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Merge branch 'swerve' into Shooter

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This commit is contained in:
Aarav Shah
2022-02-28 19:25:07 -07:00
committed by GitHub
parent af8e727381 234586b6d5
commit ee1fb1360e
53 changed files with 115573 additions and 536 deletions
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src/main/java/frc4388/robot/Constants.java
+57 -17
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@@ -6,6 +6,13 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
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.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
@@ -24,13 +31,16 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1;
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 JOYSTICK_TO_METERS_PER_SECOND = 5;
public static final double MAX_SPEED_FEET_PER_SEC = 16;
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20;
public static final double WIDTH = 15.25;
public static final double HEIGHT = 15.25;
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?
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant?
//IDs
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
@@ -43,30 +53,58 @@ public final class Constants {
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
// ofsets are in degrees
//ofsets are in degrees
public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
// public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
// public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
// public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
public static final int GYRO_ID = 14;
// offsets are in degrees
// NATHAN if you truncate or round or simplify these i will cry
public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
// swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final double MAX_VEL = 5.0;
public static final double MAX_ACC = 5.0;
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;
public static final double OPEN_LOOP_RAMP_RATE = 0.2;
public static final int REMOTE_0 = 0;
// conversions
// gear ratio: 5.14 rev motor = 1 rev wheel
// wheel diameter: official = 4 in, measured = 3.8 in
/* Ratio Calculation */
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857;
public static final double WHEEL_DIAMETER_INCHES = 4.0;
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
public static final double WHEEL_REV_PER_MOTOR_REV = 1/MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
// misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
// TODO: put in real numbers for the hub
public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0));
}
public static final class LEDConstants {
@@ -81,6 +119,8 @@ public final class Constants {
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final double LEFT_AXIS_DEADBAND = 0.1;
public static final double RIGHT_AXIS_DEADBAND = 0.6;
}
public static final class ShooterConstants {