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/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;
}
}