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Restore some gyro changes

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nathanrsxtn
2022-01-12 17:04:58 -07:00
parent 06091a9bd9
commit 28e970e398
5 changed files with 15 additions and 30 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -9
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@@ -42,15 +42,14 @@ public final class Constants {
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
// ofsets are in degrees
//ofsets are in degrees
// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
// public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
// public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
// public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
// public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -19
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@@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.RobotGyro;
public class SwerveDrive extends SubsystemBase {
SwerveDriveKinematics m_kinematics;
@@ -39,27 +38,15 @@ public class SwerveDrive extends SubsystemBase {
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
Translation2d m_frontLeftLocation =
new Translation2d(
Units.inchesToMeters(halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_frontRightLocation =
new Translation2d(
Units.inchesToMeters(halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_backLeftLocation =
new Translation2d(
Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_backRightLocation =
new Translation2d(
Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(-halfWidth));
//setSwerveGains();
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
// setSwerveGains();
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
public SwerveModule[] modules;
public RobotGyro gyro; //TODO Add Gyro Lol
public Gyro gyro; //TODO Add Gyro Lol
public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -1
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@@ -90,4 +90,4 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
}
}
}
src/main/java/frc4388/utility/RobotGyro.java → src/main/java/frc4388/utility/RobotGyro.java.old
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