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Restore some gyro changes

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This commit is contained in:
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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.vscode/launch.json
Vendored
-1
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@@ -4,7 +4,6 @@
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0", "version": "0.2.0",
"configurations": [ "configurations": [
{ {
"type": "wpilib", "type": "wpilib",
"name": "WPILib Desktop Debug", "name": "WPILib Desktop Debug",
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 LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
// ofsets are in degrees // ofsets are in degrees
//ofsets are in degrees // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
// 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 RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
// 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 RIGHT_BACK_ENCODER_OFFSET = 0.933594; public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
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 LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
// swerve PID constants // swerve PID constants
public static final int SWERVE_SLOT_IDX = 0; 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains; import frc4388.utility.Gains;
import frc4388.utility.RobotGyro;
public class SwerveDrive extends SubsystemBase { public class SwerveDrive extends SubsystemBase {
SwerveDriveKinematics m_kinematics; SwerveDriveKinematics m_kinematics;
@@ -39,27 +38,15 @@ public class SwerveDrive extends SubsystemBase {
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
Translation2d m_frontLeftLocation = Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
new Translation2d( Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
Units.inchesToMeters(halfHeight), Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
Units.inchesToMeters(halfWidth)); Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
Translation2d m_frontRightLocation = // setSwerveGains();
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); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
public SwerveModule[] modules; 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, 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); double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); 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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