FRC | Talon SRX PID 调试

1. 配置Talon SRX

用 USB 连接 RoboRIO，在浏览器中访问http://172.22.11.2/#Home，可以配置 Talon SRX 的 CAN id

2. 接线

CAN 总线的连接方式是 RoboRIO --> Talon 1 --> Talon 2 --> ... --> PDP

3. PID 调试

以下代码

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package org.usfirst.frc.team5451.robot;

import com.ctre.phoenix.motorcontrol.*;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;

import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.XboxController;


public class Robot extends IterativeRobot {
    private XboxController joystick = new XboxController(0);
    private TalonSRX controller2 = new TalonSRX(10);
    private TalonSRX controller1 = new TalonSRX(11);

    public static final int kPIDLoopIdx = 0;
    public static final int kTimeoutMs = 30;
    
    @Override
    public void robotInit() {
        controller1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, kPIDLoopIdx, kTimeoutMs);
        controller1.setSensorPhase(false);
        controller1.setInverted(true);

        controller1.configNominalOutputForward(0, kTimeoutMs);
        controller1.configNominalOutputReverse(0, kTimeoutMs);
        controller1.configPeakOutputForward(1, kTimeoutMs);
        controller1.configPeakOutputReverse(-1, kTimeoutMs);
        
                // PID 参数就调这里
        controller1.config_kF(kPIDLoopIdx, 0.00, kTimeoutMs);
        controller1.config_kP(kPIDLoopIdx, 0.05, kTimeoutMs);
        controller1.config_kI(kPIDLoopIdx, 0.0003, kTimeoutMs);
        controller1.config_kD(kPIDLoopIdx, 0.0003, kTimeoutMs);
        
    }

    @Override
    public void teleopPeriodic() {
        double leftYstick = joystick.getY(Hand.kLeft);
        double motorOutput = controller1.getMotorOutputPercent();
        if (joystick.getAButton()) {
            /* Speed mode */
            /* Convert 500 RPM to units / 100ms.
             * 4096 Units/Rev * 500 RPM / 600 100ms/min in either direction:
             * velocity setpoint is in units/100ms
             */
            /* 500 RPM in either direction */
            double targetVelocity_UnitsPer100ms = 500.0 * 4096 / 600;

                        // 编码器读值含义： num  = rpm * 4096 / 600

            controller1.set(ControlMode.Velocity, targetVelocity_UnitsPer100ms);
            SmartDashboard.putNumber("Sensor Velocity", targetVelocity_UnitsPer100ms);

            /* append more signals to print when in speed mode. */
        } else {
            /* Percent voltage mode */
            controller1.set(ControlMode.PercentOutput, 0.5 * leftYstick);
        }
        
        SmartDashboard.putNumber("Voltage", controller1.getMotorOutputVoltage());
        SmartDashboard.putNumber("getSelectedSensorVelocity", controller1.getSelectedSensorVelocity(kPIDLoopIdx));

        SmartDashboard.putNumber("motorOutput", motorOutput);
        SmartDashboard.putNumber("CloseLoopError", controller1.getClosedLoopError(kPIDLoopIdx));
    }
}

编码器读值含义： num = rpm * 4096 / 600

4. 有用的一些资料

编码器安装教程

CTRE JAVA API Document

CTRE Phoniex Startup Guide

Close Loop Velocity Demo