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Made convenience functions for tuning a CustomPIDController on SmartDashboard #197

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Made convenience functions for tuning a CustomPIDController on SmartDashboard #197

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68569af
Added methods to interact with SmartDashboard
c0d3rman Mar 19, 2017
94a0a10
Added noise to SmartDashboard puts
c0d3rman Mar 19, 2017
bd4066b
move MC/SD integration to MotionController
ajnadel Mar 19, 2017
96f155c
implement BangBang SD intgration
ajnadel Mar 19, 2017
592631d
fix small PID/SD error
ajnadel Mar 19, 2017
ed9a6f1
Merge branch 'master' into pid-smartdashboard
NikhilSuresh24 May 6, 2017
ed6f952
added gradle build files to standard
oshlern Jan 7, 2019
ca4d886
Merge branch 'master' of https://github.com/RoboticsTeam4904/standard
oshlern Jan 7, 2019
9e575f6
Merge branch 'master' into pid-smartdashboard
oshlern Jan 17, 2019
ff15bcd
added missing closing curly bracket
oshlern Jan 22, 2019
c02d92f
Merge branch 'master' into pid-smartdashboard
oshlern Jan 22, 2019
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118 changes: 118 additions & 0 deletions custom/motioncontrollers/BangBangController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import org.usfirst.frc4904.standard.custom.sensors.InvalidSensorException;
import org.usfirst.frc4904.standard.custom.sensors.PIDSensor;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
* A bang bang controller.
Expand All @@ -18,6 +19,7 @@ public class BangBangController extends MotionController {
protected double A;
protected double F;
protected double threshold;
protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "!!";
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If this actually works, I think it is great. I would watch out for improper nonalphanumeric character parsing in NetworkTables though.

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Why did we change it to this? It's pretty jenk

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This did not exist before. It is for the bang (!) bang (!) controller. We should make a shebang controller at some point.

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As funny as that is it should probably be BangBang or BANGBANG


/**
* BangBang controller
Expand Down Expand Up @@ -115,6 +117,60 @@ public BangBangController(PIDSource source, double A, double F) {
this(source, A, F, Double.MIN_VALUE);
}

/**
* @return
* The current A value
*/
public double getA() {
return A;
}

/**
* @return
* The current F (feed forward) value
*/
public double getF() {
return F;
}

/**
* @return
* The current D value
*/
public double getThreshold() {
return threshold;
}

/**
* Set the value of the A constant
*
* @param the
* desired A value
*/
public void setA(double A) {
this.A = A;
}

/**
* Set the value of the F (feed forward) constant
*
* @param the
* desired F value
*/
public void setF(double F) {
this.F = F;
}

/**
* Set the value of the bang-bang threshold
*
* @param the
* desired threshold value
*/
public void setThreshold(double threshold) {
this.threshold = threshold;
}

/**
* Sets the stored error value to zero (0)
*/
Expand Down Expand Up @@ -188,4 +244,66 @@ public double get() {
public double getError() {
return error;
}

/**
* Put the PID controller to SmartDashboard for tuning.
* Puts the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
@Override
public void putToSmartDashboard(String prefix) {
double noise = (Math.random() - 0.5) * 0.0000001; // Generate very small noise centered at zero
SmartDashboard.putNumber(prefix + "_Error", getError() + noise);
SmartDashboard.putNumber(prefix + "_Setpoint", getSetpoint() + noise);
SmartDashboard.putNumber(prefix + "_Sensor", getSensorValue() + noise);
SmartDashboard.putNumber(prefix + "_Output", get() + noise);
}

/**
* Put the PID controller to SmartDashboard for tuning.
* Puts the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*/
@Override
public void putToSmartDashboard() {
putToSmartDashboard(BangBangController.DEFAULT_SMARTDASHBOARD_PREFIX);
}

/**
* Update the PID controller from SmartDashboard for tuning.
* Gets the P, I, D, and F constants from SmartDashboard,
* or puts the current ones there if there's no constants.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
@Override
public void updateFromSmartDashboard(String prefix) {
// If we're missing any constants on SmartDashboard, put the current ones
if (!(SmartDashboard.containsKey(prefix + "_A") && SmartDashboard.containsKey(prefix + "_F")
&& SmartDashboard.containsKey(prefix + "_threshold"))) {
SmartDashboard.putNumber(prefix + "_A", getA());
SmartDashboard.putNumber(prefix + "_F", getF());
SmartDashboard.putNumber(prefix + "_threshold", getThreshold());
return;
}
setA(SmartDashboard.getNumber(prefix + "_A", getA()));
setF(SmartDashboard.getNumber(prefix + "_F", getF()));
setThreshold(SmartDashboard.getNumber(prefix + "_threshold", getThreshold()));
}

/**
* Update the PID controller from SmartDashboard for tuning.
* Gets the P, I, D, and F constants from SmartDashboard,
* or puts the current ones there if there's no constants.
*/
@Override
public void updateFromSmartDashboard() {
updateFromSmartDashboard(BangBangController.DEFAULT_SMARTDASHBOARD_PREFIX);
}
}
66 changes: 66 additions & 0 deletions custom/motioncontrollers/CustomPIDController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import org.usfirst.frc4904.standard.custom.sensors.PIDSensor;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.util.BoundaryException;

