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Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve

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nathanrsxtn
2022-01-31 19:29:05 -07:00
parent 6cf8ca98c3 7d67158d00
commit 9989c24928
3 changed files with 18 additions and 26 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -21
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@@ -6,26 +6,14 @@ package frc4388.robot;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.commands.PPSwerveControllerCommand;
import edu.wpi.first.math.controller.HolonomicDriveController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -34,7 +22,6 @@ import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.DeadbandedRawXboxController;
import frc4388.utility.controller.DeadbandedXboxController;
/**
@@ -120,8 +107,6 @@ public class RobotContainer {
public Command getAutonomousCommand() {
// https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki
TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0);
// PATH PLANNER TRAJECTORY IMPLEMENTATION
// PathPlannerTrajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0);
@@ -137,20 +122,20 @@ public class RobotContainer {
// );
// WPILIB TRAJECTORY IMPLEMENTATION
Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0);
Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
testFirstPath,
testFirstPath,
m_robotSwerveDrive::getOdometry,
m_robotSwerveDrive.m_kinematics,
new PIDController(0.5, 1.0, 1.0),
new PIDController(0.5, 1.0, 1.0),
new ProfiledPIDController(0.5, 1.0, 1.0, new TrapezoidProfile.Constraints(1.0, 1.0)),
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive
);
m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true));
return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
//return new InstantCommand();
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
-5
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@@ -4,9 +4,6 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMUConfiguration;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
@@ -20,8 +17,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.OIConstants;
src/main/java/frc4388/utility/DataLogging.java
+12
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@@ -0,0 +1,12 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.utility;
/** Add your docs here. */
public class DataLogging {
public DataLogging() {
}
}