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Bug fixes

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This commit is contained in:
aarav18
2021-12-16 16:22:36 -07:00
parent 15c7b2da19
commit 6c99069847
4 changed files with 37 additions and 37 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -15
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@@ -33,20 +33,20 @@ public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 0;
public static final double HEIGHT = 0;
public static final int LEFT_FRONT_STEER_CAN_ID = 0;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 0;
public static final int RIGHT_FRONT_STEER_CAN_ID = 0;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ID = 0;
public static final int LEFT_BACK_WHEEL_CAN_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ID = 0;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 0;
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 0;
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 0;
public static final double WIDTH = 22;
public static final double HEIGHT = 22;
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
public static final int LEFT_BACK_STEER_CAN_ID = 6;
public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
public static final int RIGHT_BACK_STEER_CAN_ID = 8;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
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
public static final float LEFT_FRONT_ENCODER_OFFSET = 0;
public static final float RIGHT_FRONT_ENCODER_OFFSET = 0;
@@ -57,7 +57,7 @@ public final class Constants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;
src/main/java/frc4388/robot/RobotContainer.java
+4 -4
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@@ -32,8 +32,8 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
//private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
// m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
@@ -82,8 +82,8 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
//.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
/* Operator Buttons */
// activates "Lit Mode"
src/main/java/frc4388/robot/RobotMap.java
+13 -13
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@@ -30,7 +30,7 @@ public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureArcadeDriveMotorControllers();
//configureArcadeDriveMotorControllers();
configureSwerveMotorControllers();
}
@@ -42,37 +42,37 @@ public class RobotMap {
}
/* ArcadeDrive Subsystem */
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
//public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
//public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
//public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
//public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
//public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
//public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
void configureArcadeDriveMotorControllers() {
/*void configureArcadeDriveMotorControllers() {
/* factory default values */
// factory default values
leftFrontMotor.configFactoryDefault();
rightFrontMotor.configFactoryDefault();
leftBackMotor.configFactoryDefault();
rightBackMotor.configFactoryDefault();
/* set back motors as followers */
// set back motors as followers
leftBackMotor.follow(leftFrontMotor);
rightBackMotor.follow(rightFrontMotor);
/* set neutral mode */
// set neutral mode
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
/* flip input so forward becomes back, etc */
// flip input so forward becomes back, etc
leftFrontMotor.setInverted(false);
rightFrontMotor.setInverted(false);
leftBackMotor.setInverted(InvertType.FollowMaster);
rightBackMotor.setInverted(InvertType.FollowMaster);
}
}*/
/* Swerve Subsystem */
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -3
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@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
public class SwerveDrive extends SubsystemBase
{
@@ -106,6 +107,7 @@ public class SwerveDrive extends SubsystemBase
m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees());
m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees());
m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
}
public void setSwerveGains(){
m_leftFrontWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
@@ -117,7 +119,7 @@ public class SwerveDrive extends SubsystemBase
m_rightFrontWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
m_rightFrontWheelMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontWheelMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightrFontWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontWheelMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftBackWheelMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
@@ -132,8 +134,6 @@ public class SwerveDrive extends SubsystemBase
m_rightBackWheelMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightBackWheelMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
// PID
}