Switched to built in FTC PIDF Controls.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java

@@ -76,7 +76,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -93,7 +93,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     MecanumDrive drive;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     Servos servo;
     double velo = 0.0;
     boolean gpp = false;
@@ -109,10 +109,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     public Action initShooter(int vel) {
         return new Action() {
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
@@ -180,10 +178,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
 
                 spinPID = servo.setSpinPos(spindexer);
                 robot.spin1.setPower(spinPID);
@@ -224,10 +220,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 TELE.addLine("shooting");
                 TELE.update();
 
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
 
                 drive.updatePoseEstimate();
 
@@ -376,10 +370,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 ticker++;
 
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -454,7 +446,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -129,7 +129,7 @@ public class TeleopV2 extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
         servo = new Servos(hardwareMap);
-        flywheel = new Flywheel();
+        flywheel = new Flywheel(hardwareMap);
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -282,12 +282,9 @@ public class TeleopV2 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+            double powPID = flywheel.manageFlywheel((int) vel);
 
-            robot.shooter1.setPower(powPID);
+             robot.transfer.setPower(1);
-            robot.shooter2.setPower(powPID);
-
-            robot.transfer.setPower(1);
 
             //TURRET:
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java

@@ -29,7 +29,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -68,7 +68,7 @@ public class TeleopV3 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     Servos servo;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     MecanumDrive drive;
     double autoHoodOffset = 0.0;
 
@@ -140,7 +140,7 @@ public class TeleopV3 extends LinearOpMode {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
@@ -400,10 +400,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+            flywheel.manageFlywheel(vel);
-
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
 
             //VELOCITY AUTOMATIC
 
@@ -784,8 +781,7 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("distanceToGoal", distanceToGoal);
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
+            TELE.addData("Velocity", flywheel.getVelo());
-
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java

@@ -9,7 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -21,12 +21,17 @@ public class ShooterTest extends LinearOpMode {
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
+    public static double Velocity = 0.0;
+    public static double P = 40.0;
+    public static double I = 0.3;
+    public static double D = 7.0;
+    public static double F = 10.0;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
     Robot robot;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -34,7 +39,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -50,10 +55,8 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                flywheel.setPIDF(P,I,D,F);
-                rightShooter.setPower(powPID);
+                flywheel.manageFlywheel((int) Velocity);
-                leftShooter.setPower(powPID);
-                TELE.addData("PIDPower", powPID);
             }
 
             if (hoodPos != 0.501) {
@@ -67,7 +70,7 @@ public class ShooterTest extends LinearOpMode {
             } else {
                 robot.transferServo.setPosition(transferServo_out);
             }
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
+            TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Power", robot.shooter1.getPower());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java

@@ -2,6 +2,9 @@ package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 
@@ -17,72 +20,65 @@ public class Flywheel {
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
-    double velo3 = 0.0;
-    double velo4 = 0.0;
-    double velo5 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
-    public Flywheel () {
+    public Flywheel (HardwareMap hardwareMap) {
-        //robot = new Robot(hardwareMap);
+        robot = new Robot(hardwareMap);
     }
 
     public double getVelo () {
         return velo;
     }
+    public double getVelo1 () {
+        return velo1;
+    }
+    public double getVelo2 () {
+        return velo2;
+    }
 
     public boolean getSteady() {
         return steady;
     }
 
+    // Set the robot PIDF for the next cycle.
+    public void setPIDF(double p, double i, double d, double f) {
+        robot.shooterPIDF.p = p;
+        robot.shooterPIDF.i = i;
+        robot.shooterPIDF.d = d;
+        robot.shooterPIDF.f = f;
+    }
     private double getTimeSeconds ()
     {
         return (double) System.currentTimeMillis()/1000.0;
     }
 
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
 
-    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
+
+    public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        ticker++;
+        // Turn PIDF for Target Velocities
-        if (ticker % 2 == 0) {
+        //robot.shooterPIDF.p = P;
-            velo5 = velo4;
+        //robot.shooterPIDF.i = I;
-            velo4 = velo3;
+        //robot.shooterPIDF.d = D;
-            velo3 = velo2;
+        //robot.shooterPIDF.f = F;
-            velo2 = velo1;
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
-            currentPos = shooter1CurPos / 2048;
+        // Record Current Velocity
-            stamp = getTimeSeconds(); //getRuntime();
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
+        velo2 = TPS_to_RPM(robot.shooter1.getVelocity());
-            initPos = currentPos;
+        velo = Math.max(velo1,velo2);
-            stamp1 = stamp;
-
-            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
-        }
-        // Flywheel control code here
-        if (targetVelocity - velo > 500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 500){
-            powPID = 0.0;
-        } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-
-            // --- PROPORTIONAL CORRECTION ---
-            double error = targetVelocity - velo;
-            double correction = kP * error;
-
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-            // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
-        }
 
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 100.0);
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
 
         return powPID;
     }
@@ -90,4 +86,4 @@ public class Flywheel {
     public void update()
     {
     }
-}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java

@@ -8,6 +8,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -23,6 +24,13 @@ public class Robot {
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
+    public PIDFCoefficients shooterPIDF;
+    public double shooterPIDF_P = 10.0;
+    public double shooterPIDF_I = 0.6;
+    public double shooterPIDF_D = 5.0;
+    public double shooterPIDF_F = 10.0;
+
+    public double[] shooterPIDF_StepSizes = {10.0,1.0,0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -69,8 +77,11 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P,shooterPIDF_I , shooterPIDF_D, shooterPIDF_F);
-        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
 
         hood = hardwareMap.get(Servo.class, "hood");