Logging and Tuning Improvements #120
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Implement rbsiPeriodic() in RBSISubsystem that child classes must override for periodic input updating and other tasks. The upshot of this is that subsystems would need to have a `rbsiPeriodic()` method for the input updating and other tasks, rather than a `periodic()`. The autologging of periodic timing is a major 👍!
Some characterizable constants like slip current and wheel radius have been moved to the ``DrivetrainConstants`` section of the constants file to make it easier to modify them during drivetrain tuning. Conformal changes to allow downstream modules to properly find these values.
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Instead of different commands having their own ProfiledPIDController for robot rotation, define it in `Drive.java` and use it everywhere else. This works since the drivebase can only be doing one command at a time, so there is no need to have multiple controllers running around. Also, streamline where constants are defined and used to minimize repeated definitions and contain all drivebase-related constants in the ``DrivebaseConstants`` class.
Instead of using arbitrary maximum angular velocity and acceleration, use the combination of the specified maximum linear limits and drivebase radius to compute the angular limits.
In addition to the compile-and-build setting of drive style between TANK and GAMER, allow such to be set via a Dashboard chooser. In this way, the setting can be changed without recompile and redeploy between matches, if desired.
Make a clear place for defining which CANBus a device is running on, and propagate that throughout. Also, streamline what goes on inside some periodic() functions to minimize load and garbage collection.
Most of this commit is adding of testing messages and logging to investigate loop timing and to see what may be causing Stale CAN warnings. The extra logging and timing will likely be removed after the testing is complete and modifications to the loops made.
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This PR brings improvements to Az-RBSI's logging and tuning capabilities.
Subsystem periodic logging has been adjusted by adding a RBSI wrapper to include timing and logging of each subsystem's periodic loop. This necessitates changing the periodic loop declaration in any child class that
extends RBSISubsystemfrom:to
For tuning, additional drivetrain variables have been moved into
Constants.DrivebaseConstantsfor easier tuning. Conformal changes to other modules have been made to point to the new location of these variables.