fudge factor

Author: DriverStationComputer

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

@@ -285,4 +285,8 @@ private double convertNtokG(double newtons) {
 		// weight / accel due to grav = kg
 		return newtons / 9.81;
 	}
+
+	public double convertMtoIn(double meters) {
+		return meters * 39.37;
+	}
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java

@@ -61,7 +61,8 @@ protected double calculateFeedForward() {
 				double originalFF = super.calculateFeedForward();
 				double feedForwardConst = dt.getPIDMoveConstant();
 				double error = getError();
-				return Math.signum(error) * feedForwardConst * Math.sqrt(Math.abs(error)) + originalFF;
+				return (Math.signum(error) * feedForwardConst * Math.sqrt(Math.abs(error)) + originalFF)
+						/ dt.getCurrentMaxSpeed();
 			}
 		};
 		sd.putData("Move PID", moveController);
@@ -109,7 +110,8 @@ protected double calculateFeedForward() {
 				double originalFF = super.calculateFeedForward();
 				double feedForwardConst = dt.getPIDMoveConstant();
 				double error = getError();
-				return Math.signum(error) * feedForwardConst * Math.sqrt(Math.abs(error)) + originalFF;
+				return (Math.signum(error) * feedForwardConst * Math.sqrt(Math.abs(error)) + originalFF)
+						/ dt.getCurrentMaxSpeed();
 			}
 		};
 		sd.putData("Move PID", moveController);

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

@@ -420,17 +420,21 @@ public void putVelocityControllersToDashboard() {
 	public double getPIDMoveConstant() {
 		double G = Robot.rmap.getGearRatio();
 		double T = Robot.rmap.getStallTorque();
+		double fudge = Robot.getConst("PID Move Fudge Factor", 0.25);
+		T *= fudge;
 		double R = Robot.rmap.getRadius();
 		double M = Robot.rmap.getWeight();
-		return Math.sqrt((8 * T * G) / (R * M));
+		M = convertNtokG(M);
+		return Math.sqrt(Robot.rmap.convertMtoIn((8 * T * G) / (R * M)));
 	}
 
 	public double getPIDTurnConstant() {
 		double G = Robot.rmap.getGearRatio();
 		double T = Robot.rmap.getStallTorque();
 		double R = Robot.rmap.getRadius();
 		double M = Robot.rmap.getWeight();
-		return 4 * Math.sqrt((T * G) / (R * M));
+		M = convertNtokG(M);
+		return 4 * Math.sqrt(Robot.rmap.convertMtoIn((T * G) / (R * M)));
 	}
 
 	private double convertNtokG(double newtons) {

shuffleboard.json

@@ -1,5 +1,5 @@
 {
-  "dividerPosition": 0.45234604105571846,
+  "dividerPosition": 0.4530791788856305,
   "tabPane": [
     {
       "title": "PID Testing",
@@ -541,7 +541,7 @@
       }
     },
     {
-      "title": "Tab 5",
+      "title": "PID Constants",
       "autoPopulate": false,
       "autoPopulatePrefix": "",
       "widgetPane": {
@@ -583,7 +583,7 @@
               "_title": "Preferences/Const/TurnkP"
             }
           },
-          "1,0": {
+          "4,0": {
             "size": [
               1,
               1
@@ -593,6 +593,72 @@
               "_source0": "network_table:///Preferences/Const/Output",
               "_title": "Preferences/Const/Output"
             }
+          },
+          "2,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/MovekP",
+              "_title": "Preferences/Const/MovekP"
+            }
+          },
+          "2,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/MovekI",
+              "_title": "Preferences/Const/MovekI"
+            }
+          },
+          "2,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/MovekD",
+              "_title": "/Preferences/Const/MovekD"
+            }
+          },
+          "2,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/MoveTolerance",
+              "_title": "Preferences/Const/MoveTolerance"
+            }
+          },
+          "0,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/TurnTolerance",
+              "_title": "Preferences/Const/TurnTolerance"
+            }
+          },
+          "4,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/Weight of Robot",
+              "_title": "Preferences/Const/Weight of Robot"
+            }
           }
         }
       }