private PIDGains createNeckControlGains() { PIDGains gains = new PIDGains(); boolean realRobot = target == RobotTarget.REAL_ROBOT; double kp = 40.0; double zeta = realRobot ? 0.4 : 0.8; double maxAccel = realRobot ? 6.0 : 36.0; double maxJerk = realRobot ? 60.0 : 540.0; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAccel); gains.setMaximumFeedbackRate(maxJerk); return gains; }
private PIDGains createSpineControlGains() { PIDGains spineGains = new PIDGains(); double kp = 250.0; double zeta = 0.6; double ki = 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 20.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; spineGains.setKp(kp); spineGains.setZeta(zeta); spineGains.setKi(ki); spineGains.setMaxIntegralError(maxIntegralError); spineGains.setMaximumFeedback(maxAccel); spineGains.setMaximumFeedbackRate(maxJerk); return spineGains; }
private PIDGains createSpineControlGains() { PIDGains spineGains = new PIDGains(); double kp = 250.0; double zeta = 0.6; double ki = 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 20.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; spineGains.setKp(kp); spineGains.setZeta(zeta); spineGains.setKi(ki); spineGains.setMaxIntegralError(maxIntegralError); spineGains.setMaximumFeedback(maxAccel); spineGains.setMaximumFeedbackRate(maxJerk); return spineGains; }
private PIDGains createSpineControlGains() { PIDGains spineGains = new PIDGains(); double kp = 250.0; double zeta = 0.6; double ki = 0.0; double maxIntegralError = 0.0; double maxAccel = target == RobotTarget.REAL_ROBOT ? 20.0 : Double.POSITIVE_INFINITY; double maxJerk = target == RobotTarget.REAL_ROBOT ? 100.0 : Double.POSITIVE_INFINITY; spineGains.setKp(kp); spineGains.setZeta(zeta); spineGains.setKi(ki); spineGains.setMaxIntegralError(maxIntegralError); spineGains.setMaximumFeedback(maxAccel); spineGains.setMaximumFeedbackRate(maxJerk); return spineGains; }
private PIDGains createNeckControlGains() { PIDGains gains = new PIDGains(); boolean realRobot = target == RobotTarget.REAL_ROBOT; double kp = 40.0; double zeta = realRobot ? 0.4 : 0.8; double maxAccel = 18.0; double maxJerk = 270.0; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAccel); gains.setMaximumFeedbackRate(maxJerk); return gains; }
private PIDGains createArmControlGains() { PIDGains armGains = new PIDGains(); boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = runningOnRealRobot ? 200.0 : 120.0; // 200.0 double zeta = runningOnRealRobot ? 1.0 : 0.7; double ki = runningOnRealRobot ? 0.0 : 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 2000.0 : Double.POSITIVE_INFINITY; armGains.setKp(kp); armGains.setZeta(zeta); armGains.setKi(ki); armGains.setMaxIntegralError(maxIntegralError); armGains.setMaximumFeedback(maxAccel); armGains.setMaximumFeedbackRate(maxJerk); return armGains; }
private PIDGains createArmControlGains() { PIDGains armGains = new PIDGains(); boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = runningOnRealRobot ? 200.0 : 120.0; // 200.0 double zeta = runningOnRealRobot ? 1.0 : 0.7; double ki = runningOnRealRobot ? 0.0 : 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 50.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 750.0 : Double.POSITIVE_INFINITY; armGains.setKp(kp); armGains.setZeta(zeta); armGains.setKi(ki); armGains.setMaxIntegralError(maxIntegralError); armGains.setMaximumFeedback(maxAccel); armGains.setMaximumFeedbackRate(maxJerk); return armGains; }
private PIDGains createSpineControlGains() { PIDGains spineGains = new PIDGains(); boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = 50.0; double zeta = runningOnRealRobot ? 0.3 : 0.8; double ki = 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 20.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; spineGains.setKp(kp); spineGains.setZeta(zeta); spineGains.setKi(ki); spineGains.setMaxIntegralError(maxIntegralError); spineGains.setMaximumFeedback(maxAccel); spineGains.setMaximumFeedbackRate(maxJerk); return spineGains; }