mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
FIX and FAST
This commit is contained in:
Aarav Shah
@@ -14,9 +14,11 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.math.kinematics.SwerveModuleState;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.interfaces.Gyro;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.utility.Gains;
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import frc4388.utility.RobotGyro;
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public class SwerveDrive extends SubsystemBase {
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SwerveDriveKinematics m_kinematics;
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@@ -28,147 +30,157 @@ public class SwerveDrive extends SubsystemBase {
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private WPI_TalonFX m_leftBackWheelMotor;
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private WPI_TalonFX m_rightBackSteerMotor;
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private WPI_TalonFX m_rightBackWheelMotor;
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private CANCoder m_leftFrontEncoder;
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private CANCoder m_leftFrontEncoder;
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private CANCoder m_rightFrontEncoder;
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private CANCoder m_leftBackEncoder;
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private CANCoder m_rightBackEncoder;
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private CANCoder m_rightBackEncoder;
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double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
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double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
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public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
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Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
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Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
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Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
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Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
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// setSwerveGains();
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Translation2d m_frontLeftLocation =
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new Translation2d(
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Units.inchesToMeters(halfHeight),
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Units.inchesToMeters(halfWidth));
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Translation2d m_frontRightLocation =
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new Translation2d(
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Units.inchesToMeters(halfHeight),
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Units.inchesToMeters(-halfWidth));
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Translation2d m_backLeftLocation =
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new Translation2d(
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Units.inchesToMeters(-halfHeight),
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Units.inchesToMeters(halfWidth));
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Translation2d m_backRightLocation =
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new Translation2d(
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Units.inchesToMeters(-halfHeight),
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Units.inchesToMeters(-halfWidth));
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//setSwerveGains();
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private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
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public SwerveModule[] modules;
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public Gyro gyro; // TODO Add Gyro Lol
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public RobotGyro gyro; //TODO Add Gyro Lol
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public SwerveDrive(WPI_TalonFX leftFrontSteerMotor, WPI_TalonFX leftFrontWheelMotor,
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WPI_TalonFX rightFrontSteerMotor, WPI_TalonFX rightFrontWheelMotor,
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WPI_TalonFX leftBackSteerMotor, WPI_TalonFX leftBackWheelMotor,
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WPI_TalonFX rightBackSteerMotor, WPI_TalonFX rightBackWheelMotor,
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CANCoder leftFrontEncoder, CANCoder rightFrontEncoder,
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CANCoder leftBackEncoder, CANCoder rightBackEncoder) {
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m_leftFrontSteerMotor = leftFrontSteerMotor;
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m_leftFrontWheelMotor = leftFrontWheelMotor;
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m_rightFrontSteerMotor = rightFrontSteerMotor;
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m_rightFrontWheelMotor = rightFrontWheelMotor;
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m_leftBackSteerMotor = leftBackSteerMotor;
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m_leftBackWheelMotor = leftBackWheelMotor;
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m_rightBackSteerMotor = rightBackSteerMotor;
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m_rightBackWheelMotor = rightBackWheelMotor;
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m_leftFrontEncoder = leftFrontEncoder;
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m_rightFrontEncoder = rightFrontEncoder;
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m_leftBackEncoder = leftBackEncoder;
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m_rightBackEncoder = rightBackEncoder;
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modules = new SwerveModule[] {
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new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder), // Front Left
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new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder), // Front Right
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new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder), // Back Left
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new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder) // Back Right
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};
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// gyro.reset();
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public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
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WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder,
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CANCoder rightFrontEncoder,
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CANCoder leftBackEncoder,
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CANCoder rightBackEncoder)
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{
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m_leftFrontSteerMotor = leftFrontSteerMotor;
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m_leftFrontWheelMotor = leftFrontWheelMotor;
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m_rightFrontSteerMotor = rightFrontSteerMotor;
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m_rightFrontWheelMotor = rightFrontWheelMotor;
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m_leftBackSteerMotor = leftBackSteerMotor;
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m_leftBackWheelMotor = leftBackWheelMotor;
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m_rightBackSteerMotor = rightBackSteerMotor;
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m_rightBackWheelMotor = rightBackWheelMotor;
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m_leftFrontEncoder = leftFrontEncoder;
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m_rightFrontEncoder = rightFrontEncoder;
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m_leftBackEncoder = leftBackEncoder;
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m_rightBackEncoder = rightBackEncoder;
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modules = new SwerveModule[] {
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new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
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new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
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new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
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new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right
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};
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//gyro.reset();
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}
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//https://github.com/ZachOrr/MK3-Swerve-Example
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/**
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* Method to drive the robot using joystick info.
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*
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* @param xSpeed Speed of the robot in the x direction (forward).
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* @param ySpeed Speed of the robot in the y direction (sideways).
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* @param rot Angular rate of the robot.
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* @param fieldRelative Whether the provided x and y speeds are relative to the field.
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*/
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public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative)
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{
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/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
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driveFromSpeeds(speeds);*/
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double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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SwerveModuleState[] states =
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kinematics.toSwerveModuleStates(
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, gyro.getRotation2d())
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: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
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SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
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for (int i = 0; i < states.length; i++) {
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SwerveModule module = modules[i];
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SwerveModuleState state = states[i];
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module.setDesiredState(state);
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}
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}
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//Converts a ChassisSpeed to SwerveModuleStates (targets)
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public void driveFromSpeeds(ChassisSpeeds speeds)
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{
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//https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html
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// Convert to module states
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SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
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// Front left module state
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SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
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// Front right module state
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SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
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// Back left module state
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SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
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// Back right module state
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SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
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//Set the motors
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setSwerveMotors(leftFront, leftBack, rightFront, rightBack);
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}
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// https://github.com/ZachOrr/MK3-Swerve-Example
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/**
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* Method to drive the robot using joystick info.
