mirror of
https://github.com/Team4388/2023WayOfTheRobot.git
synced 2026-06-09 00:37:59 -06:00
aarav18
108 lines
4.3 KiB
Java
108 lines
4.3 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.sensors.CANCoder;
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import com.ctre.phoenix.sensors.CANCoderConfiguration;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.kinematics.SwerveModuleState;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.utility.Gains;
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public class SwerveModule extends SubsystemBase {
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private WPI_TalonFX driveMotor;
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private WPI_TalonFX angleMotor;
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private CANCoder canCoder;
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public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
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/** Creates a new SwerveModule. */
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public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
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this.driveMotor = driveMotor;
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this.angleMotor = angleMotor;
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this.canCoder = canCoder;
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TalonFXConfiguration angleConfig = new TalonFXConfiguration();
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angleConfig.slot0.kP = swerveGains.kP;
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angleConfig.slot0.kI = swerveGains.kI;
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angleConfig.slot0.kD = swerveGains.kD;
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// use the CANcoder as the remote sensor for the primary TalonFX PID
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angleConfig.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
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angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
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angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
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angleMotor.configAllSettings(angleConfig);
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CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
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canCoderConfig.magnetOffsetDegrees = offset;
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canCoder.configAllSettings(canCoderConfig);
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}
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/**
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* Get the drive motor of the SwerveModule
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* @return the drive motor of the SwerveModule
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*/
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public WPI_TalonFX getDriveMotor() {
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return this.driveMotor;
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}
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/**
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* Get the angle motor of the SwerveModule
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* @return the angle motor of the SwerveModule
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*/
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public WPI_TalonFX getAngleMotor() {
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return this.angleMotor;
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}
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/**
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* Get the CANcoder of the SwerveModule
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* @return the CANcoder of the SwerveModule
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*/
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public CANCoder getEncoder() {
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return this.canCoder;
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}
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/**
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* Get the angle of a SwerveModule as a Rotation2d
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* @return the angle of a SwerveModule as a Rotation2d
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*/
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public Rotation2d getAngle() {
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// Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
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return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
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}
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/**
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* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
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* @param desiredState a SwerveModuleState representing the desired new state of the module
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*/
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public void setDesiredState(SwerveModuleState desiredState) {
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Rotation2d currentRotation = this.getAngle();
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SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
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// calculate the difference between our current rotational position and our new rotational position
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Rotation2d rotationDelta = state.angle.minus(currentRotation);
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// calculate the new absolute position of the SwerveModule based on the difference in rotation
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double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
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// convert the CANCoder from its position reading to ticks
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double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
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angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
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double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
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driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
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}
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}
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