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Fix kinematics

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This commit is contained in:
Ryan Manley
2022-05-04 17:13:23 -06:00
parent aae4054081
commit 355930956b
4 changed files with 14 additions and 16 deletions
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2022NoWayHome.code-workspace
-3
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@@ -2,9 +2,6 @@
"folders": [
{
"path": "."
},
{
"path": "NetworkTablesDesktopClient"
}
],
"settings": {
src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -40,10 +40,10 @@ public final class Constants {
public static final double WHEEL_BASE = Units.inchesToMeters(23.75);
public static final SwerveDriveKinematics DRIVE_KINEMATICS = new SwerveDriveKinematics(
new Translation2d(WHEEL_BASE / 2, TRACK_WIDTH / 2),
new Translation2d(WHEEL_BASE / 2, -TRACK_WIDTH / 2),
new Translation2d(-WHEEL_BASE / 2, TRACK_WIDTH / 2),
new Translation2d(-WHEEL_BASE / 2, -TRACK_WIDTH / 2)
new Translation2d(WHEEL_BASE / 2, TRACK_WIDTH / 2),
new Translation2d(-WHEEL_BASE / 2, -TRACK_WIDTH / 2),
new Translation2d(-WHEEL_BASE / 2, TRACK_WIDTH / 2)
);
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -123,7 +123,7 @@ public class RobotContainer {
m_robotIntake.setDefaultCommand(new RunCommand(() -> m_robotIntake.runWithTriggers(getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake DefaultCommand"));
// Shooter Idle
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
// m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
// Serializer Manual
m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8), m_robotSerializer).withName("Serializer DefaultCommand"));
@@ -340,13 +340,13 @@ public class RobotContainer {
builder.addBooleanProperty("Shooter Safety", this::isLockedOn, null);
});
putData("Field", m_robotSwerveDrive.m_field);
putData("PDP", new PowerDistribution() {
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
builder.setSmartDashboardType("PowerDistributionPanel");
}
});
// putData("PDP", new PowerDistribution() {
// @Override
// public void initSendable(SendableBuilder builder) {
// super.initSendable(builder);
// builder.setSmartDashboardType("PowerDistributionPanel");
// }
// });
putData("Extender", new NTSendable() {
@Override
public void initSendable(NTSendableBuilder builder) {
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -2
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@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
public class SwerveDrive extends SubsystemBase {
@@ -44,7 +45,7 @@ public class SwerveDrive extends SubsystemBase {
m_gyro = gyro;
modules = new SwerveModule[] { m_frontLeft, m_frontRight, m_backLeft, m_backRight };
SmartDashboard.putNumber("OMEGA", 0.0);
// m_poseEstimator = new SwerveDrivePoseEstimator(
// getRegGyro(),//m_gyro.getRotation2d(),
// new Pose2d(),
@@ -90,7 +91,7 @@ public class SwerveDrive extends SubsystemBase {
if (rightStick.getNorm() > OIConstants.RIGHT_AXIS_DEADBAND) rotTarget = -Math.atan2(rightStick.getY(), rightStick.getX());
double rotDifference = rotTarget - m_gyro.getRotation2d().getRadians();
leftStick = leftStick.times(leftStick.getNorm() * speedAdjust);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(leftStick.getX(), leftStick.getY(), rotDifference * SwerveDriveConstants.ROTATION_SPEED * 2, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI * 2) + (Math.PI / 2)));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(leftStick.getX(), leftStick.getY(), rotDifference, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI * 2) + (Math.PI / 2)));
} else chassisSpeeds = new ChassisSpeeds(leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED * 2);
setModuleStates(SwerveDriveConstants.DRIVE_KINEMATICS.toSwerveModuleStates(chassisSpeeds));
}