SwerveDrive RobotMap done

src/main/java/frc4388/robot/Constants.java

@@ -50,14 +50,27 @@ public final class Constants {
             public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0;
         }
 
+        public static final class Configurations {
+            public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+            public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+            public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
+
+            public static final double LEFT_FRONT_ENCODER_OFFSET = -1.0; // TODO: find the actual value
+            public static final double RIGHT_FRONT_ENCODER_OFFSET = -1.0; // TODO: find the actual value
+            public static final double LEFT_BACK_ENCODER_OFFSET = -1.0; // TODO: find the actual value
+            public static final double RIGHT_BACK_ENCODER_OFFSET = -1.0; // TODO: find the actual value
+        }
+
         public static final double MAX_SPEED_FEET_PER_SECOND = -1; // TODO: find the actual value
 
+        // dimensions
         public static final double WIDTH = -1; // TODO: find the actual value
         public static final double HEIGHT = -1; // TODO: find the actual value
         public static final double HALF_WIDTH = WIDTH / 2.d;
         public static final double HALF_HEIGHT = HEIGHT / 2.d;
 
-        public static final int SWERVE_TIMEOUT_MS = 30;
+        // misc
+        public static final int TIMEOUT_MS = 30;
         public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
     }
     

src/main/java/frc4388/robot/RobotMap.java

@@ -10,11 +10,13 @@ package frc4388.robot;
 import com.ctre.phoenix.motorcontrol.InvertType;
 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.PigeonIMU;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.RobotGyro;
 
 /**
@@ -23,18 +25,94 @@ import frc4388.utility.RobotGyro;
  */
 public class RobotMap {
 
-    public RobotMap() {
+  public RobotMap() {
-        configureLEDMotorControllers();
+    configureLEDMotorControllers();
-        configureDriveMotorControllers();
+    configureDriveMotors();
-    }
+  }
 
-    /* LED Subsystem */
+  /* LED Subsystem */
-    public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+  public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
 
-    void configureLEDMotorControllers() {
+  void configureLEDMotorControllers() {
         
-    }
+  }
 
-    void configureDriveMotorControllers() {
+    // swerve drive subsystem
-    }
+  public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
+  public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
+  public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
+
+  public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
+  public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
+  public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
+    
+  public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
+  public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
+  public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
+
+  public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
+  public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
+  public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
+
+
+  void configureDriveMotors() {
+    // config factory default
+    leftFrontWheel.configFactoryDefault();
+    leftFrontSteer.configFactoryDefault();
+    
+    rightFrontWheel.configFactoryDefault();
+    rightFrontSteer.configFactoryDefault();
+    
+    leftBackWheel.configFactoryDefault();
+    leftBackSteer.configFactoryDefault();
+    
+    rightBackWheel.configFactoryDefault();
+    rightBackSteer.configFactoryDefault();
+
+    // config open loop ramp
+    leftFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    leftFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    rightFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    rightFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    leftBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    leftBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    rightBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    rightBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+
+    // config closed loop ramp
+    leftFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    leftFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    rightFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    rightFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    leftBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    leftBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    
+    rightBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+    rightBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
+
+    // config neutral deadband
+    leftFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+
+    rightFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+
+    leftBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+
+    rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+
+    // config magnet offset
+    leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
+    rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
+    leftBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
+    rightBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
+
+  }
 }

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -60,7 +60,6 @@ public class SwerveDrive extends SubsystemBase {
 
   /**
    * Set each module of the swerve drive to the corresponding desired state.
-   * 
    * @param desiredStates Array of module states to set.
    */
   public void setModuleStates(SwerveModuleState[] desiredStates) {