Team4388/2023WayOfTheRobot
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cleanup before master merge

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This commit is contained in:
aarav18
2023-02-02 20:54:12 -07:00
parent f9b89de6c5
commit 784fd3f3b6
9 changed files with 9 additions and 253 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -15
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@@ -10,22 +10,18 @@ import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.RobotEncoder;
public class SwerveModule extends SubsystemBase {
public WPI_TalonFX driveMotor;
public WPI_TalonFX angleMotor;
// private CANCoder canCoder;
private CANCoder encoder;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -47,14 +43,7 @@ public class SwerveModule extends SubsystemBase {
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleConfig);
// CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
// canCoderConfig.magnetOffsetDegrees = offset;
// encoder.configAllSettings(canCoderConfig);
encoder.configMagnetOffset(offset);
// driveMotor.config_kP(0, 0.4);
// canCoderConfig.magnetOffsetDegrees = 270;
}
/**
@@ -86,7 +75,7 @@ public class SwerveModule extends SubsystemBase {
* @return the angle of a SwerveModule as a Rotation2d
*/
public Rotation2d getAngle() {
// Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
}
@@ -138,16 +127,13 @@ public class SwerveModule extends SubsystemBase {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
double inchesPerSecond = Units.metersToInches(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);
}
public void reset(double position) {
// encoder.setPosition(position);
encoder.setPositionToAbsolute();
// canCoder.setPosition(1024);
}
public double getCurrent() {