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AscendRobotics
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AscendData

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float leftMotorPower = motorPower - headingPower;
float rightMotorPower = motorPower + headingPower;
if (leftMotorPower > 1) leftMotorPower = 1;
if (leftMotorPower < -1) leftMotorPower = -1;
if (rightMotorPower > 1) rightMotorPower = 1;
if (rightMotorPower < -1) rightMotorPower = -1;
//apply motor voltages
Left1.spin(forward, 11 * leftMotorPower * speedPID, volt);
Left2.spin(forward, 11 * leftMotorPower * speedPID, volt);
Left3.spin(forward, 11 * leftMotorPower * speedPID, volt);
Right1.spin(forward, 11 * rightMotorPower * speedPID, volt);
Right2.spin(forward, 11 * rightMotorPower * speedPID, volt);
Right3.spin(forward, 11 * rightMotorPower * speedPID, volt);
//update final variables
prevMotorPower = motorPower;
prevError1 = error1;
prevError2 = error2;
//update histories
errorHistory.push_back(error1);
powerHistory.push_back(std::abs(motorPower));
time1 += 20;
//break out of the loop if we have reached the target or B is pressed
//we have reached the target if the error is less than 5 and the previous error is similar
if (Controller1.ButtonB.pressing() || exitPID || ((std::abs(error1) < 8) && std::abs(error1 - prevError1) < 2)) {
break;
}
graphPID(errorHistory, powerHistory, driveDistance, error1, time1);
//don't hog CPU
wait(20, msec);
}
wait(20, msec); //allow time for status update to draw itself
//graph the PID at the end
drawMode = 1;
graphPID(errorHistory, powerHistory, driveDistance, error1, time1);
Left1.stop();
Left2.stop();
Left3.stop();
Right1.stop();
Right2.stop();
Right3.stop();
return 0;
}
int turnPID(bool absolute) {
//drive straightforward with driveDistance as the distance, in degrees (for now)
//forward PID constants:
//zieger-nicholas on 11/14: ku = .07 period = .5 sec
float kP1 = 0.018;//.0245;//.0225 and 0 for other two
float kI1 = 0.0034;//0.0017; //0.0017 //0.0034
float kD1 = 0.12;//0.06;//0.010;
//not bad; 0.024, 0.0034, .15 (1/4/23)
//other variables for forward PID
float error = 0;
float integral = 0;
float derivative = 0;
float prevError = 0;
//motor power variables
float motorPower = 0;
float prevMotorPower = 0;
//lists
std::vector<int> errorHistory; //keep track of error over time
std::vector<float> powerHistory; //keep track of motor power over time
int time = 0;
float currentDist = 0; //the distance the robot is from its starting point, rotationally
float startDist = Inertial.rotation(degrees);
//Inertial1.setHeading(0, degrees);
//Inertial2.setHeading(0, degrees);
//float degOffset
while(true) {
//float deg1 = Inertial1.heading(degrees);
currentDist = Inertial.rotation(degrees) / -1 + startDist;
//Inertial2 is much more accurate than inertial1 (10 spins, 23 degress off vs 5 degrees off)
//printController(Inertial1.rotation(degrees));
//calculate error / integral / derivative, of error vs time graph
error = driveDistance - currentDist;
if (absolute) error = driveDistance + Inertial.rotation(degrees);
if (std::abs(error) < 10) {
//weigh the integral double when error < 4
if (std::abs(error) < 4) {
integral += error * 2;
} else {
integral += error;
}
} else {
integral = 0;
}
if (error > 0 != prevError > 0) integral = 0;//reset integral value if you just crossed the target line
derivative = error - prevError;
//core of the PID loop here, calculate the necessary motor power, combine both PID loops
motorPower = (kP1 * error + kI1 * integral + kD1 * derivative);
///keep motor power variable in proper range, -1 to 1
if (motorPower > 1) motorPower = 1;
if (motorPower < -1) motorPower = -1;
//control the slew rate (dampen voltage differences), limits harsh acceleration
float slewRate = 0.08;
if (motorPower > prevMotorPower + slewRate) {
motorPower = prevMotorPower + slewRate;
}
if (motorPower < prevMotorPower - slewRate) {
motorPower = prevMotorPower - slewRate;
}