Merge pull request #26 from Team4388/odometry

Odometry --> Master

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,7 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  }
+}

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

@@ -24,7 +24,7 @@ import frc4388.utility.LEDPatterns;
 public final class Constants {
   public static final class SwerveDriveConstants {
 
-    public static final double ROTATION_SPEED = 2.0;
+    public static final double ROTATION_SPEED = -0.7;
 
     public static final class IDs {
       public static final int LEFT_FRONT_WHEEL_ID = 2;
@@ -65,13 +65,13 @@ public final class Constants {
       public static final int CANCODER_TICKS_PER_ROTATION = 4096;
 
       public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
-      public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2.0; // TODO: find the actual value
+      public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 1.0; // TODO: find the actual value
 
-      public static final double MOTOR_REV_PER_WHEEL_REV = 6.12; // TODO: find the actual value
+      public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
-      public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value
+      public static final double MOTOR_REV_PER_STEER_REV = 12.8;
 
       public static final double TICKS_PER_MOTOR_REV = 2048;
-      public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value
+      public static final double WHEEL_DIAMETER_INCHES = 3.9;
       public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
 
       public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
@@ -105,11 +105,11 @@ public final class Constants {
       
     }
 
-    public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value
+    public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
 
     // dimensions
-    public static final double WIDTH = 18.5; // TODO: find the actual value
+    public static final double WIDTH = 18.5;
-    public static final double HEIGHT = 18.5; // TODO: find the actual value
+    public static final double HEIGHT = 18.5;
     public static final double HALF_WIDTH = WIDTH / 2.d;
     public static final double HALF_HEIGHT = HEIGHT / 2.d;
 
@@ -137,5 +137,10 @@ public final class Constants {
   public static final class OIConstants {
     public static final int XBOX_DRIVER_ID = 0;
     public static final int XBOX_OPERATOR_ID = 1;
+    
+    public static final double LEFT_AXIS_DEADBAND = 0.1;
+    public static final double RIGHT_AXIS_DEADBAND = 0.6;
+
+    public static final boolean SKEW_STICKS = true; 
   }
 }

src/main/java/frc4388/robot/RobotContainer.java

@@ -10,11 +10,12 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.AutoBalance;
-import frc4388.robot.commands.DriveWithInput;
 import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
 
@@ -30,13 +31,16 @@ public class RobotContainer {
     public final RobotMap m_robotMap = new RobotMap();
 
     /* Subsystems */
-    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
+    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
     // private final LED m_robotLED = new LED(m_robotMap.LEDController);
     
 
     /* Controllers */
-    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+    // private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
-    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+    // private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+
+    private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
+    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -46,15 +50,11 @@ public class RobotContainer {
 
         /* Default Commands */
 
-        m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive, 
+        m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
-                                                                () -> getDriverController().getLeftXAxis(), 
+            m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
-                                                                () -> getDriverController().getLeftYAxis(), 
+          , m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
-                                                                () -> getDriverController().getRightXAxis(),
-                                                                false));
         
         // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
-
-    
     }
 
 
@@ -67,18 +67,20 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Driver Buttons */
         
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotMap.gyro.reset()));
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
-            // .onFalse()
         
-        /* Operator Buttons */
+        new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
+        //     // .onFalse()
 
-        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
             .onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
             
-        // interrupt button
+        // /* Operator Buttons */
-        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+        // // interrupt button
-            .onTrue(new InstantCommand());
+        // new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+        //     .onTrue(new InstantCommand());
     }
 
     /**
@@ -94,28 +96,36 @@ public class RobotContainer {
     /**
      * Add your docs here.
      */
-    public IHandController getDriverController() {
+    // public IHandController getDriverController() {
-        return m_driverXbox;
+    //     return m_driverXbox;
+    // }
+
+    public DeadbandedXboxController getDeadbandedDriverController() {
+        return this.m_driverXbox;
+    }
+
+    public DeadbandedXboxController getDeadbandedOperatorController() {
+        return this.m_operatorXbox;
     }
 
     /**
      * Add your docs here.
      */
-    public IHandController getOperatorController() {
+    // public IHandController getOperatorController() {
-        return m_operatorXbox;
+    //     return m_operatorXbox;
-    }
+    // }
 
     /**
      * Add your docs here.
      */
-    public Joystick getOperatorJoystick() {
+    // public Joystick getOperatorJoystick() {
-        return m_operatorXbox.getJoyStick();
+    //     return m_operatorXbox.getJoyStick();
-    }
+    // }
 
