mirror of
https://github.com/Team4388/2022NoWayHome.git
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Merge branch 'swerve' into Shooter
This commit is contained in:
Aarav Shah
@@ -4,10 +4,10 @@
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package frc4388.robot.subsystems;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import java.util.logging.Logger;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.LEDConstants;
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import frc4388.utility.LEDPatterns;
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@@ -27,12 +27,12 @@ public class LED extends SubsystemBase {
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m_LEDController = LEDController;
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setPattern(LEDConstants.DEFAULT_PATTERN);
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updateLED();
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System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
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Logger.getLogger(LED.class.getName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
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}
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@Override
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public void periodic(){
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SmartDashboard.putNumber("LED", m_currentPattern.getValue());
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//SmartDashboard.putNumber("LED", m_currentPattern.getValue());
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}
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/**
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@@ -4,182 +4,250 @@
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.sensors.CANCoder;
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import java.util.ArrayList;
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import com.ctre.phoenix.sensors.WPI_PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
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import edu.wpi.first.math.VecBuilder;
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import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.kinematics.ChassisSpeeds;
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import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
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import edu.wpi.first.math.kinematics.SwerveModuleState;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import edu.wpi.first.wpilibj.smartdashboard.Field2d;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.utility.Gains;
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import frc4388.utility.RobotGyro;
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public class SwerveDrive extends SubsystemBase {
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SwerveDriveKinematics m_kinematics;
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private WPI_TalonFX m_leftFrontSteerMotor;
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private WPI_TalonFX m_leftFrontWheelMotor;
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private WPI_TalonFX m_rightFrontSteerMotor;
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private WPI_TalonFX m_rightFrontWheelMotor;
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private WPI_TalonFX m_leftBackSteerMotor;
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private WPI_TalonFX m_leftBackWheelMotor;
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private WPI_TalonFX m_rightBackSteerMotor;
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private WPI_TalonFX m_rightBackWheelMotor;
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private CANCoder m_leftFrontEncoder;
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private CANCoder m_rightFrontEncoder;
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private CANCoder m_leftBackEncoder;
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private CANCoder m_rightBackEncoder;
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private SwerveModule m_leftFront;
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private SwerveModule m_leftBack;
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private SwerveModule m_rightFront;
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private SwerveModule m_rightBack;
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double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
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double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
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public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
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Translation2d m_frontLeftLocation =
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new Translation2d(
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Units.inchesToMeters(halfHeight),
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Units.inchesToMeters(halfWidth));
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Translation2d m_frontRightLocation =
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new Translation2d(
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Units.inchesToMeters(halfHeight),
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Units.inchesToMeters(-halfWidth));
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Translation2d m_backLeftLocation =
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new Translation2d(
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Units.inchesToMeters(-halfHeight),
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Units.inchesToMeters(halfWidth));
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Translation2d m_backRightLocation =
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new Translation2d(
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Units.inchesToMeters(-halfHeight),
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Units.inchesToMeters(-halfWidth));
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//setSwerveGains();
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Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
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Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
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Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
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Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
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private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
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public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
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public SwerveModule[] modules;
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public RobotGyro gyro; //TODO Add Gyro Lol
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public WPI_PigeonIMU m_gyro;
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protected FusionStatus fstatus = new FusionStatus();
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/* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used
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below are robot specific, and should be tuned. */
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public SwerveDrivePoseEstimator m_poseEstimator;
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public SwerveDriveOdometry m_odometry;
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public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
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WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder,
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CANCoder rightFrontEncoder,
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CANCoder leftBackEncoder,
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CANCoder rightBackEncoder)
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{
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m_leftFrontSteerMotor = leftFrontSteerMotor;
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m_leftFrontWheelMotor = leftFrontWheelMotor;
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m_rightFrontSteerMotor = rightFrontSteerMotor;
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m_rightFrontWheelMotor = rightFrontWheelMotor;
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m_leftBackSteerMotor = leftBackSteerMotor;
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m_leftBackWheelMotor = leftBackWheelMotor;
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m_rightBackSteerMotor = rightBackSteerMotor;
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m_rightBackWheelMotor = rightBackWheelMotor;
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m_leftFrontEncoder = leftFrontEncoder;
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m_rightFrontEncoder = rightFrontEncoder;
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m_leftBackEncoder = leftBackEncoder;
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m_rightBackEncoder = rightBackEncoder;
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public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
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public boolean ignoreAngles;
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public Rotation2d rotTarget = new Rotation2d();
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modules = new SwerveModule[] {
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new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
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new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
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new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
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new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right
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};
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//gyro.reset();
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private final Field2d m_field = new Field2d();
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public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, WPI_PigeonIMU gyro) {
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m_leftFront = leftFront;
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m_leftBack = leftBack;
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m_rightFront = rightFront;
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m_rightBack = rightBack;
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m_gyro = gyro;
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modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack};
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m_poseEstimator =
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new SwerveDrivePoseEstimator(
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m_gyro.getRotation2d(),
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new Pose2d(),
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m_kinematics,
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VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)),
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VecBuilder.fill(Units.degreesToRadians(1)),
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VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)));
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m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());
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m_gyro.reset();
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SmartDashboard.putData("Field", m_field);
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}
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//https://github.com/ZachOrr/MK3-Swerve-Example
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/**
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* Method to drive the robot using joystick info.
