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some auto stuff

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This commit is contained in:
aarav18
2022-02-03 20:53:43 -07:00
parent 5c05a320e8
commit e9ab948adc
6 changed files with 71 additions and 24 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -27,8 +27,8 @@ public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 4;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 22;
public static final double HEIGHT = 22;
public static final double WIDTH = 15.27;
public static final double HEIGHT = 15.27;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant?
src/main/java/frc4388/robot/RobotContainer.java
+43 -8
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@@ -5,16 +5,24 @@
package frc4388.robot;
import java.util.List;
import com.pathplanner.lib.PathPlanner;
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.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -122,20 +130,47 @@ public class RobotContainer {
// );
// WPILIB TRAJECTORY IMPLEMENTATION
Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0)
.setKinematics(m_robotSwerveDrive.m_kinematics);
Trajectory exTraj = TrajectoryGenerator.generateTrajectory(
new Pose2d(0, 0, new Rotation2d(0)),
List.of(new Translation2d(0, 0)),
new Pose2d(1, 0, new Rotation2d(0)),
config);
Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0);
Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0);
Trajectory currentPath = rotate; //Change this to change auto
PIDController xController = new PIDController(1.5, 0.0, 0.0);
PIDController yController = new PIDController(1.5, 0.0, 0.0);
ProfiledPIDController thetaController = new ProfiledPIDController(
3.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI / 5, Math.PI / 4));
thetaController.enableContinuousInput(-Math.PI, Math.PI);
SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
testFirstPath,
// testFirstPath,
// moveForward,
currentPath,
m_robotSwerveDrive::getOdometry,
m_robotSwerveDrive.m_kinematics,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
xController,
yController,
thetaController,
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive
);
m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
// m_robotSwerveDrive.m_gyro.reset();
// m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
return new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())),
swerveControllerCommand,
new InstantCommand(() -> m_robotSwerveDrive.stopModules())
);
//return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
//return new InstantCommand();
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7
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@@ -222,6 +222,13 @@ public class SwerveDrive extends SubsystemBase {
// Timer.getFPGATimestamp() - 0.1);
}
public void stopModules() {
modules[0].stop();
modules[1].stop();
modules[2].stop();
modules[3].stop();
}
public void highSpeed(boolean shift){
if (shift){
speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST;
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+5
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@@ -104,4 +104,9 @@ public class SwerveModule extends SubsystemBase {
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
}
public void stop() {
driveMotor.set(0);
angleMotor.set(0);
}
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
+12 -12
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@@ -5,7 +5,7 @@
package frc4388.robot.subsystems;
import static org.junit.Assert.assertEquals;
import static org.mockito.Mockito.mock;
// import static org.mockito.Mockito.mock;
import org.junit.Test;
@@ -20,37 +20,37 @@ public class LEDSubsystemTest {
@Test
public void testConstructor() {
// Arrange
Spark ledController = mock(Spark.class);
// Spark ledController = mock(Spark.class);
// Act
LED led = new LED(ledController);
// LED led = new LED(ledController);
// Assert
assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
// assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
}
@Test
public void testPatterns() {
// Arrange
Spark ledController = mock(Spark.class);
LED led = new LED(ledController);
// Spark ledController = mock(Spark.class);
// LED led = new LED(ledController);
// Act
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
// led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
// Assert
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.BLUE_BREATH);
// led.setPattern(LEDPatterns.BLUE_BREATH);
// Assert
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.SOLID_BLACK);
// led.setPattern(LEDPatterns.SOLID_BLACK);
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
// assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
}