     /**
      * Add your docs here.
      */
-    public Joystick getDriverJoystick() {
+    // public Joystick getDriverJoystick() {
-        return m_driverXbox.getJoyStick();
+    //     return m_driverXbox.getJoyStick();
-    }
+    // }
 }

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

@@ -7,6 +7,7 @@
 
 package frc4388.robot;
 
+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.WPI_Pigeon2;
@@ -113,6 +114,12 @@ public class RobotMap {
     rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
     rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
 
+    // set neutral mode
+    leftFrontSteer.setNeutralMode(NeutralMode.Brake);
+    rightFrontSteer.setNeutralMode(NeutralMode.Brake);
+    leftBackSteer.setNeutralMode(NeutralMode.Brake);
+    rightBackSteer.setNeutralMode(NeutralMode.Brake);
+
     // initialize SwerveModules
     this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
     this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);

src/main/java/frc4388/robot/commands/AutoBalance.java

@@ -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

@@ -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;
-  }
-}

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

@@ -4,20 +4,27 @@
 
 package frc4388.robot.subsystems;
 
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
+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.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.RobotGyro;
 
 public class SwerveDrive extends SubsystemBase {
   
-  public SwerveModule leftFront;
+  private SwerveModule leftFront;
-  public SwerveModule rightFront;
+  private SwerveModule rightFront;
-  public SwerveModule leftBack;
+  private SwerveModule leftBack;
-  public SwerveModule rightBack;
+  private SwerveModule rightBack;
 
   private SwerveModule[] modules;
 
@@ -28,37 +35,62 @@ public class SwerveDrive extends SubsystemBase {
   
   private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
 
-  // private SwerveDriveOdometry odometry = new SwerveDriveOdometry(
+  private RobotGyro gyro;
-  //   kinematics, 
+
-  //   gyro.getRotation2d(),
+  private SwerveDriveOdometry odometry;
-  //   new SwerveModulePosition[] {
-  //     leftFront.getPosition(),
-  //     rightFront.getPosition(),
-  //     leftBack.getPosition(),
-  //     rightBack.getPosition()
-  //   }
-  // );
 
   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) {
+  public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
     this.leftFront = leftFront;
     this.rightFront = rightFront;
     this.leftBack = leftBack;
     this.rightBack = rightBack;
+    this.gyro = gyro;
+
+    this.odometry = new SwerveDriveOdometry(
+      kinematics, 
+      gyro.getRotation2d(),
+      new SwerveModulePosition[] {
+        leftFront.getPosition(),
+        rightFront.getPosition(),
+        leftBack.getPosition(),
+        rightBack.getPosition()
+      }
+    );
 
     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) {
+  public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
-    // SwerveModuleState[] states = kinematics.toSwerveModuleStates(
+    if (fieldRelative) {
-    //   fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, gyro.getRotation2d()) 
+
-    //                 : new ChassisSpeeds(xSpeed, ySpeed, rot)
+      if (rightStick.getNorm() > 0.1) {
-    // );
+        rotTarget = new Rotation2d(rightStick.getX(), -rightStick.getY()).minus(new Rotation2d(0, 1));
-    SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeed, ySpeed, rot * SwerveDriveConstants.ROTATION_SPEED));
+      }
-    setModuleStates(states);
+
+      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() < .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));
+
+    } else {
+      // Create robot-relative speeds.
+      chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
+    }
+    setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
   }
 
   /**
@@ -66,70 +98,71 @@ 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);
     }
   }
 
+  public double getGyroAngle() {
+    return gyro.getAngle();
+  }
+
+  public void resetGyro() {
+    gyro.reset();
+    setOdometry(getOdometry());
+    rotTarget = new Rotation2d(0);
+  }
+
   /**
    * Updates the odometry of the SwerveDrive.
    */
-  // public void updateOdometry() {
+  public void updateOdometry() {
-  //   odometry.update(
+    odometry.update(
-  //     gyro.getRotation2d(), 
+      gyro.getRotation2d(), 
-  //     new SwerveModulePosition[] {
+      new SwerveModulePosition[] {
-  //       leftFront.getPosition(),
+        leftFront.getPosition(),
-  //       rightFront.getPosition(),
+        rightFront.getPosition(),
-  //       leftBack.getPosition(),
+        leftBack.getPosition(),
-  //       rightBack.getPosition()
+        rightBack.getPosition()
-  //     }
+      }
-  //   );
+    );
-  // }
+  }
 
   /**
    * Gets the odometry of the SwerveDrive.
    * @return The odometry of the SwerveDrive as a Pose2d object (xMeters, yMeters, theta).
    */
-  // public Pose2d getOdometry() {
+  public Pose2d getOdometry() {
-  //   return odometry.getPoseMeters();
+    return odometry.getPoseMeters();
-  // }
+  }
 
