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swerve shtuff

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This commit is contained in:
aarav18
2023-01-20 21:04:58 -07:00
parent 6b631e914d
commit bf4088d9db
6 changed files with 150 additions and 115 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+81 -61
View File
@@ -18,14 +18,14 @@ import frc4388.utility.RobotGyro;
public class SwerveDrive extends SubsystemBase {
private SwerveModule leftFront;
private SwerveModule rightFront;
private SwerveModule leftBack;
private SwerveModule rightBack;
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
private SwerveModule[] modules;
private RobotGyro gyro;
// private RobotGyro gyro;
private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
private Translation2d rightFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
@@ -34,21 +34,21 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
private SwerveDriveOdometry odometry = new SwerveDriveOdometry(
kinematics,
gyro.getRotation2d(),
new SwerveModulePosition[] {
leftFront.getPosition(),
rightFront.getPosition(),
leftBack.getPosition(),
rightBack.getPosition()
}
);
// private SwerveDriveOdometry odometry = new SwerveDriveOdometry(
// kinematics,
// gyro.getRotation2d(),
// new SwerveModulePosition[] {
// leftFront.getPosition(),
// rightFront.getPosition(),
// leftBack.getPosition(),
// rightBack.getPosition()
// }
// );
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
/** 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;
@@ -56,17 +56,23 @@ public class SwerveDrive extends SubsystemBase {
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
this.gyro = gyro;
for (SwerveModule m : this.modules) {
m.reset();
}
// this.gyro = gyro;
}
public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
double xSpeedMetersPerSecond = xSpeed * this.speedAdjust; //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
double ySpeedMetersPerSecond = ySpeed * this.speedAdjust; //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
SwerveModuleState[] states = kinematics.toSwerveModuleStates(
fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot)
);
// SwerveModuleState[] states = kinematics.toSwerveModuleStates(
// fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
// : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot)
//);
SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot));
SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
setModuleStates(states);
@@ -87,64 +93,78 @@ public class SwerveDrive extends SubsystemBase {
/**
* Updates the odometry of the SwerveDrive.
*/
public void updateOdometry() {
odometry.update(
gyro.getRotation2d(),
new SwerveModulePosition[] {
leftFront.getPosition(),
rightFront.getPosition(),
leftBack.getPosition(),
rightBack.getPosition()
}
);
}
// public void updateOdometry() {
// odometry.update(
// gyro.getRotation2d(),
// new SwerveModulePosition[] {
// leftFront.getPosition(),
// rightFront.getPosition(),
// leftBack.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() {
return odometry.getPoseMeters();
}
// public Pose2d getOdometry() {
// return odometry.getPoseMeters();
// }
/**
* Sets the odometry of the SwerveDrive.
* @param pose Pose to set the odometry to.
*/
public void setOdometry(Pose2d pose) {
odometry.resetPosition(
gyro.getRotation2d(),
new SwerveModulePosition[] {
leftFront.getPosition(),
rightFront.getPosition(),
leftBack.getPosition(),
rightBack.getPosition()
},
pose
);
}
// public void setOdometry(Pose2d pose) {
// odometry.resetPosition(
// gyro.getRotation2d(),
// new SwerveModulePosition[] {
// leftFront.getPosition(),
// rightFront.getPosition(),
// leftBack.getPosition(),
// rightBack.getPosition()
// },
// 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.
*/
public void resetOdometry() {
odometry.resetPosition(
gyro.getRotation2d(),
new SwerveModulePosition[] {
leftFront.getPosition(),
rightFront.getPosition(),
leftBack.getPosition(),
rightBack.getPosition()
},
new Pose2d()
);
// public void resetOdometry() {
// odometry.resetPosition(
// gyro.getRotation2d(),
// new SwerveModulePosition[] {
// leftFront.getPosition(),
// rightFront.getPosition(),
// leftBack.getPosition(),
// rightBack.getPosition()
// },
// new Pose2d()
// );
// }
public void runAllDriveMotors(double output) {
this.leftFront.driveMotor.set(output);
this.rightFront.driveMotor.set(output);
this.leftBack.driveMotor.set(output);
this.rightBack.driveMotor.set(output);
}
public void runAllSteerMotors(double output) {
this.leftFront.angleMotor.set(output);
this.rightFront.angleMotor.set(output);
this.leftBack.angleMotor.set(output);
this.rightBack.angleMotor.set(output);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
updateOdometry();
// updateOdometry();
}
/**
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -3
View File
@@ -21,8 +21,8 @@ import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
public class SwerveModule extends SubsystemBase {
private WPI_TalonFX driveMotor;
private WPI_TalonFX angleMotor;
public WPI_TalonFX driveMotor;
public WPI_TalonFX angleMotor;
private CANCoder canCoder;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -78,7 +78,7 @@ 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(canCoder.getAbsolutePosition());
}