KeshavAnandCode/FTCDecodeMain
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changes to PID

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This commit is contained in:
DanTheMan-byte
2025-11-28 19:21:54 -06:00
parent b0bc7b7b5b
commit 4bbe5f218c
1 changed files with 7 additions and 4 deletions
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11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -44,6 +44,8 @@ public class ShooterTest extends LinearOpMode {
public static boolean intake = true; public static boolean intake = true;
public static int tolerance = 50;
public static double kP = 0.0005; // small proportional gain (tune this) public static double kP = 0.0005; // small proportional gain (tune this)
public static double maxStep = 0.06; // prevents sudden jumps public static double maxStep = 0.06; // prevents sudden jumps
@@ -106,20 +108,21 @@ public class ShooterTest extends LinearOpMode {
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5 double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
// --- PROPORTIONAL CORRECTION --- // --- PROPORTIONAL CORRECTION ---
double error = vel - velo1; 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)
correction = Math.max(-maxStep, Math.min(maxStep, correction)); correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER --- // --- FINAL MOTOR POWER ---
powPID = feed + correction; powPID = feed + correction;
// clamp to allowed range // clamp to allowed range
powPID = Math.max(0, Math.min(1, powPID)); powPID = Math.max(0, Math.min(1, powPID));
shooter.setVelocity(powPID); shooter.setVelocity(powPID);
if (shoot){ if (shoot){
robot.transferServo.setPosition(transferServo_in); robot.transferServo.setPosition(transferServo_in);
} else { } else {