Team4388/2023WayOfTheRobot
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drive done

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This commit is contained in:
Abhi
2023-02-02 17:55:52 -07:00
parent 70dbd48760
commit 1e812f706b
4 changed files with 117 additions and 43 deletions
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src/main/java/frc4388/robot/Robot.java
-13
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@@ -64,10 +64,6 @@ public class Robot extends TimedRobot {
} }
} }
private final SlewRateLimiter xLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter yLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter rotLimiter = new SlewRateLimiter(3);
// private MicroBot bot = new MicroBot(); // private MicroBot bot = new MicroBot();
/** /**
@@ -165,15 +161,6 @@ public class Robot extends TimedRobot {
// SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle()); // SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle());
// SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch()); // SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch());
// SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll()); // SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll());
this.drive(false);
}
private void drive(boolean fieldRelative) {
final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis() * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis() * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis() * 0.3, 0.02) * Units.feetToMeters(Math.PI));
m_robotContainer.m_robotSwerveDrive.drive(xSpeed, ySpeed, rot, fieldRelative);
} }
/** /**
src/main/java/frc4388/robot/RobotContainer.java
+8
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@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*; import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveWithInput;
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns; import frc4388.utility.LEDPatterns;
@@ -53,6 +54,12 @@ public class RobotContainer {
public RobotContainer() { public RobotContainer() {
configureButtonBindings(); configureButtonBindings();
m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive,
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
false));
/* Default Commands */ /* Default Commands */
// drives the robot with a two-axis input from the driver controller // drives the robot with a two-axis input from the driver controller
// continually sends updates to the Blinkin LED controller to keep the lights on // continually sends updates to the Blinkin LED controller to keep the lights on
@@ -78,6 +85,7 @@ public class RobotContainer {
// 0.3 * getDriverController().getRightYAxis(), // 0.3 * getDriverController().getRightYAxis(),
// true), // true),
// m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); // m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
} }
src/main/java/frc4388/robot/commands/DriveWithInput.java
+79
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@@ -0,0 +1,79 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveDrive;
public class DriveWithInput extends CommandBase {
/** Creates a new DriveWithInput. */
private final SwerveDrive swerve;
private final Supplier<Double> xSpeed;
private final Supplier<Double> ySpeed;
private final Supplier<Double> rot;
private final boolean fieldRelative;
private final SlewRateLimiter xLimiter, yLimiter, rotLimiter;
public DriveWithInput(SwerveDrive swerve, Supplier<Double> xSpeed, Supplier<Double> ySpeed, Supplier<Double> rot, boolean fieldRelative) {
// Use addRequirements() here to declare subsystem dependencies.
this.swerve = swerve;
this.xSpeed = xSpeed;
this.ySpeed = ySpeed;
this.rot = rot;
this.fieldRelative = fieldRelative;
this.xLimiter = new SlewRateLimiter(3);
this.yLimiter = new SlewRateLimiter(3);
this.rotLimiter = new SlewRateLimiter(3);
addRequirements(swerve);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double x = xSpeed.get();
double y = ySpeed.get();
double r = rot.get();
x = -xLimiter.calculate(MathUtil.applyDeadband(x * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
y = -yLimiter.calculate(MathUtil.applyDeadband(y * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(Math.PI));
swerve.drive(x, y, r, fieldRelative);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
System.out.println("----------------------------------------------------------------");
System.out.println("DriveWithInput ended");
System.out.println("Interrupted: " + interrupted);
System.out.println("----------------------------------------------------------------");
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+30 -30
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@@ -61,43 +61,43 @@ public class SwerveDrive extends SubsystemBase {
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack}; this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
} }
public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) { // public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
Translation2d speed = new Translation2d(-xSpeed, ySpeed); // Translation2d speed = new Translation2d(-xSpeed, ySpeed);
double mag = speed.getNorm(); // double mag = speed.getNorm();
speed = speed.times(mag * speedAdjust); // speed = speed.times(mag * speedAdjust);
double xSpeedMetersPerSecond = -speed.getX(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // double xSpeedMetersPerSecond = -speed.getX(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
double ySpeedMetersPerSecond = speed.getY(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // double ySpeedMetersPerSecond = speed.getY(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
// SwerveModuleState[] states = kinematics.toSwerveModuleStates( // // SwerveModuleState[] states = kinematics.toSwerveModuleStates(
// fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d()) // // fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
// : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot) // // : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot)
//); // //);
SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); // SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
setModuleStates(states); // setModuleStates(states);
} // }
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { // public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
// ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; // // ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
Translation2d speed = new Translation2d(-leftX, leftY); // Translation2d speed = new Translation2d(-leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust); // speed = speed.times(speed.getNorm() * speedAdjust);
// if (Math.abs(rightX) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND || Math.abs(rightY) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) // // if (Math.abs(rightX) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND || Math.abs(rightY) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
// rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1)); // // rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
// double rot = rotTarget.minus(gyro.getRotation2d()).getRadians(); // // double rot = rotTarget.minus(gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX(); // double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY(); // double ySpeedMetersPerSecond = speed.getY();
// chassisSpeeds = fieldRelative // // chassisSpeeds = fieldRelative
// ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, // // ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
// rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) // // rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
// : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); // // : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
ChassisSpeeds chassisSpeeds = new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); // ChassisSpeeds chassisSpeeds = new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states = kinematics.toSwerveModuleStates(chassisSpeeds); // SwerveModuleState[] states = kinematics.toSwerveModuleStates(chassisSpeeds);
setModuleStates(states); // setModuleStates(states);
} // }
// ! experimental WPILib swerve drive example // ! experimental WPILib swerve drive example
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) { public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {