mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Cleaned up Math, added unit testing to AimToCenter
This commit is contained in:
Ryan Manley
@@ -7,6 +7,7 @@ package frc4388.robot;
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import javax.swing.text.WrappedPlainView;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
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import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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@@ -37,124 +38,112 @@ public class RobotMap {
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}
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/* Swerve Subsystem */
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public final WPI_TalonFX leftFrontSteerMotor = null;
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public final WPI_TalonFX leftFrontWheelMotor = null;
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public final WPI_TalonFX rightFrontSteerMotor = null;
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public final WPI_TalonFX rightFrontWheelMotor = null;
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public final WPI_TalonFX leftBackSteerMotor = null;
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public final WPI_TalonFX leftBackWheelMotor = null;
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public final WPI_TalonFX rightBackSteerMotor = null;
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public final WPI_TalonFX rightBackWheelMotor = null;
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public final CANCoder leftFrontEncoder = null;
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public final CANCoder rightFrontEncoder = null;
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public final CANCoder leftBackEncoder = null;
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public final CANCoder rightBackEncoder = null;
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// public final WPI_TalonFX leftFrontSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX leftFrontWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightFrontSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX rightFrontWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX leftBackSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX leftBackWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightBackSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX rightBackWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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// public final CANCoder leftFrontEncoder = new
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// CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightFrontEncoder = new
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// CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder leftBackEncoder = new
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// CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightBackEncoder = new
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// CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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// public final WPI_TalonFX leftFrontSteerMotor = null;
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// public final WPI_TalonFX leftFrontWheelMotor = null;
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// public final WPI_TalonFX rightFrontSteerMotor = null;
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// public final WPI_TalonFX rightFrontWheelMotor = null;
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// public final WPI_TalonFX leftBackSteerMotor = null;
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// public final WPI_TalonFX leftBackWheelMotor = null;
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// public final WPI_TalonFX rightBackSteerMotor = null;
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// public final WPI_TalonFX rightBackWheelMotor = null;
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// public final CANCoder leftFrontEncoder = null;
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// public final CANCoder rightFrontEncoder = null;
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// public final CANCoder leftBackEncoder = null;
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// public final CANCoder rightBackEncoder = null;
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// void configureSwerveMotorControllers() {
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// leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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// leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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// leftFrontSteerMotor.configFactoryDefault();
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// leftFrontWheelMotor.configFactoryDefault();
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// rightFrontSteerMotor.configFactoryDefault();
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// rightFrontWheelMotor.configFactoryDefault();
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// leftBackSteerMotor.configFactoryDefault();
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// leftBackWheelMotor.configFactoryDefault();
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// rightBackSteerMotor.configFactoryDefault();
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// rightBackWheelMotor.configFactoryDefault();
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void configureSwerveMotorControllers() {
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leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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// leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configFactoryDefault();
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leftFrontWheelMotor.configFactoryDefault();
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rightFrontSteerMotor.configFactoryDefault();
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rightFrontWheelMotor.configFactoryDefault();
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leftBackSteerMotor.configFactoryDefault();
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leftBackWheelMotor.configFactoryDefault();
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rightBackSteerMotor.configFactoryDefault();
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rightBackWheelMotor.configFactoryDefault();
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// leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// // config cancoder as remote encoder for swerve steer motors
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// leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// }
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leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// config cancoder as remote encoder for swerve steer motors
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leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
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RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
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RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
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RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
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RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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}
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// Shooter Config
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/* Boom Boom Subsystem */
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