Team4388/2023WayOfTheRobot
1
0
Fork 0
mirror of https://github.com/Team4388/2023WayOfTheRobot.git synced 2026-06-09 00:37:59 -06:00
Code Issues Packages Projects Releases Wiki Activity

fix SwerveModule.java

Browse Source
This commit is contained in:
Aarav Shah
2023-02-27 18:37:59 -07:00
committed by GitHub
parent 3249ff1d2f
commit 748cfe4428
1 changed files with 18 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+18 -4
View File
@@ -20,8 +20,8 @@ import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
public class SwerveModule extends SubsystemBase {
public WPI_TalonFX driveMotor;
public WPI_TalonFX angleMotor;
private WPI_TalonFX driveMotor;
private WPI_TalonFX angleMotor;
private CANCoder encoder;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -44,6 +44,9 @@ public class SwerveModule extends SubsystemBase {
angleMotor.configAllSettings(angleConfig);
encoder.configMagnetOffset(offset);
driveMotor.setSelectedSensorPosition(0);
driveMotor.config_kP(0, 0.2);
}
/**
@@ -78,6 +81,18 @@ public class SwerveModule extends SubsystemBase {
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
}
public double getAngularVel() {
return this.angleMotor.getSelectedSensorVelocity();
}
public double getDrivePos() {
return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
}
public double getDriveVel() {
return this.driveMotor.getSelectedSensorVelocity(0);
}
public void stop() {
driveMotor.set(0);
@@ -129,8 +144,7 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
driveMotor.set(-1 * angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
// driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
}
public void reset(double position) {