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*
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* @param xSpeed Speed of the robot in the x direction (forward).
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* @param ySpeed Speed of the robot in the y direction (sideways).
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* @param rot Angular rate of the robot.
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* @param fieldRelative Whether the provided x and y speeds are relative to the
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* field.
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*/
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public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
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// var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
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// driveFromSpeeds(speeds);
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double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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SwerveModuleState[] states = kinematics.toSwerveModuleStates(
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fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
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: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot));
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SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
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for (int i = 0; i < states.length; i++) {
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SwerveModule module = modules[i];
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SwerveModuleState state = states[i];
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module.setDesiredState(state);
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}
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}
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// Converts a ChassisSpeed to SwerveModuleStates (targets)
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public void driveFromSpeeds(ChassisSpeeds speeds) {
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// https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html
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// Convert to module states
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SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
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// Front left module state
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SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
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// Front right module state
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SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
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// Back left module state
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SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
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// Back right module state
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SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
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// Set the motors
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setSwerveMotors(leftFront, leftBack, rightFront, rightBack);
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}
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//Sets steering motors to PID values
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//Sets steering motors to PID values
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public void setSwerveMotors(SwerveModuleState leftFront, SwerveModuleState leftBack, SwerveModuleState rightFront, SwerveModuleState rightBack)
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{/*
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//Set the Wheel motor speeds
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m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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//PID
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m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000);
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m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000);
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m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000);
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m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
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System.out.println("Target: " + leftFront.angle.getDegrees());
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*/}
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{
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/*//Set the Wheel motor speeds
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m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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//PID
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m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000);
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m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000);
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m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000);
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m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
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System.out.println("Target: " + leftFront.angle.getDegrees());*/
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}
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/*public void setSwerveGains(){
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m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
|
||||
m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
}*/
|
||||
|
||||
|
||||
|
||||
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
|
||||
// {
|
||||
// var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
|
||||
// var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary,
|
||||
// rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
|
||||
// }
|
||||
}
|
||||
@@ -15,6 +15,7 @@ import com.ctre.phoenix.sensors.CANCoderConfiguration;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.Gains;
|
||||
@@ -27,8 +28,10 @@ public class SwerveModule extends SubsystemBase {
|
||||
|
||||
private static double kEncoderTicksPerRotation = 4096;
|
||||
|
||||
|
||||
|
||||
/** Creates a new SwerveModule. */
|
||||
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder) {
|
||||
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.canCoder = canCoder;
|
||||
@@ -45,35 +48,32 @@ public class SwerveModule extends SubsystemBase {
|
||||
angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
|
||||
angleMotor.configAllSettings(angleTalonFXConfiguration);
|
||||
|
||||
/*
|
||||
* TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
|
||||
*
|
||||
* driveTalonFXConfiguration.slot0.kP = kDriveP;
|
||||
* driveTalonFXConfiguration.slot0.kI = kDriveI;
|
||||
* driveTalonFXConfiguration.slot0.kD = kDriveD;
|
||||
* driveTalonFXConfiguration.slot0.kF = kDriveF;
|
||||
*
|
||||
* driveMotor.configAllSettings(driveTalonFXConfiguration);
|
||||
*/
|
||||
/*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
|
||||
driveTalonFXConfiguration.slot0.kP = kDriveP;
|
||||
driveTalonFXConfiguration.slot0.kI = kDriveI;
|
||||
driveTalonFXConfiguration.slot0.kD = kDriveD;
|
||||
driveTalonFXConfiguration.slot0.kF = kDriveF;
|
||||
driveMotor.configAllSettings(driveTalonFXConfiguration);*/
|
||||
|
||||
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
|
||||
// CANCODER CONFIG
|
||||
canCoderConfiguration.magnetOffsetDegrees = offset;
|
||||
canCoder.configAllSettings(canCoderConfiguration);
|
||||
}
|
||||
|
||||
|
||||
public Rotation2d getAngle() {
|
||||
// Note: This assumes the CANCoders are setup with the default feedback coefficient and the sesnor value reports degrees.
|
||||
// Note: This assumes the CANCoders are setup with the default feedback coefficient
|
||||
// and the sesnor value reports degrees.
|
||||
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the speed + rotation of the swerve module from a SwerveModuleState object
|
||||
*
|
||||
* @param desiredState - A SwerveModuleState representing the desired new state
|
||||
* of the module
|
||||
* @param desiredState - A SwerveModuleState representing the desired new state of the module
|
||||
*/
|
||||
public void setDesiredState(SwerveModuleState desiredState) {
|
||||
Rotation2d currentRotation = getAngle();
|
||||
SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
|
||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
|
||||
// Find the difference between our current rotational position + our new rotational position
|
||||
@@ -86,7 +86,8 @@ public class SwerveModule extends SubsystemBase {
|
||||
double desiredTicks = currentTicks + deltaTicks;
|
||||
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
|
||||
|
||||
|
||||
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user