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switch to pigeon2 + vector2d docs

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aarav18
2022-03-14 18:29:11 -06:00
parent 946e7aee47
commit 8a25b7c1d5
9 changed files with 44 additions and 25 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -24,9 +24,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.utility.DesmosServer;
import frc4388.utility.RobotTime;
import frc4388.utility.VelocityCorrection;
import frc4388.utility.desmos.DesmosServer;
/**
* The VM is configured to automatically run this class, and to call the
src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -297,8 +297,10 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
src/main/java/frc4388/robot/RobotMap.java
+2 -2
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@@ -10,7 +10,7 @@ import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
@@ -63,7 +63,7 @@ public class RobotMap {
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID);
public final WPI_Pigeon2 gyro = new WPI_Pigeon2(SwerveDriveConstants.GYRO_ID);
public SwerveModule leftFront;
public SwerveModule leftBack;
src/main/java/frc4388/robot/commands/TrackTarget.java
+1 -1
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@@ -18,7 +18,7 @@ import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.VisionOdometry;
import frc4388.utility.DesmosServer;
import frc4388.utility.desmos.DesmosServer;
public class TrackTarget extends CommandBase {
/** Creates a new TrackTarget. */
src/main/java/frc4388/robot/subsystems/Extender.java
-2
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@@ -12,7 +12,6 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ExtenderConstants;
import frc4388.utility.DesmosServer;
public class Extender extends SubsystemBase {
@@ -51,7 +50,6 @@ public class Extender extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Extender Position", m_extenderMotor.getEncoder().getPosition());
DesmosServer.putDouble("ExtenderPosition", m_extenderMotor.getEncoder().getPosition());
}
/**
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7 -15
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@@ -4,11 +4,9 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -46,14 +44,8 @@ public class SwerveDrive extends SubsystemBase {
m_backLeftLocation, m_backRightLocation);
public SwerveModule[] modules;
public WPI_PigeonIMU m_gyro;
protected FusionStatus fstatus = new FusionStatus();
public WPI_Pigeon2 m_gyro;
/*
* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings.
* The numbers used
* below are robot specific, and should be tuned.
*/
public SwerveDrivePoseEstimator m_poseEstimator;
public SwerveDriveOdometry m_odometry;
@@ -65,7 +57,7 @@ public class SwerveDrive extends SubsystemBase {
private final Field2d m_field = new Field2d();
public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack,
WPI_PigeonIMU gyro) {
WPI_Pigeon2 gyro) {
m_leftFront = leftFront;
m_leftBack = leftBack;
@@ -74,14 +66,14 @@ public class SwerveDrive extends SubsystemBase {
m_gyro = gyro;
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack};
m_poseEstimator = new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
new Pose2d(),
m_kinematics,
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)),
VecBuilder.fill(Units.degreesToRadians(1)),
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)));
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)), // TODO: tune
VecBuilder.fill(Units.degreesToRadians(1)), // TODO: tune
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1))); // TODO: tune
m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());