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finished RobotMap, started RobotContainer work

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aarav18
2023-01-14 13:20:04 -07:00
parent a7a366a9b2
commit b1f0799f7e
4 changed files with 86 additions and 61 deletions
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src/main/java/frc4388/robot/Constants.java
+61 -59
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@@ -19,69 +19,71 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int DRIVE_PIGEON_ID = -1; // TODO: find actual ID
public static final class SwerveDriveConstants {
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_STEER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_STEER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_WHEEL_ID = -1; // TODO: find actual ID
public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find actual ID
}
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
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;
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
public static final int LEFT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_FRONT_ENCODER_ID = -1; // TODO: find actual ID
public static final int LEFT_BACK_ENCODER_ID = -1; // TODO: find actual ID
public static final int RIGHT_BACK_ENCODER_ID = -1; // TODO: find actual ID
}
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
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;
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class GyroConstants {
public static final int ID = -1; // TODO: find actual ID
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
}
}
src/main/java/frc4388/robot/RobotContainer.java
+3
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@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -30,7 +31,9 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private 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);
src/main/java/frc4388/robot/RobotMap.java
+18
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@@ -12,11 +12,14 @@ 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 com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.GyroConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;
/**
@@ -25,9 +28,18 @@ import frc4388.utility.RobotGyro;
*/
public class RobotMap {
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public WPI_Pigeon2 gyro;
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotors();
gyro = new WPI_Pigeon2(GyroConstants.ID);
}
/* LED Subsystem */
@@ -114,5 +126,11 @@ public class RobotMap {
leftBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
rightBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -2
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -31,10 +33,10 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
private RobotGyro gyro;
private WPI_Pigeon2 gyro;
/** 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, WPI_Pigeon2 gyro) {
this.leftFront = leftFront;
this.rightFront = rightFront;
this.leftBack = leftBack;