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*
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* @param xSpeed Speed of the robot in the x direction (forward).
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* @param ySpeed Speed of the robot in the y direction (sideways).
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* @param speeds[0] Speed of the robot in the x direction (forward).
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* @param speeds[1] Speed of the robot in the y direction (sideways).
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* @param rot Angular rate of the robot.
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* @param fieldRelative Whether the provided x and y speeds are relative to the field.
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*/
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public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative)
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public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative)
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{
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/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
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driveFromSpeeds(speeds);*/
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double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
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SwerveModuleState[] states =
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kinematics.toSwerveModuleStates(
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, gyro.getRotation2d())
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: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
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SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
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for (int i = 0; i < states.length; i++) {
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SwerveModule module = modules[i];
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SwerveModuleState state = states[i];
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module.setDesiredState(state);
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}
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}
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//Converts a ChassisSpeed to SwerveModuleStates (targets)
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public void driveFromSpeeds(ChassisSpeeds speeds)
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{
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//https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html
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// Convert to module states
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SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
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if (speedX == 0 && speedY == 0 && rot == 0) ignoreAngles = true;
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else ignoreAngles = false;
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Translation2d speed = new Translation2d(speedX, speedY);
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double mag = speed.getNorm();
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speed = speed.times(mag * speedAdjust);
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// Front left module state
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SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
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// Front right module state
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SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
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// Back left module state
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SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
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// Back right module state
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SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
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//Set the motors
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setSwerveMotors(leftFront, leftBack, rightFront, rightBack);
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double xSpeedMetersPerSecond = -speed.getX();
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double ySpeedMetersPerSecond = speed.getY();
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SwerveModuleState[] states =
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m_kinematics.toSwerveModuleStates(
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
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: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
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setModuleStates(states);
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}
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public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
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{
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ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
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Translation2d speed = new Translation2d(leftX, leftY);
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speed = speed.times(speed.getNorm() * speedAdjust);
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if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
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rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
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double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
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double xSpeedMetersPerSecond = -speed.getX();
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double ySpeedMetersPerSecond = speed.getY();
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SwerveModuleState[] states =
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m_kinematics.toSwerveModuleStates(
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
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: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED));
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setModuleStates(states);
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}
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//Sets steering motors to PID values
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public void setSwerveMotors(SwerveModuleState leftFront, SwerveModuleState leftBack, SwerveModuleState rightFront, SwerveModuleState rightBack)
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{
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/*//Set the Wheel motor speeds
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m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
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//PID
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m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000);
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m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000);
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m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000);
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m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
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System.out.println("Target: " + leftFront.angle.getDegrees());*/
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}
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public void setModuleStates(SwerveModuleState[] desiredStates) {
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SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
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for (int i = 0; i < desiredStates.length; i++) {
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SwerveModule module = modules[i];
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SwerveModuleState state = desiredStates[i];
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module.setDesiredState(state, false);
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}
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// modules[0].setDesiredState(desiredStates[0], false);
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}
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/*public void setSwerveGains(){
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m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
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m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
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m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
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m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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||||
m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
|
||||
m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
|
||||
m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
|
||||
m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
}*/
|
||||
@Override
|
||||
public void periodic() {
|
||||
|
||||
updateOdometry();
|
||||
// SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus));
|
||||
|
||||
SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
|
||||
|
||||
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
|
||||
// {
|
||||
// var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary,
|
||||
// rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
|
||||
// }
|
||||
// SmartDashboard.putNumber("Front Left", modules[0].driveMotor.getSelectedSensorPosition());
|
||||
// SmartDashboard.putNumber("Front Right", modules[1].driveMotor.getSelectedSensorPosition());
|
||||
// SmartDashboard.putNumber("Back Left", modules[2].driveMotor.getSelectedSensorPosition());
|
||||
// SmartDashboard.putNumber("Back Right", modules[3].driveMotor.getSelectedSensorPosition());
|
||||
// SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle());
|
||||
// SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees());
|
||||
// SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading});
|
||||
|
||||
// m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
|
||||
super.periodic();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the distance between two given poses.