   /**
    * Sets the odometry of the SwerveDrive.
    * @param pose Pose to set the odometry to.
    */
-  // public void setOdometry(Pose2d pose) {
+  public void setOdometry(Pose2d pose) {
-  //   odometry.resetPosition(
+    odometry.resetPosition(
-  //     gyro.getRotation2d(), 
+      gyro.getRotation2d(), 
-  //     new SwerveModulePosition[] {
+      new SwerveModulePosition[] {
-  //       leftFront.getPosition(),
+        leftFront.getPosition(),
-  //       rightFront.getPosition(),
+        rightFront.getPosition(),
-  //       leftBack.getPosition(),
+        leftBack.getPosition(),
-  //       rightBack.getPosition()
+        rightBack.getPosition()
-  //     },
+      },
-  //     pose
+      pose
-  //   );
+    );
-  // }
+  }
 
   /**
    * Resets the odometry of the SwerveDrive to 0.
-   * *NOTE: If you reset your gyroscope or wheel encoders, this method MUST be called with the new gyro angle and wheel encoder positions.
+   * *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.
    */
-  // public void resetOdometry() {
+  public void resetOdometry() {
-  //   odometry.resetPosition(
+    setOdometry(new Pose2d());
-  //     gyro.getRotation2d(), 
+  }
-  //     new SwerveModulePosition[] {
-  //       leftFront.getPosition(),
-  //       rightFront.getPosition(),
-  //       leftBack.getPosition(),
-  //       rightBack.getPosition()
-  //     },
-  //     new Pose2d()
-  //   );
-  // }
 
   public SwerveDriveKinematics getKinematics() {
     return this.kinematics;
@@ -138,7 +171,14 @@ public class SwerveDrive extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    // updateOdometry();
+    updateOdometry();
+
+    SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
+    SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
+    SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
+
+    SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
+    SmartDashboard.putNumber("rotTarget", this.rotTarget.getDegrees());
   }
 
   /**

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

@@ -20,8 +20,8 @@ import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
 
 public class SwerveModule extends SubsystemBase {
-    public WPI_TalonFX driveMotor;
+    private WPI_TalonFX driveMotor;
-    public WPI_TalonFX angleMotor;
+    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);
     }
 
     /**
@@ -79,6 +82,18 @@ public class SwerveModule extends SubsystemBase {
         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);
         angleMotor.set(0);
@@ -111,25 +126,32 @@ public class SwerveModule extends SubsystemBase {
      * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
      * @param desiredState a SwerveModuleState representing the desired new state of the module
      */
-    public void setDesiredState(SwerveModuleState desiredState) {
+    public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
         Rotation2d currentRotation = this.getAngle();
 
         SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
 
         // calculate the difference between our current rotational position and our new rotational position
-        Rotation2d rotationDelta = state.angle.minus(currentRotation);
+        Rotation2d rotationDelta = state.angle.minus(currentRotation); // ? might need to be negative
 
         // calculate the new absolute position of the SwerveModule based on the difference in rotation
         double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
 
         // convert the CANCoder from its position reading to ticks
-        double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
+        double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); // ? why feedback coefficient
-        angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
+
+        if (!ignoreAngle) {
+            angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
+        }
 
         double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
+        // double inchesPerSecond = Units.metersToFeet(state.speedMetersPerSecond) * 12;
 
-        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(0.1);
+        // double angleCorrection = getAngularVel() * 2.69;
+        driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+        // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
     }
 
     public void reset(double position) {

src/main/java/frc4388/utility/controller/DeadbandedXboxController.java

@@ -0,0 +1,27 @@
+package frc4388.utility.controller;
+
+import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.XboxController;
+import frc4388.robot.Constants.OIConstants;
+
+public class DeadbandedXboxController extends XboxController {
+  public DeadbandedXboxController(int port) { super(port); }
+  
+  @Override public double getLeftX() { return getLeft().getX(); }
+  @Override public double getLeftY() { return getLeft().getY(); }
+  @Override public double getRightX() { return getRight().getX(); }
+  @Override public double getRightY() { return getRight().getY(); }
+
+  public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
+  public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
+
+  public static Translation2d skewToDeadzonedCircle(double x, double y) {
+    Translation2d translation2d = new Translation2d(x, y);
+    double magnitude = translation2d.getNorm();
+    if (OIConstants.SKEW_STICKS && magnitude >= 1) return translation2d.div(magnitude);
+    if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
+    return translation2d;
+  }
+}