Tuning your Elevator

In the third step of the elevator wizard, the user is guided through creating setpoints and calculating closed-loop gains.

Tip

Check out Basic PID and Profiling for information on how to tune a closed-loop position system.

Picture showing the Tuning tab in Elevator Generator

Elevator Setpoints

Setpoints are configured in the Setpoints tab in the second column.

Picture showing 1 on the add button, 2 on the edit name button, 3 on the play button, and 4 on the trash button for setpoints

  1. Add a new setpoint

  2. Rename a setpoint

    • Ensure setpoint names are unique, or there will be compile errors when you generate your Elevator.

  3. Run setpoint

    • The robot must be ENABLED, or nothing will happen.

  4. Delete setpoint

Closed-loop Gains

Gains can be configured in the first column. While default gains have been calculated, it is highly recommended to just use this as a starting point. The elevator should be tuned in it’s final configuration, with any load that it may need to bear (holding a game piece).

Picture with a bounding box around the gains section in Tuning

The control request used to command the elevator is MotionMagicVoltage (Java, C++, Python), which allows the user to directly control velocity and acceleration for smooth travel.