Stop the motors in simulation when the pivot hits the hard limits #96
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sets default values for Optional fields to Optional.empty() and updates getMechanismY to safely handle absent robotToMechanism by returning the input value.
Introduces speedometer simulation support to ShooterConfig and Shooter, including configuration methods and visualization updates. Implements a proper sysId routine for velocity-based shooter mechanisms. Updates closed-loop controller parameters and feedforward in ShooterSubsystem, and improves SmartMotorController feedforward calculation. Also fixes a typo in ElevatorConfig.
When the Pivot mechanism hits its lower or upper hard limit the sim previously only snapped the encoder position, allowing the simulated motor to keep driving past the limit. This change stops the motor by zeroing the DC motor angular velocity and clearing the duty cycle in both the lower- and upper-limit branches, and adds comments explaining the intent to prevent further movement past hard limits.
Collaborator
|
I was looking at this too! This is definitely a "hack". Does this work in your setup? My main concern is that it wont be able to get out of a hardstop if it exceeds it for whatever reason. |
Collaborator
thenetworkgrinch
left a comment
thenetworkgrinch
left a comment
There was a problem hiding this comment.
Not denied or accepted, just some more info needed
Contributor
Author
|
I'll test it a bit more to ensure it doesn't present problems. I've been able to successfully SysID (using my own routines) and it also obeys the limits when operating as a turret. One thing I'm noticing is that the Sim settings aren't shown when in LiveTuning. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This pull request adds additional safety checks to the
simIteratemethod inPivot.javato ensure that the motor simulation does not exceed its configured hard limits. The main improvement is that the motor's angular velocity and duty cycle are now explicitly set to zero when a hard limit is reached, preventing further movement beyond the limit.Simulation safety improvements:
simIterate, when the mechanism reaches either the lower or upper hard limit, the motor's angular velocity is set to zero and the duty cycle is stopped, ensuring the simulated motor cannot move past its physical constraints.Note: Maybe this is a 'hack' solution, IDK. It at least stops the drifting behavior enough to make it act more like reality.