime > 0.5) {


I'm confused as to what's actually happening here.

notjagan

Quite a few issues with state changing.

notjagan · 2018-01-30T02:49:00Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    masterSRX.set(ControlMode.MotionMagic, ArmConversion.pulsesToRadians(masterSRX.sensorCollection.pulseWidthPosition))
+                } else {
+                    brake.set(DoubleSolenoid.Value.kForward)
+                    when (armState) {


On second thought, this would probably be better off as part of the if statement - LOW, EXCHANGE, and HIGH all do the same thing, STILL has its own action, and VELOCITY_CONTROL doesn't need to be handled.

notjagan · 2018-01-30T02:52:35Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                // after 0.5 seconds of hold, actuate the brake and prevent movement
+                // 0.5 seconds after actuating the brake, set to stationary
+                // once the user tries to move, un-actuate the brake
+                if (masterSRX.sensorCollection.quadratureVelocity == 0) {


There's both this condition for quadratureVelocity as well as the one down at the bottom. Only one is necessary.

notjagan · 2018-01-30T02:53:24Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    }
+                    if (Timer.getFPGATimestamp() - holdTime == 0.5) {
+                        movementState = Arm.MovementState.STATIONARY
+                    } else {


Was this else block supposed to follow the enclosing statement?

notjagan · 2018-01-30T02:59:56Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    }
+                }
+
+                if (masterSRX.sensorCollection.quadratureVelocity > 0) {


It may be better to have the movement state not based on what the actual current velocity is, but instead the relationship between the current position and the target position. However, this isn't really that important, and can be changed later on if necessary.

notjagan · 2018-01-30T03:00:50Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    brake.set(DoubleSolenoid.Value.kReverse)
+
+                }
+                if (movementState != Arm.MovementState.STATIONARY && brake.get() == DoubleSolenoid.Value.kReverse) {


This is also essentially duplicated lower down.

notjagan · 2018-01-30T03:02:35Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    movementState = Arm.MovementState.UP
+                } else if (masterSRX.sensorCollection.quadratureVelocity == 0) {
+                    //movementState = Arm.MovementState.HOLD
+                    if (movementState != Arm.MovementState.STATIONARY && brake.get() == DoubleSolenoid.Value.kReverse) {


This check would fail whenever the bot is in STATIONARY and would instantly shift into HOLD.

notjagan · 2018-01-30T03:03:12Z

src/main/java/org/usfirst/frc/team4099/robot/subsystems/Arm.kt

+                    return
+                }
+                //if current time - init time > 0.5 : skip loop: set to stationary
+                if (movementState == Arm.MovementState.STATIONARY) {


This is also partially duplicated down below.

not sure if right

plusparth · 2018-03-06T19:23:58Z

Unused subsystem

root and others added 28 commits January 9, 2018 18:08

Add code need help

a3f1a77

Finish constructor and adding brake

3210a76

Finish Drive constructor and brake methods

cfa26bc

Finish Drive constructor and brake methods

eb8069a

Finish Drive constructor and brake methods

ffa99ff

Finish Drive constructor and brake methods

afafeb9

Add methods for enum

01c05db

Make Arm

4b2cbc7

Add velocity control functions

0add65c

RobotState code, unfinished from Fri

09a5204

Merge branch 'encoders' of https://github.com/team4099/PowerUp-2018 i…

838b235

…nto encoders

Add Velocity and Position control

a4c3beb

Merge branch 'encoders' of https://github.com/team4099/PowerUp-2018 i…

9c758b7

…nto encoders

Removed incorrect robotstate files

5738f0f

Finish adding methods for velocity and position control along with th…

acddf45

…eir respective helper methods

Merge branch 'encoders' of https://github.com/team4099/PowerUp-2018 i…

a60c590

…nto encoders

Readding after accidental removal

4d38d2b

Fix Voltage Methods for Nominal and Peak

677111e

implemented resetencoders()

2fe1d49

Merge branch 'encoders' of https://github.com/team4099/PowerUp-2018 i…

9d41ac6

…nto encoders

Merge remote-tracking branch 'origin/master' into arm

fe74b5e

Merge remote-tracking branch 'origin/master' into arm

badbba5

Merge change from master to encoder branch

9a33aa7

Merge branch 'encoders' of https://github.com/team4099/PowerUp-2018 i…

0765604

…nto encoders

Create arm loop code

c608104

Fix merge issues in constants

6ee4d59

Remove unnecessary .iml file

6380efc

Allow switching for arm control mode

eba2b17

rbhog added feature in review labels Jan 18, 2018

rbhog added 2 commits January 22, 2018 18:04

Add velocity control to Arm.kt

d95ffef

Add angle tracking to arm subsystem

9f310d2

rbhog mentioned this pull request Jan 24, 2018

Add wrist subsystem #12

Merged

plusparth reviewed Jan 25, 2018

View reviewed changes

rbhog added 2 commits January 25, 2018 12:33

Fix velocity control state of arm

e63595c

Actuate brake for arm

413d264

notjagan suggested changes Jan 25, 2018

View reviewed changes

Add timer to Arm.kt

87eb9c4

plusparth changed the title ~~Create arm subsytem~~ Create arm subsystem Jan 27, 2018

plusparth approved these changes Jan 27, 2018

View reviewed changes

notjagan suggested changes Jan 27, 2018

View reviewed changes

rbhog and others added 3 commits January 29, 2018 17:52

Add timer to arm subsystem

798c216

Initial Commit of Branch

7875033

Copy code from steamworks and add in climber object in constants

6872ccd

notjagan suggested changes Jan 30, 2018

View reviewed changes

ktorsh and others added 10 commits January 30, 2018 16:20

Merge branch 'arm' of https://github.com/team4099/PowerUp-2018 into arm

d587c72

Merge redundant if blocks

35c053d

Merge branch 'arm' of https://github.com/team4099/PowerUp-2018 into arm

a069122

Replace Hold+Brake Timers

9b86ad7

not sure if right

Remove redundant line and reformatted

a4cab58

Merge branch 'arm' of https://github.com/team4099/PowerUp-2018 into arm

9275603

Reorganize if statements in onLoop

7afad09

Delete unnecessary movement sates and add brake time

7b08dd4

Remove unnecessary comment block and reimplemented brake time

0ab36a2

Add controls to arm

f3f2a9e

plusparth closed this Mar 6, 2018

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Create arm subsystem #11

Create arm subsystem #11

rbhog commented Jan 18, 2018

plusparth Jan 25, 2018

plusparth Jan 25, 2018

plusparth Jan 25, 2018

plusparth Jan 25, 2018

notjagan left a comment

notjagan Jan 25, 2018

notjagan Jan 25, 2018

notjagan Jan 25, 2018

notjagan Jan 25, 2018

notjagan left a comment

notjagan Jan 27, 2018

notjagan Jan 27, 2018

notjagan left a comment

notjagan Jan 30, 2018

notjagan Jan 30, 2018

notjagan Jan 30, 2018

notjagan Jan 30, 2018

notjagan Jan 30, 2018

notjagan Jan 30, 2018

notjagan Jan 30, 2018

plusparth commented Mar 6, 2018

Create arm subsystem #11

Create arm subsystem #11

Conversation

rbhog commented Jan 18, 2018

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

notjagan left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

notjagan left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

notjagan left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

plusparth commented Mar 6, 2018