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FIX

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This commit is contained in:
Ryan Manley
2022-03-10 16:47:32 -07:00
parent dce8ab320c
commit e237f14537
7 changed files with 80 additions and 31 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+2 -1
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@@ -18,6 +18,7 @@ import java.util.stream.IntStream;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -50,7 +51,6 @@ public class BoomBoom extends SubsystemBase {
}
private ShooterTableEntry[] m_shooterTable;
/*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/
@@ -165,6 +165,7 @@ public class BoomBoom extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
// speed2 = SmartDashboard.getNumber("Shooter Offset", 0.0);
}
public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
src/main/java/frc4388/robot/subsystems/Climber.java
+26
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@@ -0,0 +1,26 @@
// 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.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Climber extends SubsystemBase {
WPI_TalonFX m_climberElbow;
/** Creates a new Climber. */
public Climber(WPI_TalonFX climberElbow) {
m_climberElbow = climberElbow;
}
public void runWithInput(double input){
m_climberElbow.set(input);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+12 -16
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@@ -37,14 +37,10 @@ public class SwerveDrive extends SubsystemBase {
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation,
m_backLeftLocation, m_backRightLocation);
@@ -108,29 +104,29 @@ public class SwerveDrive extends SubsystemBase {
ignoreAngles = true;
else
ignoreAngles = false;
Translation2d speed = new Translation2d(-speedY, -speedX);
Translation2d speed = new Translation2d(speedX, speedY);
double mag = speed.getNorm();
speed = speed.times(mag * speedAdjust);
double xSpeedMetersPerSecond = -speed.getX();
double xSpeedMetersPerSecond = speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED * 8, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
-rot * SwerveDriveConstants.ROTATION_SPEED * 8);
-rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d((360 - m_gyro.getRotation2d().getDegrees() + 90) * (Math.PI/180)))
: new ChassisSpeeds(ySpeedMetersPerSecond, -xSpeedMetersPerSecond,
-rot * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(chassisSpeeds);
setModuleStates(states);
}
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
Translation2d speed = new Translation2d(-leftX, leftY);
Translation2d speed = new Translation2d(leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust);
if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
rotTarget = new Rotation2d(rightX, -rightY).plus(new Rotation2d(0, 1));
rotTarget = new Rotation2d(rightY, rightX);
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX();
double xSpeedMetersPerSecond = speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,