From e0d293a0bc9bad33e38c647f7a093dbbb39d9e29 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Feb 2022 15:51:32 -0700 Subject: [PATCH] auto paths and heading = 0 --- src/main/deploy/pathplanner/Five Ball.path | 1 + src/main/deploy/pathplanner/Move Down.path | 2 +- src/main/deploy/pathplanner/Move Forward.path | 2 +- .../deploy/pathplanner/generatedJSON/Diamond.wpilib.json | 1 + .../pathplanner/generatedJSON/Five Ball.wpilib.json | 1 + .../pathplanner/generatedJSON/Move Down.wpilib.json | 2 +- .../pathplanner/generatedJSON/Move Forward.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 4 ++-- src/main/java/frc4388/robot/RobotContainer.java | 3 ++- src/main/java/frc4388/robot/subsystems/SwerveModule.java | 9 +++++---- 10 files changed, 16 insertions(+), 11 deletions(-) create mode 100644 src/main/deploy/pathplanner/Five Ball.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json create mode 100644 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 773e54b..05a0163 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -66,9 +66,9 @@ public final class Constants { // swerve auto constants public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0); - public static final PIDController Y_CONTROLLER = new PIDController(4.0, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); + 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 90b43c4..ffb363b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -181,7 +181,8 @@ public class RobotContainer { // ppSwerveControllerCommand, // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) // ); - return runAuto("Move Forward", 5.0, 5.0); + // return runAuto("Move Forward", 5.0, 5.0); + return runAuto("Five Ball", 1.0, 1.0); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 27a9072..bc3d6f2 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -49,9 +49,9 @@ public class SwerveModule extends SubsystemBase { angleMotor.configAllSettings(angleTalonFXConfiguration); TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); - driveTalonFXConfiguration.slot0.kP = 1.0; + driveTalonFXConfiguration.slot0.kP = 0.15; driveTalonFXConfiguration.slot0.kI = 0.0; - driveTalonFXConfiguration.slot0.kD = 0.0; + driveTalonFXConfiguration.slot0.kD = 0.5; driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); @@ -89,8 +89,9 @@ public class SwerveModule extends SubsystemBase { } - // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); + // driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); } /**