Team4388/2023WayOfTheRobot
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DRIVING WORKS FIELD RELATIVE NO PROBLEMS

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This commit is contained in:
aarav18
2023-02-04 15:06:42 -07:00
parent 47c29c9b34
commit 5cfd6f971a
8 changed files with 115 additions and 146 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -3
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@@ -24,7 +24,7 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 2.0;
public static final double ROTATION_SPEED = -0.7;
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = 2;
@@ -65,7 +65,7 @@ public final class Constants {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 1.0; // TODO: find the actual value
public static final double MOTOR_REV_PER_WHEEL_REV = 6.12; // TODO: find the actual value
public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value
@@ -105,7 +105,7 @@ public final class Constants {
}
public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
// dimensions
public static final double WIDTH = 18.5; // TODO: find the actual value
@@ -137,5 +137,10 @@ 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 boolean SKEW_STICKS = true;
}
}
src/main/java/frc4388/robot/RobotContainer.java
+38 -28
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@@ -10,11 +10,12 @@ package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.DriveWithInput;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -35,8 +36,11 @@ public class RobotContainer {
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
// private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
// private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -46,11 +50,9 @@ public class RobotContainer {
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive,
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
true));
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -67,20 +69,20 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// .onFalse()
// new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
/* Operator Buttons */
// interrupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());
// /* Operator Buttons */
// // interrupt button
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand());
}
/**
@@ -96,28 +98,36 @@ public class RobotContainer {
/**
* Add your docs here.
*/
public IHandController getDriverController() {
return m_driverXbox;
// public IHandController getDriverController() {
// return m_driverXbox;
// }
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
/**
* Add your docs here.
*/
public IHandController getOperatorController() {
return m_operatorXbox;
}
// public IHandController getOperatorController() {
// return m_operatorXbox;
// }
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
// public Joystick getOperatorJoystick() {
// return m_operatorXbox.getJoyStick();
// }
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
// public Joystick getDriverJoystick() {
// return m_driverXbox.getJoyStick();
// }
}
src/main/java/frc4388/robot/RobotMap.java
+7
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@@ -7,6 +7,7 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
@@ -113,6 +114,12 @@ public class RobotMap {
rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
// set neutral mode
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
leftBackSteer.setNeutralMode(NeutralMode.Brake);
rightBackSteer.setNeutralMode(NeutralMode.Brake);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
src/main/java/frc4388/robot/commands/AutoBalance.java
+3 -2
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@@ -5,6 +5,7 @@
package frc4388.robot.commands;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.RobotGyro;
@@ -15,7 +16,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
/** Creates a new AutoBalanceTF2. */
public AutoBalance(RobotGyro gyro, SwerveDrive drive) {
super(1.0, 0, 0, 0);
super(0.6, 0, 0, 0);
this.gyro = gyro;
this.drive = drive;
@@ -34,7 +35,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
public void runWithOutput(double output) {
double out2 = MathUtil.clamp(output / 40, -.5, .5);
if (Math.abs(gyro.getPitch()) < 3) out2 = 0;
drive.drive(out2, 0, 0, false);
drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), false);
}
@Override
src/main/java/frc4388/robot/commands/DriveWithInput.java
-75
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@@ -1,75 +0,0 @@
// 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.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 frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveDrive;
public class DriveWithInput extends CommandBase {
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;
/** Creates a new DriveWithInput. */
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(5*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
+27 -36
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@@ -4,7 +4,6 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -41,6 +40,8 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveOdometry odometry;
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
public Rotation2d rotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
@@ -64,26 +65,31 @@ public class SwerveDrive extends SubsystemBase {
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
}
// WPILib swerve drive example
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
// SwerveModuleState[] states = kinematics.toSwerveModuleStates(
// fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, Rotation2d.fromDegrees(-gyro.getRotation2d().getDegrees()))
// : new ChassisSpeeds(xSpeed, ySpeed, rot)
// );
SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(0.3, 0, 0));
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (fieldRelative) {
// // SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeed, ySpeed, rot * SwerveDriveConstants.ROTATION_SPEED));
setModuleStates(states);
// modules[0].getDriveMotor().set(0.2);
// modules[1].getDriveMotor().set(0.2);
// modules[2].getDriveMotor().set(0.2);
// modules[3].getDriveMotor().set(0.2);
if (rightStick.getNorm() > 0.1) {
rotTarget = new Rotation2d(rightStick.getX(), -rightStick.getY()).minus(new Rotation2d(0, 1));
}
// modules[0].getAngleMotor().set(TalonFXControlMode.Position, 1017);
// modules[1].getAngleMotor().set(TalonFXControlMode.Position, 509);
// modules[2].getAngleMotor().set(TalonFXControlMode.Position, 683);
// modules[3].getAngleMotor().set(TalonFXControlMode.Position, 1816);
double rot = rotTarget.minus(gyro.getRotation2d()).getRadians();
// Use the left joystick to set speed. Apply a quadratic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
if (rightStick.getNorm() < 0.1) {
rot = 0;
}
// Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
// Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}
/**
@@ -91,11 +97,11 @@ public class SwerveDrive extends SubsystemBase {
* @param desiredStates Array of module states to set.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state);
module.setDesiredState(state, false);
}
}
@@ -106,6 +112,7 @@ public class SwerveDrive extends SubsystemBase {
public void resetGyro() {
gyro.reset();
setOdometry(getOdometry());
rotTarget = new Rotation2d(0);
}
/**
@@ -166,24 +173,8 @@ public class SwerveDrive extends SubsystemBase {
updateOdometry();
// SmartDashboard.putNumberArray("Odometry", new double[] {getOdometry().getX(), getOdometry().getY(), getOdometry().getRotation().getDegrees()});
// SmartDashboard.putNumber("LF CC Angle", modules[0].getAngle().getDegrees());
// SmartDashboard.putNumber("RF CC Angle", modules[1].getAngle().getDegrees());
// SmartDashboard.putNumber("LB CC Angle", modules[2].getAngle().getDegrees());
// SmartDashboard.putNumber("RB CC Angle", modules[3].getAngle().getDegrees());
SmartDashboard.putNumber("LF Vel", modules[0].getDriveVel());
SmartDashboard.putNumber("RF Vel", modules[1].getDriveVel());
SmartDashboard.putNumber("LB Vel", modules[2].getDriveVel());
SmartDashboard.putNumber("RB Vel", modules[3].getDriveVel());
SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
SmartDashboard.putNumber("LF Pos", modules[0].getDrivePos());
SmartDashboard.putNumber("RF Pos", modules[1].getDrivePos());
SmartDashboard.putNumber("LB Pos", modules[2].getDrivePos());
SmartDashboard.putNumber("RB Pos", modules[3].getDrivePos());
}
/**
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+5 -2
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@@ -126,7 +126,7 @@ public class SwerveModule extends SubsystemBase {
* Set the speed and rotation of the SwerveModule 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 = this.getAngle();
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
@@ -139,7 +139,10 @@ public class SwerveModule extends SubsystemBase {
// convert the CANCoder from its position reading to ticks
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); // ? why feedback coefficient
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
}
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
// double inchesPerSecond = Units.metersToFeet(state.speedMetersPerSecond) * 12;