|
||||
* @param p1 The first pose.
|
||||
* @param p2 The second pose.
|
||||
* @return Absolute distance between p1 and p2.
|
||||
*/
|
||||
public double distBtwPoses(Pose2d p1, Pose2d p2) {
|
||||
return Math.sqrt(Math.pow(p1.getX() - p2.getX(), 2) + Math.pow(p1.getY() - p2.getY(), 2));
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a scalar from your distance to the hub to your target distance.
|
||||
*
|
||||
* @param target_dist The target distance.
|
||||
* @return A scalar that multiplies your distance from the hub to get your target distance.
|
||||
*/
|
||||
public Pose2d poseGivenDist(double target_dist) {
|
||||
Pose2d p1 = m_poseEstimator.getEstimatedPosition();
|
||||
Pose2d p2 = SwerveDriveConstants.HUB_POSE;
|
||||
|
||||
double scalar = target_dist/distBtwPoses(p1, p2);
|
||||
Pose2d new_pose = new Pose2d(p1.getX() * scalar, p1.getY() * scalar, p1.getRotation());
|
||||
|
||||
return new_pose;
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the current pose of the robot.
|
||||
* @return Robot's current pose.
|
||||
*/
|
||||
public Pose2d getOdometry() {
|
||||
// return m_odometry.getPoseMeters();
|
||||
return m_poseEstimator.getEstimatedPosition();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the current gyro using regression formula.
|
||||
* @return Rotation2d object holding current gyro in radians
|
||||
*/
|
||||
public Rotation2d getRegGyro() {
|
||||
double regCur = 0.6552670369 + m_gyro.getRotation2d().getDegrees() * 0.9926871527;
|
||||
return new Rotation2d(regCur * Math.PI / 180);
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets the odometry of the robot to the given pose.
|
||||
*/
|
||||
public void resetOdometry(Pose2d pose) {
|
||||
m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d());
|
||||
}
|
||||
|
||||
/** Updates the field relative position of the robot.
|
||||
*/
|
||||
public void updateOdometry() {
|
||||
m_poseEstimator.update( getRegGyro(),
|
||||
modules[0].getState(),
|
||||
modules[1].getState(),
|
||||
modules[2].getState(),
|
||||
modules[3].getState());
|
||||
|
||||
// Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
|
||||
// a real robot, this must be calculated based either on latency or timestamps.
|
||||
// m_poseEstimator.addVisionMeasurement(
|
||||
// m_poseEstimator.getEstimatedPosition(),
|
||||
// Timer.getFPGATimestamp() - 0.1);
|
||||
}
|
||||
|
||||
public void resetGyro(){
|
||||
m_gyro.reset();
|
||||
rotTarget = new Rotation2d(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop all four swerve modules.
|
||||
*/
|
||||
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;
|
||||
}
|
||||
else{
|
||||
speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -7,6 +7,7 @@ package frc4388.robot.subsystems;
|
||||
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
|
||||
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
|
||||
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
|
||||
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
|
||||
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.sensors.CANCoder;
|
||||
@@ -21,20 +22,28 @@ import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public class SwerveModule extends SubsystemBase {
|
||||
private WPI_TalonFX driveMotor;
|
||||
private WPI_TalonFX angleMotor;
|
||||
public WPI_TalonFX angleMotor;
|
||||
public WPI_TalonFX driveMotor;
|
||||
private CANCoder canCoder;
|
||||
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
|
||||
|
||||
private static double kEncoderTicksPerRotation = 4096;
|
||||
private SwerveModuleState state;
|
||||
private double canCoderFeedbackCoefficient;
|
||||
|
||||
public long m_currentTime;
|
||||
public long m_lastTime;
|
||||
public double m_deltaTime;
|
||||
|
||||
|
||||
public double m_currentPos;
|
||||
public double m_lastPos;
|
||||
|
||||
/** Creates a new SwerveModule. */
|
||||
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.canCoder = canCoder;
|
||||
canCoderFeedbackCoefficient = canCoder.configGetFeedbackCoefficient();
|
||||
|
||||
TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
|
||||
|
||||
@@ -48,22 +57,38 @@ public class SwerveModule extends SubsystemBase {
|
||||
angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
|
||||
angleMotor.configAllSettings(angleTalonFXConfiguration);
|
||||
|
||||
/*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
|
||||
driveTalonFXConfiguration.slot0.kP = kDriveP;
|
||||
driveTalonFXConfiguration.slot0.kI = kDriveI;
|
||||
driveTalonFXConfiguration.slot0.kD = kDriveD;
|
||||
driveTalonFXConfiguration.slot0.kF = kDriveF;
|
||||
driveMotor.configAllSettings(driveTalonFXConfiguration);*/
|
||||
// TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
|
||||
// driveTalonFXConfiguration.slot0.kP = 0.05;
|
||||
// driveTalonFXConfiguration.slot0.kI = 0.0;
|
||||
// driveTalonFXConfiguration.slot0.kD = 0.0;
|
||||
// driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor;
|
||||
driveMotor.configFactoryDefault();
|
||||
driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30);
|
||||
driveMotor.configNominalOutputForward(0, 30);
|
||||
driveMotor.configNominalOutputReverse(0, 30);
|
||||
driveMotor.configPeakOutputForward(1, 30);
|
||||
driveMotor.configPeakOutputReverse(-1, 30);
|
||||
driveMotor.configAllowableClosedloopError(0, 0, 30);
|
||||
driveMotor.config_kP(0, 0.5, 30);
|
||||
driveMotor.config_kI(0, 0, 30);
|
||||
driveMotor.config_kD(0, 0, 30);
|
||||
// maybe try a feedforward value?
