Team4388/2023WayOfTheRobot
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DRIVING WORKS FIELD RELATIVE NO PROBLEMS

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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/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());
}
/**