Issue with using ProfiledPIDSubsystem

SerScallywag · February 28, 2024, 3:19am

Hello everyone. I am new to command based programming, and have recently been attempting to code our elevator pivot, via use of a ProfiledPIDSubsystem. When we press the configured button initially, it goes to it’s position just fine. However, when we press the same button again, it goes at full speed straight up, causing the motor to stall and bend our shaft. Any reason as to why? I’m a little lost. Heres our code for better reference:

github.com

BHSRobot/2024-CRESCENDO-5732/blob/main/2024-Bot-Import/src/main/java/frc/robot/RobotContainer.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.PS4Controller.Button;

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github.com

BHSRobot/2024-CRESCENDO-5732/blob/main/2024-Bot-Import/src/main/java/frc/robot/subsystems/ElevatorExtend.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import org.littletonrobotics.junction.Logger;

import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;

import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.ElevatorFeedforward;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;

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EDIT: Additionally, since its another semi issue I wanna get out the way, how would I go above converting the pulses of the NEO into meters?

ArchdukeTim · February 28, 2024, 3:58am

You’re setting the goal to null when b is pressed. Does that code even compile?

SerScallywag · February 28, 2024, 4:13am

Yes it does. That’s just a placeholder for now, i dont expect it go anywhere. The main issue is with the x() bounded portion

system · February 27, 2025, 4:14am

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