/**
Expand All @@ -24,6 +25,7 @@ public class CustomPIDController extends MotionController {
protected double lastError;
protected long lastTime;
protected double minimumNominalOutput = 0.0;
protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "PID";

/**
* An extremely basic PID controller.
Expand Down Expand Up @@ -350,4 +352,68 @@ public double get() {
return 0;
}
}

/**
* Put the PID controller to SmartDashboard for tuning.
* Puts the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
@Override
public void putToSmartDashboard(String prefix) {
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This should be added as an abstract function to MotionController (same for the other functions).

double noise = (Math.random() - 0.5) * 0.0000001; // Generate very small noise centered at zero
SmartDashboard.putNumber(prefix + "_Error", getError() + noise);
SmartDashboard.putNumber(prefix + "_Setpoint", getSetpoint() + noise);
SmartDashboard.putNumber(prefix + "_Sensor", getSensorValue() + noise);
SmartDashboard.putNumber(prefix + "_Output", get() + noise);
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Also, did we decide that the mutating effects of calling get() (of the I and D) calculations are not big enough to matter?

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@carturn carturn Mar 19, 2017 •
edited
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I think we have decided to fix that in the future. It should not make too much of a difference, as it does calculate time deltas every time.

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Cool -- and the sensor updates fast enough that each few ticks will probably have a different value.

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That is on the list to be fixed. (In fact I have a list of PID changes we need to make that various programmers will be doing before SVR)

}

/**
* Put the PID controller to SmartDashboard for tuning.
* Puts the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*/
@Override
public void putToSmartDashboard() {
putToSmartDashboard(CustomPIDController.DEFAULT_SMARTDASHBOARD_PREFIX);
}

/**
* Update the PID controller from SmartDashboard for tuning.
* Gets the P, I, D, and F constants from SmartDashboard,
* or puts the current ones there if there's no constants.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
@Override
public void updateFromSmartDashboard(String prefix) {
// If we're missing any constants on SmartDashboard, put the current ones
if (!(SmartDashboard.containsKey(prefix + "_P") && SmartDashboard.containsKey(prefix + "_I")
&& SmartDashboard.containsKey(prefix + "_D") && SmartDashboard.containsKey(prefix + "_F"))) {
SmartDashboard.putNumber(prefix + "_P", getP());
SmartDashboard.putNumber(prefix + "_I", getI());
SmartDashboard.putNumber(prefix + "_D", getD());
SmartDashboard.putNumber(prefix + "_F", getF());
return;
}
setPIDF(SmartDashboard.getNumber(prefix + "_P", getP()),
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Do you want to use the two-argument version with a default value? We've done this in the past while testing (with default 0).

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I think this is a good way of doing it, it will default to the previous P/I/D/F value.

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That is what I'm doing...?

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Ah yes -- I have... room to improve.

SmartDashboard.getNumber(prefix + "_I", getI()),
SmartDashboard.getNumber(prefix + "_D", getD()),
SmartDashboard.getNumber(prefix + "_F", getF()));
}

/**
* Update the PID controller from SmartDashboard for tuning.
* Gets the P, I, D, and F constants from SmartDashboard,
* or puts the current ones there if there's no constants.
*/
@Override
public void updateFromSmartDashboard() {
updateFromSmartDashboard(CustomPIDController.DEFAULT_SMARTDASHBOARD_PREFIX);
}
}
43 changes: 43 additions & 0 deletions custom/motioncontrollers/MotionController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ public abstract class MotionController {
protected Exception sensorException;
private volatile boolean justReset;
private final Object lock = new Object();
protected static final String DEFAULT_SMARTDASHBOARD_PREFIX = "MC";

/**
* A MotionController modifies an output using a sensor
Expand Down Expand Up @@ -397,4 +398,46 @@ public void run() {
}
}
}

/**
* Put the controller constants to SmartDashboard for tuning.
* as well as the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
public abstract void putToSmartDashboard(String prefix);

/**
* Put the controller constants to SmartDashboard for tuning.
* as well as the error, setpoint, sensor value, and output.
* This method adds a very small random value to everything
* so that graphs show properly on SmartDashboard.
*
* Uses the default prefix {@value #DEFAULT_SMARTDASHBOARD_PREFIX}
*/
public void putToSmartDashboard() {
putToSmartDashboard(MotionController.DEFAULT_SMARTDASHBOARD_PREFIX);
}

/**
* Update the controller constants from SmartDashboard for tuning.
* Gets new constants from SmartDashboard, defaulting to the current ones.
*
* @param prefix
* The prefix to use when putting things on SmartDashboard.
*/
public abstract void updateFromSmartDashboard(String prefix);

/**
* Update the controller constants from SmartDashboard for tuning.
* Gets new constants from SmartDashboard, defaulting to the current ones.
*
* Uses the default prefix {@value #DEFAULT_SMARTDASHBOARD_PREFIX}
*/
public void updateFromSmartDashboard() {
updateFromSmartDashboard(MotionController.DEFAULT_SMARTDASHBOARD_PREFIX);
}
}