Team4388/2024AcrossTheRidgebotiverse
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Added 12 speed transmission, no clutch (for now...)

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This commit is contained in:
Daniel Carta
2024-05-02 17:29:41 -06:00
parent 1313e17ae6
commit 1868886801
3 changed files with 15 additions and 96 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -3
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@@ -33,9 +33,12 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.5;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
public static final double[] SPEEDS = {0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2, 2.5, 3, 3.5, 4};
// public static final double[] SPEEDS = {0.5, 1.0, 4.0};
// public static final double SLOW_SPEED = 0.5;
// public static final double FAST_SPEED = 1.0;
// public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 220;
src/main/java/frc4388/robot/RobotContainer.java
-35
View File
@@ -310,7 +310,6 @@ public class RobotContainer {
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// ! Swerve Drive Default Command (Orientation Rotation)
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -505,40 +504,6 @@ public class RobotContainer {
new JoystickButton(getVirtualDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
// * /* D-Pad Stuff */
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true)))
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
// new Translation2d(0, 0),
// true)));
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
// new Translation2d(0, 0),
// true)))
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
// new Translation2d(0, 0),
// true)));
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
// new Translation2d(0, 0),
// true)))
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
// new Translation2d(0, 0),
// true)));
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
// new Translation2d(0, 0),
// true)))
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
// new Translation2d(0, 0),
// true)));
// ! /* Auto Recording */
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+9 -58
View File
@@ -92,13 +92,10 @@ public class SwerveDrive extends SubsystemBase {
public void playbackDriveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (fieldRelative) {
double rot = 0;
// ! drift correction
if (rightStick.getNorm() > 0.05) {
rotTarget = gyro.getAngle();
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
// SmartDashboard.putBoolean("drift correction", false);
// SmartDashboard.putBoolean("drift correction", false);
stopped = false;
} else if(leftStick.getNorm() > 0.05) {
if (!stopped) {
@@ -107,8 +104,7 @@ public class SwerveDrive extends SubsystemBase {
}
// SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
@@ -129,7 +125,6 @@ public class SwerveDrive extends SubsystemBase {
Translation2d rightStick = new Translation2d(-rightX, rightY);
if(fieldRelative) {
double rot = 0;
if(rightStick.getNorm() > 0.5) {
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
@@ -139,7 +134,6 @@ public class SwerveDrive extends SubsystemBase {
if(tmp.getDegrees() < 0)
min*=-1;
tmp = new Rotation2d(min * Math.PI / 180);
rot = tmp.getRadians(); // x x - y/x
}
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
@@ -228,61 +222,18 @@ public class SwerveDrive extends SubsystemBase {
// SmartDashboard.putNumber("Gyro", getGyroAngle());
}
private int GEAR = SwerveDriveConstants.SPEEDS.length /2;
public void shiftDown() {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
} else {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
if(GEAR > 0){
GEAR--;
this.speedAdjust = SwerveDriveConstants.SPEEDS[GEAR];
}
}
public void setToSlow() {
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
}
public void setToFast() {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
}
public void setToTurbo() {
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
}
public void shiftUp() {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
} else {
}
}
public void toggleGear(double angle) {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
} else {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
if(GEAR < SwerveDriveConstants.SPEEDS.length){
GEAR++;
this.speedAdjust = SwerveDriveConstants.SPEEDS[GEAR];
}
}