Compute hopefully reasonable defaults for lift PID constants.

Author: DriverStationComputer

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

@@ -23,6 +23,7 @@
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.VictorSP;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -130,11 +131,17 @@ public RobotMap() {
 		configSRX(liftMotorB);
 		liftMotorC = new WPI_TalonSRX(getPort("2LiftTalonSRX", 7));
 		configSRX(liftMotorC);
-		liftMotors = new SpeedControllerGroup(liftMotorB, liftMotorA, liftMotorC);
+		// liftMotors = new SpeedControllerGroup(liftMotorB, liftMotorA, liftMotorC);
+		liftMotors = new SpeedControllerGroup(liftMotorC);
+		liftMotors.setName("Lift", "CIM Motor");
+		LiveWindow.add(liftMotors);
+
 		liftEncPort1 = new DigitalInput(getPort("1LiftEnc", 4));
 		liftEncPort2 = new DigitalInput(getPort("2LiftEnc", 5));
 		liftEnc = new Encoder(liftEncPort1, liftEncPort2);
 		liftEnc.setPIDSourceType(PIDSourceType.kDisplacement);
+		liftEnc.setName("Lift", "Encoder");
+		LiveWindow.add(liftEnc);
 
 		leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 8));
 		rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 9));

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

@@ -5,6 +5,7 @@
 import org.usfirst.frc.team199.Robot2018.commands.UpdateLiftPosition;
 
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
@@ -24,8 +25,20 @@ public class Lift extends PIDSubsystem implements LiftInterface {
 	private final double BAR_DIST;
 
 	public Lift() {
-		super("Lift", Robot.getConst("LiftkP", 0.1), Robot.getConst("LiftkI", 0), Robot.getConst("LiftkD", 0),
-				Robot.getConst("LiftkF", 0.1));
+		super("Lift", 0, 0, 0, 0);
+
+		double maxSpeed = getLiftMaxSpeed();
+
+		double r = Robot.getConst("LiftPidR", 3.0);
+		double kP = r / getLiftTimeConstant() / maxSpeed;
+		double kI = 0;
+		double kD = r / maxSpeed;
+		double kF = 1 / (maxSpeed * Robot.getConst("Default PID Update Time", 0.05));
+
+		PIDController liftController = getPIDController();
+
+		liftController.setPID(Robot.getConst("LiftkP", kP), Robot.getConst("LiftkI", kI), Robot.getConst("LiftkD", kD),
+				Robot.getConst("LiftkF", kF));
 
 		setInputRange(0, Robot.getConst("Lift Max Height", 24));
 		setOutputRange(-1, 1);
@@ -220,6 +233,6 @@ public double getLiftRadius() {
 	 *         lift components, NOT cube
 	 */
 	public double getLiftedWeight() {
-		return Robot.getConst("Weight of Lifted Stuff", 342);
+		return Robot.getConst("Weight of Lifted Stuff", 53.11);
 	}
 }

shuffleboard.json

@@ -88,8 +88,7 @@
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
               "_title": "/SmartDashboard/Drivetrain/Left VPID Targ",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Left VPID Targ visible": true
+              "Visible time": 30.0
             }
           },
           "4,0": {
@@ -101,8 +100,7 @@
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
               "_title": "/SmartDashboard/Drivetrain/Right VPID Targ",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Right VPID Targ visible": true
+              "Visible time": 30.0
             }
           },
           "4,3": {
@@ -386,8 +384,7 @@
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
               "_title": "/SmartDashboard/Drivetrain/Left VPID Targ",
-              "Visible time": 10.0,
-              "SmartDashboard/Drivetrain/Left VPID Targ visible": true
+              "Visible time": 10.0
             }
           },
           "5,2": {
@@ -399,8 +396,7 @@
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
               "_title": "/SmartDashboard/Drivetrain/Right VPID Targ",
-              "Visible time": 10.0,
-              "SmartDashboard/Drivetrain/Right VPID Targ visible": true
+              "Visible time": 10.0
             }
           },
           "5,1": {
@@ -941,6 +937,18 @@
           }
         }
       }
+    },
+    {
+      "title": "Tab 8",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {}
+      }
     }
   ]
 }