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madhephaestusmadhephaestus
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adding ki to velocity
1 parent e617923 commit 98895a1

4 files changed

Lines changed: 26 additions & 19 deletions

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‎build.gradle‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -25,8 +25,6 @@ version '1.0-SNAPSHOT'
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repositories {
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mavenCentral()
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maven { url 'https://oss.sonatype.org/content/repositories/staging/' }
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//com.neuronrobotics hosting point
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maven { url 'https://oss.sonatype.org/content/repositories/staging/' }
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}
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dependencies {

‎src/main/java/edu/wpi/rbe/rbe2001/fieldsimulator/gui/InterfaceController.java‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,9 @@ public class InterfaceController {
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@FXML
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private TextField kdVel;
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@FXML
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private TextField velKiField;
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@FXML
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private Button pidConstUpdateVelocity;
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@@ -551,7 +553,7 @@ private void setFieldSim(ISimplePIDRobot r) {
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System.out.print("\r\nPID config update for axis " + currentIndex + " values ");
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Platform.runLater(() -> kpVel.setText(formatter.format(robot.getVKp(currentIndex))));
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Platform.runLater(() -> velKiField.setText(formatter.format(robot.getVKi(currentIndex))));
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Platform.runLater(() -> kdVel.setText(formatter.format(robot.getVKd(currentIndex))));
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} catch (Exception ex) {
@@ -629,8 +631,9 @@ void onSetVelocity() {
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@FXML
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void onSetGainsVelocity() {
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double kpv = Double.parseDouble(kpVel.getText());
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double kiv = Double.parseDouble(velKiField.getText());
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double kdv = Double.parseDouble(kdVel.getText());
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robot.setVelocityGains(currentIndex, kpv, kdv);
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robot.setVelocityGains(currentIndex, kpv, kiv,kdv);
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}
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@FXML

‎src/main/java/edu/wpi/rbe/rbe2001/fieldsimulator/robot/ISimplePIDRobot.java‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -162,10 +162,13 @@ default public double getVKd(int index) {
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readFloats(GetPDVelocityConstants.idOfCommand, pidVelConfigData);
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return pidVelConfigData[(3 * index) + 2];
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}
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default public void setVelocityGains(int index, double kp, double kd) {
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default public double getVKi(int index) {
166+
readFloats(GetPDVelocityConstants.idOfCommand, pidVelConfigData);
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return pidVelConfigData[(3 * index) + 1];
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}
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default public void setVelocityGains(int index, double kp, double ki,double kd) {
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pidVelConfigData[3 * index + 0] = kp;
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pidVelConfigData[3 * index + 1] = 0;
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pidVelConfigData[3 * index + 1] = ki;
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pidVelConfigData[3 * index + 2] = kd;
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writeFloats(SetPDVelocityConstants.idOfCommand, pidVelConfigData);
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SetPDVelocityConstants.oneShotMode();

‎src/main/resources/fxml/MainScreen.fxml‎

Lines changed: 14 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -120,6 +120,7 @@
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<rowConstraints>
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
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<RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
@@ -129,28 +130,30 @@
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</rowConstraints>
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<children>
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<Label text="Kp" GridPane.rowIndex="1" />
132-
<Label text="Kd" GridPane.rowIndex="2" />
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<Label text="Kd" GridPane.rowIndex="3" />
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<TextField fx:id="kpVel" onAction="#onSetGainsVelocity" text="1.0" GridPane.columnIndex="2" GridPane.rowIndex="1" />
134-
<TextField fx:id="kdVel" onAction="#onSetGainsVelocity" text="0.0" GridPane.columnIndex="2" GridPane.rowIndex="2" />
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<Button fx:id="pidConstUpdateVelocity" minHeight="-Infinity" minWidth="-Infinity" mnemonicParsing="false" onAction="#onSetGainsVelocity" prefHeight="25.0" prefWidth="89.0" text="Set Gains" GridPane.columnIndex="3" GridPane.rowIndex="3" />
135+
<TextField fx:id="kdVel" onAction="#onSetGainsVelocity" text="0.0" GridPane.columnIndex="2" GridPane.rowIndex="3" />
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<Button fx:id="pidConstUpdateVelocity" minHeight="-Infinity" minWidth="-Infinity" mnemonicParsing="false" onAction="#onSetGainsVelocity" prefHeight="25.0" prefWidth="89.0" text="Set Gains" GridPane.columnIndex="3" GridPane.rowIndex="4" />
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<ChoiceBox fx:id="pidChannelVelocity" prefWidth="150.0" GridPane.columnIndex="2" />
137-
<TextField fx:id="setpointVelocity" text="0.0" GridPane.columnIndex="2" GridPane.rowIndex="4" />
138-
<Button fx:id="setSetpointVelocity" mnemonicParsing="false" onAction="#onSetVelocity" text="Set" GridPane.columnIndex="3" GridPane.rowIndex="4" />
138+
<TextField fx:id="setpointVelocity" text="0.0" GridPane.columnIndex="2" GridPane.rowIndex="5" />
139+
<Button fx:id="setSetpointVelocity" mnemonicParsing="false" onAction="#onSetVelocity" text="Set" GridPane.columnIndex="3" GridPane.rowIndex="5" />
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<Label prefHeight="17.0" prefWidth="67.0" text="Channel" />
140-
<Label text="Set Velocity" GridPane.rowIndex="4" />
141-
<Label text="Velocity" GridPane.rowIndex="5" />
142-
<Label fx:id="velocityVal" text="0.0" GridPane.columnIndex="2" GridPane.halignment="LEFT" GridPane.rowIndex="5">
141+
<Label text="Set Velocity" GridPane.rowIndex="5" />
142+
<Label text="Velocity" GridPane.rowIndex="6" />
143+
<Label fx:id="velocityVal" text="0.0" GridPane.columnIndex="2" GridPane.halignment="LEFT" GridPane.rowIndex="6">
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<padding>
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<Insets left="9.0" />
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</padding>
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</Label>
147-
<Label text="Hardware Value" GridPane.rowIndex="6" />
148-
<Label fx:id="hardwareOut" text="0.0" GridPane.columnIndex="2" GridPane.halignment="LEFT" GridPane.rowIndex="6">
148+
<Label text="Hardware Value" GridPane.rowIndex="7" />
149+
<Label fx:id="hardwareOut" text="0.0" GridPane.columnIndex="2" GridPane.halignment="LEFT" GridPane.rowIndex="7">
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<padding>
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<Insets left="9.0" />
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</padding>
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</Label>
153-
<Button fx:id="velExport" mnemonicParsing="false" onAction="#onVelExport" text="Export CSV..." GridPane.columnIndex="3" GridPane.rowIndex="7" />
154+
<Button fx:id="velExport" mnemonicParsing="false" onAction="#onVelExport" text="Export CSV..." GridPane.columnIndex="3" GridPane.rowIndex="8" />
155+
<Label text="Ki" GridPane.rowIndex="2" />
156+
<TextField fx:id="velKiField" text="0.0" GridPane.columnIndex="2" GridPane.rowIndex="2" />
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</children>
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</GridPane>
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</children>

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