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Fix PID Tuner for 2025 #23

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Merged
5690Programmers merged 2 commits into from
Feb 15, 2025
Merged

Fix PID Tuner for 2025 #23

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02525a1
Add logging and update brake mode with tuner
5690Programmers Feb 15, 2025
9aab488
Fix code style issues with clang_format
lint-action Feb 15, 2025
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2 changes: 2 additions & 0 deletions lib/cpp/subzero/motor/PidMotorController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,6 +182,8 @@ void PidMotorController<TMotor, TController, TRelativeEncoder, TAbsoluteEncoder,
rev::spark::SparkBase::ResetMode::kNoResetSafeParameters,
rev::spark::SparkBase::PersistMode::kPersistParameters);
m_isInitialized = true;

std::cout << "Updated PID settings." << std::endl;
}

m_settings = settings;
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13 changes: 10 additions & 3 deletions lib/include/subzero/motor/PidMotorController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,7 @@ class PidMotorControllerTuner {
PidMotorController<TMotor, TController, TRelativeEncoder,
TAbsoluteEncoder, TPidConfig> &controller)
: m_controller{controller} {

frc::SmartDashboard::PutNumber(m_controller.m_name + " P Gain",
m_controller.GetPidSettings().p);
frc::SmartDashboard::PutNumber(m_controller.m_name + " I Gain",
Expand All @@ -199,8 +200,9 @@ class PidMotorControllerTuner {

/**
* @brief Call this within the Periodic method of the encapsulating subsystem
*
* Note: You must enable submit button to work in Elastic
*/

void UpdateFromShuffleboard() {
double tP = frc::SmartDashboard::GetNumber(m_controller.m_name + " P Gain",
m_controller.GetPidSettings().p);
Expand All @@ -215,12 +217,17 @@ class PidMotorControllerTuner {
m_controller.GetPidSettings().ff);

m_controller.UpdatePidSettings(
{.p = tP, .i = tI, .d = tD, .iZone = tIZone, .ff = tFeedForward});
{.p = tP,
.i = tI,
.d = tD,
.iZone = tIZone,
.ff = tFeedForward,
.isIdleModeBrake = m_controller.GetPidSettings().isIdleModeBrake});
}

private:
PidMotorController<TMotor, TController, TRelativeEncoder, TAbsoluteEncoder,
rev::spark::SparkFlexConfig> &m_controller;
TPidConfig> &m_controller;
};

class RevPidMotorController
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