added kF

VelocityPIDController: added constructor param and javadoc
RobotMap: initial instantiation
Drivetrain: updatePIDConstants method

Author: lhmcgann

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

@@ -114,12 +114,13 @@ public RobotMap() {
 		dtLeft = new SpeedControllerGroup(dtLeftDrive, dtLeftSlave);
 
 		leftVelocityController = new VelocityPIDController(Robot.getConst("MoveLeftkP", 1),
-				Robot.getConst("MoveLeftkI", 0), Robot.getConst("MoveLeftkD", 0), leftEncRate, dtLeft);
+				Robot.getConst("MoveLeftkI", 0), Robot.getConst("MoveLeftkD", 0), 1 / Robot.getConst("MaxSpeed", 17),
+				leftEncRate, dtLeft);
 		leftVelocityController.enable();
 		leftVelocityController.setInputRange(0, Double.MAX_VALUE);
 		leftVelocityController.setOutputRange(-1.0, 1.0);
 		leftVelocityController.setContinuous(false);
-		leftVelocityController.setAbsoluteTolerance(Robot.getConst("ConstMoveToleranceLeft", 2));
+		leftVelocityController.setAbsoluteTolerance(Robot.getConst("MoveToleranceLeft", 2));
 
 		rightEncPort1 = new DigitalInput(getPort("1RightEnc", 2));
 		rightEncPort2 = new DigitalInput(getPort("2RightEnc", 3));
@@ -133,13 +134,14 @@ public RobotMap() {
 		configSPX(dtRightSlave);
 		dtRight = new SpeedControllerGroup(dtRightDrive, dtRightSlave);
 
-		rightVelocityController = new VelocityPIDController(Robot.getConst("ConstMoveRightkP", 1),
-				Robot.getConst("ConstMoveRightkI", 0), Robot.getConst("ConstMoveRightkD", 0), rightEncRate, dtRight);
+		rightVelocityController = new VelocityPIDController(Robot.getConst("MoveRightkP", 1),
+				Robot.getConst("MoveRightkI", 0), Robot.getConst("MoveRightkD", 0), 1 / Robot.getConst("MaxSpeed", 17),
+				rightEncRate, dtRight);
 		rightVelocityController.enable();
 		rightVelocityController.setInputRange(0, Double.MAX_VALUE);
 		rightVelocityController.setOutputRange(-1.0, 1.0);
 		rightVelocityController.setContinuous(false);
-		rightVelocityController.setAbsoluteTolerance(Robot.getConst("ConstMoveToleranceRight", 2));
+		rightVelocityController.setAbsoluteTolerance(Robot.getConst("MoveToleranceRight", 2));
 
 		robotDrive = new DifferentialDrive(leftVelocityController, rightVelocityController);
 

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/VelocityPIDController.java

@@ -20,13 +20,16 @@ public class VelocityPIDController extends PIDController implements SpeedControl
 	 *            the integral PID constant
 	 * @param kd
 	 *            the derivative PID constant
+	 * @param kf
+	 *            the feed forward value: should be 1/MaxSpeed
 	 * @param source
 	 *            the sensor (e.g. velocity encoder) you are reading from
 	 * @param output
 	 *            the SpeedController you are telling what to do
 	 */
-	public VelocityPIDController(double kp, double ki, double kd, PIDSource source, SpeedControllerGroup output) {
-		super(kp, ki, kd, source, output);
+	public VelocityPIDController(double kp, double ki, double kd, double kf, PIDSource source,
+			SpeedControllerGroup output) {
+		super(kp, ki, kd, kf, source, output);
 		out = output;
 	}
 

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

@@ -112,9 +112,9 @@ public double getDtRightSpeed() {
 	@Override
 	public void updatePidConstants() {
 		leftVelocityController.setPID(Robot.getConst("MoveLeftkP", 1), Robot.getConst("MoveLeftkI", 0),
-				Robot.getConst("MoveLeftkD", 0));
+				Robot.getConst("MoveLeftkD", 0), 1 / Robot.getConst("MaxSpeed", 17));
 		rightVelocityController.setPID(Robot.getConst("MoveRightkP", 1), Robot.getConst("MoveRightkI", 0),
-				Robot.getConst("MoveRightkD", 0));
+				Robot.getConst("MoveRightkD", 0), 1 / Robot.getConst("MaxSpeed", 17));
 	}
 
 	/**