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update REVThroughBoreDutyCycleEncoder so it gets enough readings to initialize properly #94

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update REVThroughBoreDutyCycleEncoder so it gets enough readings to initialize properly #94

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6c09190
set the conection frequency threshold for the rev through bore encode…
dejabot Mar 18, 2024
d18e87b
remove TODO
dejabot Mar 18, 2024
19a0859
PR feedback: set connected frequency threshold to 975, so `isConnecte…
dejabot Mar 18, 2024
84c86aa
log absolute encoder frequency to shuffleboard
dejabot Mar 18, 2024
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1 change: 1 addition & 0 deletions src/main/java/com/team766/hal/wpilib/REVThroughBoreDutyCycleEncoder.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ public class REVThroughBoreDutyCycleEncoder extends DutyCycleEncoder implements
public REVThroughBoreDutyCycleEncoder(int channel) {
super(channel);
setDutyCycleRange(1. / 1025., 1024. / 1025.);
setConnectedFrequencyThreshold(975 /* 975.6 on spec sheet */);
}

@Override
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13 changes: 6 additions & 7 deletions src/main/java/com/team766/robot/reva/mechanisms/Shoulder.java
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Expand Up @@ -38,10 +38,9 @@ public double getAngle() {

private double targetAngle;
private static final double NUDGE_AMOUNT = 1; // degrees
private static final double ENCODER_INITIALIZATION_LOOPS = 350;

private final REVThroughBoreDutyCycleEncoder absoluteEncoder;
private int encoderInitializationCount = 0;
private boolean encoderInitialized = false;
private static final double SUPPLY_CURRENT_LIMIT = 30.0; // max efficiency from spec sheet
private static final double STATOR_CURRENT_LIMIT = 80.0; // TUNE THIS!

Expand Down Expand Up @@ -138,21 +137,21 @@ public boolean isFinished() {
public void run() {
// encoder takes some time to settle.
// this threshold was determined very scientifically around 3:20am.
if (encoderInitializationCount < ENCODER_INITIALIZATION_LOOPS
&& absoluteEncoder.isConnected()) {
if (encoderInitialized && absoluteEncoder.isConnected()) {
double absPos = absoluteEncoder.getPosition();
double convertedPos = absoluteEncoderToMotorRotations(absPos);
// TODO: only set the sensor position after this has settled?
// can try in the next round of testing.
leftMotor.setSensorPosition(convertedPos);
encoderInitializationCount++;
encoderInitialized = true;
}

SmartDashboard.putNumber("[SHOULDER] Angle", getAngle());
SmartDashboard.putNumber("[SHOULDER] Target Angle", targetAngle);
SmartDashboard.putNumber("[SHOULDER] Rotations", getRotations());
SmartDashboard.putNumber("[SHOULDER] Target Rotations", targetRotations);
SmartDashboard.putNumber(
"[SHOULDER] Absolute Encoder Position", getAbsoluteEncoderPosition());
SmartDashboard.putNumber(
"[SHOULDER] Absolute Encoder Frequency", absoluteEncoder.getFrequency());
SmartDashboard.putNumber(
"[SHOULDER] Left Motor Supply Current", MotorUtil.getCurrentUsage(leftMotor));
SmartDashboard.putNumber(
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