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This commit is contained in:
66945
2022-06-13 20:10:18 -06:00
parent 0b2f1871ef
commit f827314e09
32 changed files with 1471 additions and 285 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -3
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@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.RobotGyro;
//import frc4388.utility.RobotGyro;
public class SwerveDrive extends SubsystemBase {
SwerveDriveKinematics m_kinematics;
@@ -59,7 +59,7 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
public SwerveModule[] modules;
public RobotGyro gyro; //TODO Add Gyro Lol
// public RobotGyro gyro; //TODO Add Gyro Lol
// public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
@@ -107,7 +107,7 @@ public class SwerveDrive extends SubsystemBase {
SwerveModuleState[] states =
kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, gyro.getRotation2d())
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, new Rotation2d())//, gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
for (int i = 0; i < states.length; i++) {
src/main/java/frc4388/robot/subsystems/TestMotor.java
+47 -12
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@@ -1,23 +1,58 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.DesmosServer;
import frc4388.utility.Gains;
import frc4388.utility.tuner.TunerLogger;
import frc4388.utility.tuner.annotations.Controller;
import frc4388.utility.tuner.annotations.GainsField;
import frc4388.utility.tuner.annotations.Loggable;
import frc4388.utility.tuner.annotations.Reader;
import frc4388.utility.tuner.TunerController;
import frc4388.utility.tuner.TunerTablesHandler;
import java.util.Map;
public class TestMotor extends SubsystemBase {
private CANSparkMax m_testMotor;
private RelativeEncoder m_testEncoder;
private final WPI_TalonSRX m_testMotor;
public TestMotor(CANSparkMax testMotor) {
@GainsField(id="TestMotor")
public Gains gains = new Gains(1, 1, 1, 1, 1, 1);
@Loggable(id="test")
public double logable = 4;
@Loggable(id="test2")
public double second = 5;
// private final RelativeEncoder m_testEncoder;
public TestMotor(WPI_TalonSRX testMotor) {
m_testMotor = testMotor;
m_testEncoder = m_testMotor.getEncoder();
m_testMotor.configFactoryDefault();
// m_testEncoder = m_testMotor.getEncoder();
TunerTablesHandler.getInstance().addControllers(TunerController.createTunerControllers(this));
TunerTablesHandler.getInstance().addLoggers(TunerLogger.createTunerLoggers(this));
}
public void testDesmos() {
DesmosServer.putDouble("Position", m_testEncoder.getPosition());
m_testMotor.set(DesmosServer.readDouble("Speed"));
// public void testDesmos() {
// DesmosServer.putDouble("Position", m_testEncoder.getPosition());
// m_testMotor.set(DesmosServer.readDouble("Speed"));
// }
@Reader(id="TestMotor", value="velocity")
public double velocityReader() {
return m_testMotor.getSelectedSensorVelocity();
}
}
@Reader(id="TestMotor", value="position")
public double positionReader() {
return m_testMotor.getSelectedSensorPosition();
}
@Controller(id="TestMotor", value="velocity")
public void velocityController(double value) {
logable = Math.random() * 10;
m_testMotor.set(value);
}
}