latest changes so code can run on robot

includes shuffleboard json file
intake srx commented out so doesn't look for motor that's not there
some changes to calcDefkD method

Author: DriverStationComputer

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -63,7 +63,7 @@ public class RobotMap {
 	public static AHRS fancyGyro;
 	public static DoubleSolenoid dtGear;
 
-	private final double DIST_PER_PULSE_RATIO = (5.0 * Math.PI) * (17 / 25) / (3 * 256);
+	private final double DIST_PER_PULSE_RATIO = (5.0 * Math.PI) * (17.0 / 25) / (3.0 * 256);
 
 	/**
 	 * This function takes in a TalonSRX motorController and sets nominal and peak
@@ -123,8 +123,8 @@ public RobotMap() {
 		leftEncDist.setPIDSourceType(PIDSourceType.kDisplacement);
 		leftEncRate = new Encoder(leftEncPort1, leftEncPort2);
 		leftEncRate.setPIDSourceType(PIDSourceType.kRate);
-		leftEncDist.setDistancePerPulse(Robot.getConst("DPP", 0.013908));
-		leftEncRate.setDistancePerPulse(Robot.getConst("DPP", 0.013908));
+		leftEncDist.setDistancePerPulse(Robot.getConst("DPP", DIST_PER_PULSE_RATIO));
+		leftEncRate.setDistancePerPulse(Robot.getConst("DPP", DIST_PER_PULSE_RATIO));
 
 		dtLeftMaster = new WPI_TalonSRX(getPort("LeftTalonSRXMaster", 1));
 		configSRX(dtLeftMaster);
@@ -150,8 +150,8 @@ public RobotMap() {
 		rightEncDist.setPIDSourceType(PIDSourceType.kDisplacement);
 		rightEncRate = new Encoder(rightEncPort1, rightEncPort2);
 		rightEncRate.setPIDSourceType(PIDSourceType.kRate);
-		rightEncDist.setDistancePerPulse(Robot.getConst("DPP", 0.013908));
-		rightEncRate.setDistancePerPulse(Robot.getConst("DPP", 0.013908));
+		rightEncDist.setDistancePerPulse(Robot.getConst("DPP", DIST_PER_PULSE_RATIO));
+		rightEncRate.setDistancePerPulse(Robot.getConst("DPP", DIST_PER_PULSE_RATIO));
 
 		dtRightMaster = new WPI_TalonSRX(getPort("RightTalonSRXMaster", 4));
 		configSRX(dtRightMaster);
@@ -215,15 +215,15 @@ public double calcDefkD() {
 		double gearReduction = Robot.getBool("High Gear", false) ? Robot.getConst("High Gear Gear Reduction", 5.392)
 				: Robot.getConst("Low Gear Gear Reduction", 12.255);
 		double radius = Robot.getConst("Radius of Drivetrain Wheel", 0.0635);
-		double timeConstant = Robot.getConst("Omega Max", 5330) / gearReduction
+		double timeConstant = Robot.getConst("Omega Max", 5330) / gearReduction / 60 * 2 * Math.PI
 				* convertNtokG(Robot.getConst("Weight of Robot", 342)) / 2 * radius * radius
 				/ (Robot.getConst("Stall Torque", 2.41) * gearReduction * 2);
 		double cycleTime = Robot.getConst("Code cycle time", 0.05);
 		/*
 		 * The denominator of kD is 1-(e ^ -cycleTime / timeConstant). The numerator is
 		 * one.
 		 */
-		double denominator = 1 - Math.pow(Math.E, -1 * cycleTime / timeConstant);
+		double denominator = Math.pow(Math.E, 1 * cycleTime / timeConstant) - 1;
 		return 1 / denominator;
 	}
 

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEject.java

@@ -1,17 +1,13 @@
 package org.usfirst.frc.team199.Robot2018.subsystems;
 
-import org.usfirst.frc.team199.Robot2018.RobotMap;
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class IntakeEject extends Subsystem implements IntakeEjectInterface {
 
-	private final WPI_TalonSRX intakeMotor = RobotMap.intakeMotor;
+	// private final WPI_TalonSRX intakeMotor = RobotMap.intakeMotor;
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -25,7 +21,8 @@ public void initDefaultCommand() {
 	 * returns current motor value
 	 */
 	public double getIntakeSpeed() {
-		return intakeMotor.get();
+		// return intakeMotor.get();
+		return 0;
 	}
 
 	/**
@@ -48,7 +45,7 @@ public boolean hasCube() {
 	 * 
 	 */
 	public void stopIntake() {
-		intakeMotor.stopMotor();
+		// intakeMotor.stopMotor();
 	}
 
 	/**

shuffleboard.json

@@ -0,0 +1,84 @@
+{
+  "dividerPosition": 0.29673590504451036,
+  "tabPane": [
+    {
+      "title": "PID Testing",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "PID Controller",
+              "_source0": "network_table:///SmartDashboard/Left PID Controller",
+              "_title": "SmartDashboard/Left PID Controller"
+            }
+          },
+          "2,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "PID Controller",
+              "_source0": "network_table:///SmartDashboard/Right PID Controller",
+              "_title": "SmartDashboard/Right PID Controller"
+            }
+          },
+          "0,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Left Enc Rate",
+              "_title": "SmartDashboard/Left Enc Rate"
+            }
+          },
+          "0,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Left VPID Error",
+              "_title": "SmartDashboard/Left VPID Error"
+            }
+          },
+          "2,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Right Enc Rate",
+              "_title": "SmartDashboard/Right Enc Rate"
+            }
+          },
+          "2,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Right VPID Error",
+              "_title": "SmartDashboard/Right VPID Error"
+            }
+          }
+        }
+      }
+    }
+  ]
+}