mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Full Rework
- New SwerveModule subsystem - Seperates everything out - Untested - VERY FUNKY - Will need an hour or two to clean up and making usable beyond a basic test
This commit is contained in:
ryan123rudder
@@ -16,9 +16,11 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
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import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
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import edu.wpi.first.wpilibj.util.Units;
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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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{
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@@ -35,14 +37,39 @@ public class SwerveDrive extends SubsystemBase
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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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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 =
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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 RobotGyro gyro; //TODO Add Gyro Lol
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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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@@ -56,22 +83,32 @@ public class SwerveDrive extends SubsystemBase
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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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double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
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double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
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Translation2d m_frontLeftLocation = new Translation2d(halfHeight, halfWidth);
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Translation2d m_frontRightLocation = new Translation2d(halfHeight, -halfWidth);
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Translation2d m_backLeftLocation = new Translation2d(-halfHeight, halfWidth);
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Translation2d m_backRightLocation = new Translation2d(-halfHeight, -halfWidth);
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m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
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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_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder) // Back Right
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};
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//gyro.reset();
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}
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public void driveWithInput(double strafeX, double strafeY, double rotate)
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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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/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
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driveFromSpeeds(speeds);*/
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SwerveModuleState[] states =
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kinematics.toSwerveModuleStates(
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, gyro.getRotation2d())
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: new ChassisSpeeds(xSpeed, ySpeed, rot));
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SwerveDriveKinematics.normalizeWheelSpeeds(states, 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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@@ -96,47 +133,47 @@ public class SwerveDrive extends SubsystemBase
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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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/*//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());
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m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees());
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m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees());
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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_leftFrontWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftFrontWheelMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontWheelMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontWheelMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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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_rightFrontWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_rightFrontWheelMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontWheelMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightFrontWheelMotor.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_leftBackWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftBackWheelMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackWheelMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftBackWheelMotor.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_rightBackWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_rightBackWheelMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackWheelMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_rightBackWheelMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// PID
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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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}
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}*/
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@@ -0,0 +1,95 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonFX;
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import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
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import com.ctre.phoenix.sensors.CANCoder;
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import com.ctre.phoenix.sensors.CANCoderConfiguration;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
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import edu.wpi.first.wpilibj.util.Units;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import edu.wpi.first.wpilibj.geometry.Translation2d;
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import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.utility.Gains;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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public class SwerveModule extends SubsystemBase {
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private WPI_TalonFX driveMotor;
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private WPI_TalonFX angleMotor;
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private CANCoder canCoder;
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public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
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private static double kEncoderTicksPerRotation = 4096;
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/** Creates a new SwerveModule. */
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public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder) {
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this.driveMotor = driveMotor;
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this.angleMotor = angleMotor;
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this.canCoder = canCoder;
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TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
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angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
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angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
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angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;
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// Use the CANCoder as the remote sensor for the primary TalonFX PID
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angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
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angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
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angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
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angleMotor.configAllSettings(angleTalonFXConfiguration);
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/*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
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driveTalonFXConfiguration.slot0.kP = kDriveP;
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driveTalonFXConfiguration.slot0.kI = kDriveI;
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driveTalonFXConfiguration.slot0.kD = kDriveD;
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driveTalonFXConfiguration.slot0.kF = kDriveF;
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driveMotor.configAllSettings(driveTalonFXConfiguration);*/
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CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
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canCoder.configAllSettings(canCoderConfiguration);
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}
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public Rotation2d getAngle() {
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// Note: This assumes the CANCoders are setup with the default feedback coefficient
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// and the sesnor value reports degrees.
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return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
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}
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/**
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* Set the speed + rotation of the swerve module from a SwerveModuleState object
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* @param desiredState - A SwerveModuleState representing the desired new state of the module
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*/
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public void setDesiredState(SwerveModuleState desiredState) {
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Rotation2d currentRotation = getAngle();
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SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
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// Find the difference between our current rotational position + our new rotational position
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Rotation2d rotationDelta = state.angle.minus(currentRotation);
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// Find the new absolute position of the module based on the difference in rotation
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double deltaTicks = (rotationDelta.getDegrees() / 360) * kEncoderTicksPerRotation;
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// Convert the CANCoder from it's position reading back to ticks
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double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
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double desiredTicks = currentTicks + deltaTicks;
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angleMotor.set(TalonFXControlMode.Position, desiredTicks);
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double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
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driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
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}
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}
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