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Switch to raw controller inputs, try gyro reset button

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Thanks Nathan!
This commit is contained in:
Aarav Shah
2022-01-14 21:02:15 -07:00
parent 789f4f6a9b
commit 878bb170a3
5 changed files with 31 additions and 76 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+24 -71
View File
@@ -4,10 +4,13 @@
package frc4388.robot.subsystems;
import java.util.Arrays;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -19,6 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.controller.XboxController;
public class SwerveDrive extends SubsystemBase {
SwerveDriveKinematics m_kinematics;
@@ -49,7 +53,6 @@ public class SwerveDrive extends SubsystemBase {
public SwerveModule[] modules;
public WPI_PigeonIMU m_gyro; //TODO Add Gyro Lol
public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder,
CANCoder rightFrontEncoder,
@@ -89,7 +92,18 @@ public class SwerveDrive extends SubsystemBase {
*/
public void driveWithInput(double[] speeds, double rot, boolean fieldRelative)
{
System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]);
// Temporary janky raw joysticks
float[] driveController = new float[HAL.kMaxJoystickAxes];
HAL.getJoystickAxes((byte) 0, driveController);
float leftXAxis = driveController[0];
float leftYAxis = driveController[1];
float rightXAxis = driveController[4];
float rightYAxis = driveController[5];
speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis);
rot = -rightXAxis;
// System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]);
/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
driveFromSpeeds(speeds);*/
double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
@@ -106,75 +120,14 @@ public class SwerveDrive extends SubsystemBase {
module.setDesiredState(state);
}
}
/*public void resetGyro(){
m_gyro.reset();
}*/
//Converts a ChassisSpeed to SwerveModuleStates (targets)
public void driveFromSpeeds(ChassisSpeeds speeds)
{
//https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html
// Convert to module states
SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
// Front left module state
SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
// Front right module state
SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
// Back left module state
SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
// Back right module state
SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
//Set the motors
setSwerveMotors(leftFront, leftBack, rightFront, rightBack);
@Override
public void periodic() {
System.err.println(m_gyro.getFusedHeading() +" aaa");
// m_gyro.setFusedHeadingToCompass();
// m_gyro.setYawToCompass();
// m_gyro.getRotation2d();
super.periodic();
}
//Sets steering motors to PID values
public void setSwerveMotors(SwerveModuleState leftFront, SwerveModuleState leftBack, SwerveModuleState rightFront, SwerveModuleState rightBack)
{
/*//Set the Wheel motor speeds
m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
//PID
m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000);
m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000);
m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000);
m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
System.out.println("Target: " + leftFront.angle.getDegrees());*/
}
/*public void setSwerveGains(){
m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}*/
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
// {
// var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary,
// rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
// }
}