Dynamically tuning PIDF?

[Jared Andrews]

Hello, we are currently tuning our YAGSL PIDF values and I'm wondering if there is a recommended way to do it in a more dynamic fashion.

Currently, our programmer is changing the value in the JSON, deploying, testing and then repeat.

I have been looking for ways to speed up this feedback loop if there are any recommendations?

I tried modifying the P value from code, during runtime doing something like this:

swerveDrive.getModules()[0].configuration.velocityPIDF.p = 0.5

But this does not work. I have been trying to find a setter method or something like that in the JavaDocs, but I'm not finding anything.

Am I missing something here? Is it possible to modify these values programmatically? Thanks!

[T Grinch]

You can already do this

[T Grinch]

You have to use SwerveMotor.configurePIDF on each motor controller though.

You can fetch these with SwerveModule.getDriveMotor() or SwerveModule.getAngleMotor()

https://github.com/BroncBotz3481/YAGSL-Example/blob/dev/src%2Fmain%2Fjava%2Fswervelib%2Fmotors%2FSwerveMotor.java#L46-L51

[Jared Andrews]

@thenetworkgrinch thank you!!!!!!!!!