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Help driving straight using PID and a Gyro.
Hi all,
Working on coding our robot to be able to drive straight using a gyroscope. The gyroscope initializes at the beginning of the map, getting it's initial heading. Now, I want the robot to at the press of a button be able to turn back to that orientation. I think I've finally structured the code below correctly. Questions: 1. Am I correct in assuming that when I enable PID in my DriveStraight command by writing enable(); that the robot will start doing what is written in the usePidOutput method? 2. What will the bounds of the "output" variable be? I know it's a finely tuned variable of the error between my gyro heading and my desired heading of 0, but I don't know if I can plug it into my motors or not. I apologize in advance if there's a topic that answers this question. If that's the case, please just link me.Thanks in advance for your help. SUBSYSTEM CODE package edu.wpi.first.berserker.subsystems import edu.wpi.first.wpilibj.command.PIDsubsystem; public class DriveTrain extends PIDSubsystem ( private static final double Kp = 3; private static final double Ki = .2; private static final double Kd = .1; private Robotdrive drive = new RobotDrive(Robotmap.leftMotor, Robotmap.rightmotor); private Gyro newgyro = new Gyro(Robotmap.gyro); private DriveTrain() { super ("DriveTrain", Kp, Ki, Kd); } public void initDefaultCommand() { setDefaultCommand(new DrivewithJoysticks()); { protected double returnPID(){ return gyro.pidGet(); } protected void usePIDOutput(double outpout) { //Not certain what needs to go here. } } COMMAND CODE package edu.wpi.first.berserker.commands; public class DriveStraight extends CommandBase ( double setPoint; public DriveStraight(double setpoint) { requires(drivetrain); this.setpoint = setpoint; } protected void initialize() { drivetrain.setSetpoint(setpoint); drivetrain.enable(); } protected void execute() { } protected boolean isFinished() { return Math.abs(drivetrain.getPosition() - setpoint <.02); } protected void end() { drivetrain.disable(); } protected void interrupted() { drivetrain.disable(); } } Last edited by ProjectZero : 28-02-2012 at 20:06. |
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