mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
nathanrsxtn
71563e6759
* Update license * Remove arcade drive * Correct indentation * Disable RobotGyro (new gyro is untested)
93 lines
4.0 KiB
Java
93 lines
4.0 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
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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 com.ctre.phoenix.sensors.CANCoderConfiguration;
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import edu.wpi.first.math.geometry.Rotation2d;
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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 frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.utility.Gains;
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public class SwerveModule extends SubsystemBase {
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private WPI_TalonFX driveMotor;
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private WPI_TalonFX angleMotor;
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private CANCoder canCoder;
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public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
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private static double kEncoderTicksPerRotation = 4096;
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/** Creates a new SwerveModule. */
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public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder) {
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this.driveMotor = driveMotor;
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this.angleMotor = angleMotor;
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this.canCoder = canCoder;
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TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
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angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
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angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
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angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;
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// Use the CANCoder as the remote sensor for the primary TalonFX PID
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angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
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angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
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angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
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angleMotor.configAllSettings(angleTalonFXConfiguration);
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/*
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* TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
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*
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* driveTalonFXConfiguration.slot0.kP = kDriveP;
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* driveTalonFXConfiguration.slot0.kI = kDriveI;
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* driveTalonFXConfiguration.slot0.kD = kDriveD;
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* driveTalonFXConfiguration.slot0.kF = kDriveF;
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*
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* driveMotor.configAllSettings(driveTalonFXConfiguration);
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*/
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CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
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// CANCODER CONFIG
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canCoder.configAllSettings(canCoderConfiguration);
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}
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public Rotation2d getAngle() {
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// Note: This assumes the CANCoders are setup with the default feedback coefficient and the sesnor value reports degrees.
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return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
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}
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/**
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* Set the speed + rotation of the swerve module from a SwerveModuleState object
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*
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* @param desiredState - A SwerveModuleState representing the desired new state
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* of the module
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*/
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public void setDesiredState(SwerveModuleState desiredState) {
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Rotation2d currentRotation = getAngle();
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SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
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// Find the difference between our current rotational position + our new rotational position
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Rotation2d rotationDelta = state.angle.minus(currentRotation);
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// Find the new absolute position of the module based on the difference in rotation
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double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
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// Convert the CANCoder from it's position reading back to ticks
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double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
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double desiredTicks = currentTicks + deltaTicks;
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angleMotor.set(TalonFXControlMode.Position, desiredTicks);
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double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
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driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER);
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}
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}
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