update interpolation data, tune shooter pid

StuyPulse · Aug 28, 2024 · 5c09508 · 5c09508
1 parent e67c851
commit 5c09508
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Showing 3 changed files with 143 additions and 63 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -158,7 +158,7 @@ public interface FF {
 
         public interface RIGHT {
             public interface PID {
-                double kP = 0.000316711;
+                double kP = 0.0002;
                 double kI = 0;
                 double kD = 0.0;
             }

diff --git a/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java b/src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java
@@ -13,40 +13,67 @@ public static void main(String[] args) {
 
     // RPM, distance (inches)
     private static final double[][] RPMAndDistance = {
-        // fake data im just putting here so it doesnt crash lol
-        {3100,382},
-        {3100,292},
-        {3100,337},
-        {3100,337},
-        {3100,290},
-        {3100,300},
-        {3200,335},
-        {3200,349},
-        {3200,337},
-        {3200,339},
-        {3300,379},
-        {3300,384},
-        {3300,389},
-        {3300,373},
-        {3300,354},
-        {3500,389},
-        {3500,331},
-        {2500,238},
-        {2500,233},
-        {2500,259},
-        {2000,169},
-        {2500,288},
-        {2000,164},
-        {2000,191},
-        {1500,109},
-        {1500,109},
-        {1500,108},
-        {1500,105},
-        {1200,79},
-        {1200,82},
-        {1200,67},
-        {1200,69},
-        {1200,64},
+        {4000, 562},
+        {4000, 538},
+        {4000, 578},
+        {4000, 498},
+        {4000, 527},
+        {4000, 499},
+        {4000, 481},
+        {4000, 611},
+        {4000, 528},
+        {4000, 365},
+        {4000, 487},
+        {4000, 548},
+        {3800, 456},
+        {3800, 457},
+        {3800, 515},
+        {3800, 563},
+        {3800, 560},
+        {3800, 495},
+        {3600, 519},
+        {3600, 505},
+        {3600, 525},
+        {3600, 513},
+        {3600, 521},
+        {3600, 513},
+        {3600, 554},
+        {3600, 495},
+        {3400, 428},
+        {3400, 415},
+        {3400, 430},
+        {3400, 428},
+        {3400, 437},
+        {3200, 439},
+        {3200, 425},
+        {3200, 455},
+        {3200, 446},
+        {3200, 447},
+        {3200, 447},
+        {3000, 413},
+        {3000, 428},
+        {3000, 418},
+        {3000, 413},
+        {3000, 369},
+        {3000, 400},
+        {3000, 342},
+        {3000, 426},
+        {2600, 285},
+        {2600, 316},
+        {2600, 302},
+        {2600, 304},
+        {2600, 338},
+        {2600, 318},
+        {2200, 258},
+        {2200, 307},
+        {2200, 267},
+        {2200, 267},
+        {2200, 306},
+        {2200, 272},
+        {1500, 194},
+        {1500, 198},
+        {1500, 132},
+        {1500, 133},
     };
 
     static {

diff --git a/src/main/java/com/stuypulse/robot/util/ShooterLowFerryInterpolation.java b/src/main/java/com/stuypulse/robot/util/ShooterLowFerryInterpolation.java
@@ -13,35 +13,88 @@ public static void main(String[] args) {
 
     // RPM, distance (inches)
     private static final double[][] RPMAndDistance = {
-        {1000, 55.5},
-        {1000, 42.5},
-        {1000, 57},
-        {1200, 73},
-        {2900, 295},
-        {2900, 265.5},
-        {2900, 279},
-        {2900, 289},
-        {3000, 306},
-        {3000, 317},
-        {3000, 311.5},
-        {3000, 324},
-        {3000, 303},
-        {3000, 300},
-        {3000, 303.5},
-        {3700, 437},
-        {3700, 447.5},
-        {3700, 419},
-        {3700, 416},
-        {3700, 400},
-        {3700, 381.5},
-        {3800, 410.5},
-        {3800, 441.25},
-        {3900, 457.5},
-        {3900, 427},
-        {4000, 476},
-        {4000, 435},
-        {4000, 439},
+        {4000, 551},
+        {4000, 573},
+        {4000,546 },
+        {4000, 566},
+        {4000, 579},
+        {4000, 458},
+        {4000, 533},
+        {3800, 561},
+        {3800, 499},
+        {3800, 576},
+        {3800, 517},
+        {3800, 497},
+        {3800, 522},
+        {3600, 456},
+        {3600, 516},
+        {3600, 465},
+        {3600, 422},
+        {3600, 542},
+        {3400, 435},
+        {3400, 467},
+        {3400, 496},
+        {3400, 461},
+        {3400, 470},
+        {3400, 448},
+        {3400, 516},
+        {3200, 433},
+        {3200, 456},
+        {3200, 447},
+        {3200, 406},
+        {3200, 424},
+        {3200, 454},
+        {3000, 414},
+        {3000, 388},
+        {3000, 389},
+        {3000, 392},
+        {3000, 405},
+        {3000, 400},
+        {3000, 430},
+        {2600, 316},
+        {2600, 354},
+        {2600, 339},
+        {2200, 288},
+        {2200, 241},
+        {2200, 268},
+        {2200, 218},
+        {2200, 210},
+        {1500, 145},
+        {1500, 145},
+        {1500, 136},
+        {1500, 184},
+        {1500, 178},
     };
+    // private static final double[][] RPMAndDistance = {
+    //     {1000, 55.5},
+    //     {1000, 42.5},
+    //     {1000, 57},
+    //     {1200, 73},
+    //     {2900, 295},
+    //     {2900, 265.5},
+    //     {2900, 279},
+    //     {2900, 289},
+    //     {3000, 306},
+    //     {3000, 317},
+    //     {3000, 311.5},
+    //     {3000, 324},
+    //     {3000, 303},
+    //     {3000, 300},
+    //     {3000, 303.5},
+    //     {3700, 437},
+    //     {3700, 447.5},
+    //     {3700, 419},
+    //     {3700, 416},
+    //     {3700, 400},
+    //     {3700, 381.5},
+    //     {3800, 410.5},
+    //     {3800, 441.25},
+    //     {3900, 457.5},
+    //     {3900, 427},
+    //     {4000, 476},
+    //     {4000, 435},
+    //     {4000, 439},
+    // };
 
     static {
         interpolatingDoubleTreeMap = new InterpolatingDoubleTreeMap();