|
||||
|
||||
// driveMotor.configAllSettings(driveTalonFXConfiguration);
|
||||
|
||||
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
|
||||
canCoderConfiguration.magnetOffsetDegrees = offset;
|
||||
canCoder.configAllSettings(canCoderConfiguration);
|
||||
|
||||
m_currentTime = System.currentTimeMillis();
|
||||
m_lastTime = System.currentTimeMillis();
|
||||
|
||||
m_lastPos = driveMotor.getSelectedSensorPosition();
|
||||
}
|
||||
|
||||
|
||||
public Rotation2d getAngle() {
|
||||
private Rotation2d getAngle() {
|
||||
// Note: This assumes the CANCoders are setup with the default feedback coefficient
|
||||
// and the sesnor value reports degrees.
|
||||
// and the sensor value reports degrees.
|
||||
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
|
||||
}
|
||||
|
||||
@@ -71,10 +96,10 @@ public class SwerveModule extends SubsystemBase {
|
||||
* Set the speed + rotation of the swerve module from a SwerveModuleState object
|
||||
* @param desiredState - A SwerveModuleState representing the desired new state of the module
|
||||
*/
|
||||
public void setDesiredState(SwerveModuleState desiredState) {
|
||||
public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
|
||||
Rotation2d currentRotation = getAngle();
|
||||
SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
|
||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
// SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
|
||||
state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
|
||||
// Find the difference between our current rotational position + our new rotational position
|
||||
Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||
@@ -82,12 +107,64 @@ public class SwerveModule extends SubsystemBase {
|
||||
// Find the new absolute position of the module based on the difference in rotation
|
||||
double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
|
||||
// Convert the CANCoder from it's position reading back to ticks
|
||||
double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
|
||||
double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
|
||||
double desiredTicks = currentTicks + deltaTicks;
|
||||
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
|
||||
|
||||
if (!ignoreAngle){
|
||||
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
|
||||
}
|
||||
|
||||
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
|
||||
double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC;
|
||||
// double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69;
|
||||
|
||||
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
|
||||
driveMotor.set(normFtPerSec);// - angleMotor.get());
|
||||
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1
|
||||
|
||||
// m_currentTime = System.currentTimeMillis();
|
||||
// m_deltaTime = (double) (m_currentTime - m_lastTime);
|
||||
// m_deltaTime = m_deltaTime / 10.0;
|
||||
|
||||
// m_currentPos = driveMotor.getSelectedSensorPosition();
|
||||
|
||||
// double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity();
|
||||
// double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048;
|
||||
// double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity());
|
||||
// double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
|
||||
|
||||
// System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition());
|
||||
// System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos);
|
||||
// System.out.println("Last Pos: " + m_lastPos);
|
||||
|
||||
// driveMotor.set(TalonFXControlMode.Position, 1500/*m_desiredCorrectionPos*/);
|
||||
|
||||
// m_lastTime = m_currentTime;
|
||||
// m_lastPos = m_currentPos;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Get current module state.
|
||||
*
|
||||
* @return The current state of the module in m/s.
|
||||
*/
|
||||
public SwerveModuleState getState() {
|
||||
// return state;
|
||||
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the drive and steer motors of current module.
|
||||
*/
|
||||
public void stop() {
|
||||
driveMotor.set(0);
|
||||
angleMotor.set(0);
|
||||
}
|
||||
@Override
|
||||
public void periodic(){
|
||||
Rotation2d currentRotation = getAngle();
|
||||
SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
|
||||
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user