Team4388/2023WayOfTheRobot
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Merge branch 'swerve-drive' of https://github.com/Team4388/2023WayOfTheRobot into swerve-drive

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This commit is contained in:
Abhi
2023-02-02 19:11:46 -07:00
parent 161afb4462 6666e4a068
commit b576678368
7 changed files with 197 additions and 11 deletions
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src/main/java/frc4388/robot/RobotMap.java
+4 -7
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@@ -127,14 +127,11 @@ public class RobotMap {
// rightBackEncoder.configMagnetOffset(225.0); //180.0); //270.0);//267.01171875);//SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder);
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
// FINAL OFFSETS (I THINK)
// LEFT FRONT: -181.230469
// RIGHT FRONT: -270.615234
// LEFT BACK: -240.029297
src/main/java/frc4388/robot/commands/DriveWithInput.java
+1 -1
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@@ -57,7 +57,7 @@ public class DriveWithInput extends CommandBase {
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(Math.PI));
r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(5*Math.PI));
swerve.drive(x, y, r, fieldRelative);
}
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+4 -3
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@@ -31,7 +31,7 @@ public class SwerveModule extends SubsystemBase {
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
/** Creates a new SwerveModule. */
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder) {//, double offset) {
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
@@ -47,9 +47,10 @@ public class SwerveModule extends SubsystemBase {
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleConfig);
CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
// CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
// canCoderConfig.magnetOffsetDegrees = offset;
encoder.configAllSettings(canCoderConfig);
// encoder.configAllSettings(canCoderConfig);
encoder.configMagnetOffset(offset);
// driveMotor.config_kP(0, 0.4);