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Merge branch 'robot-logger' into swerve

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This commit is contained in:
nathanrsxtn
2022-03-03 22:14:46 -07:00
parent 4f39a33a8b 14912c5743
commit c6041324d9
48 changed files with 2568 additions and 115151 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+8 -9
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@@ -4,10 +4,8 @@
package frc4388.robot.subsystems;
import java.util.ArrayList;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
@@ -19,11 +17,9 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
@@ -59,6 +55,7 @@ public class SwerveDrive extends SubsystemBase {
public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
public boolean ignoreAngles;
public Rotation2d rotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
private final Field2d m_field = new Field2d();
@@ -112,6 +109,7 @@ public class SwerveDrive extends SubsystemBase {
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
setModuleStates(states);
}
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
{
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
@@ -122,11 +120,12 @@ public class SwerveDrive extends SubsystemBase {
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states =
m_kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED));
chassisSpeeds);
setModuleStates(states);
}
@@ -143,7 +142,7 @@ public class SwerveDrive extends SubsystemBase {
}
// modules[0].setDesiredState(desiredStates[0], false);
}
@Override
public void periodic() {