KeshavAnandCode/FTCDecodeMain
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changes to PID

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This commit is contained in:
DanTheMan-byte
2025-11-28 18:38:03 -06:00
parent 087c629d08
commit 46f1bd5191
1 changed files with 5 additions and 2 deletions
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7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -59,6 +59,9 @@ public class ShooterTest extends LinearOpMode {
double stamp = 0.0; double stamp = 0.0;
public static double kP = 0.01; // small proportional gain (tune this)
public static double maxStep = 0.2; // prevents sudden jumps
MultipleTelemetry TELE; MultipleTelemetry TELE;
@Override @Override
@@ -138,10 +141,10 @@ public class ShooterTest extends LinearOpMode {
if (powPID > 1.0){ if (powPID > 1.0){
powPID = 1.0; powPID = 1.0;
} }
double feed = kF * parameter; // Example: vel=2500 → feed=0.5 double feed = kF * vel; // Example: vel=2500 → feed=0.5
// --- PROPORTIONAL CORRECTION --- // --- PROPORTIONAL CORRECTION ---
double error = parameter - velocity; double error = vel - velo1;
double correction = kP * error; double correction = kP * error;
// limit how fast power changes (prevents oscillation) // limit how fast power changes (prevents oscillation)