2024AcrossTheRidgebotiverse/src/main/java/frc4388/robot/subsystems/SwerveModule.java

// 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.subsystems;

// import javax.swing.text.StyleContext.SmallAttributeSet;

// import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
// import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
// import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
// import com.ctre.phoenix.sensors.CANCoder;
// import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import com.ctre.phoenix6.hardware.CANcoder;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Rotation2d;
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.Gains;
// import frc4388.utility.configurable.ConfigurableDouble;

public class SwerveModule extends SubsystemBase {
    private TalonFX driveMotor;
    private TalonFX angleMotor;
    private CANcoder encoder;
    // private final StatusSignal<Double> cc_pos;
    // private final StatusSignal<Double> cc_vel;
    // private int selfid;
    // private ConfigurableDouble offsetGetter;
    private static int swerveId = 0;
    public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
  
    
    /** Creates a new SwerveModule. */
    public SwerveModule(TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
        this.driveMotor = driveMotor;
        this.angleMotor = angleMotor;
        this.encoder = encoder;

        TalonFXConfiguration angleConfig = new TalonFXConfiguration();
        angleConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

        angleConfig.Slot0.kP = swerveGains.kP;
        angleConfig.Slot0.kI = swerveGains.kI;   
        angleConfig.Slot0.kD = swerveGains.kD;

        angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
        angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
        angleMotor.getConfigurator().apply(angleConfig);

        CANcoderConfiguration canconfig = new CANcoderConfiguration();
        canconfig.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
        encoder.getConfigurator().apply(canconfig);

        rotateToAngle(0);
    }

    public void go(double ang){
        // double curang = this.encoder.getAbsolutePosition().getValue();
        System.out.println(getAngle().getDegrees());
        rotateToAngle(ang);
    }
    
    @Override
    public void periodic() {
        //encoder.configMagnetOffset(offsetGetter.get());
        //SmartDashboard.putString("Error Code: " + selfid, getstuff());
        // SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
        // SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
        // SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
        // SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
    }
    /**
     * Get the drive motor of the SwerveModule
     * @return the drive motor of the SwerveModule
     */
    public TalonFX getDriveMotor() {
        return this.driveMotor;
    }

    /**
     * Get the angle motor of the SwerveModule
     * @return the angle motor of the SwerveModule
     */
    public TalonFX getAngleMotor() {
        return this.angleMotor;
    }

    /**
     * Get the CANcoder of the SwerveModule
     * @return the CANcoder of the SwerveModule
     */
    public CANcoder getEncoder() {
        return this.encoder;
    }

    /**
     * Get the angle of a SwerveModule as a Rotation2d
     * @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.
        // return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
        return Rotation2d.fromRotations(encoder.getAbsolutePosition().getValue());
    }
    
    public double getAngularVel() {
        // return this.angleMotor.getSelectedSensorVelocity();
        return 0;
    }

    public double getDrivePos() {
        // return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
        return 0;
    }

    public double getDriveVel() {
        // return this.driveMotor.getSelectedSensorVelocity(0);
        return 0.0;
    }

    public void stop() {
        driveMotor.set(0);
        angleMotor.set(0);
    }

    public void rotateToAngle(double angle) {
        final PositionVoltage m_request = new PositionVoltage(angle);
        angleMotor.setControl(m_request);
    }

    /**
     * Get state of swerve module
     * @return speed in m/s and angle in degrees
     */
    // public SwerveModuleState getState() {
    //     return new SwerveModuleState(
    //         Units.inchesToMeters(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.Conversions.INCHES_PER_TICK) * SwerveDriveConstants.Conversions.TICK_TIME_TO_SECONDS, 
    //         getAngle()
    //     );
    // }

    /**
     * Returns the current position of the SwerveModule
     * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
    //  */
    // public SwerveModulePosition getPosition() {
    //     return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
    // }

    /**
     * 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) {
        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);

        // // 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();

        // angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);

        // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);

        // driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
    }

    // public void reset(double position) {
    //     encoder.setPositionToAbsolute();
    // }

    // public double getCurrent() {
    //     return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
    // }

    // public double getVoltage() {
    //     return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
    // }

    // public String getstuff() {
    //     encoder.getPosition();
    //     return "" + encoder.getLastError().value;
    // }
}