Team4388/2024AcrossTheRidgebotiverse
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Made some autos (need to correct PID) (Im tweakin)

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Abhishrek05
2024-03-12 16:10:20 -06:00
parent 5aa9a10ca2
commit 23575dd33a
4 changed files with 23 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -40,9 +40,9 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 216.869140625;
public static final double FRONT_RIGHT_ROT_OFFSET = 229.4826875;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.646484375;
public static final double FRONT_LEFT_ROT_OFFSET = 222.7145469;
public static final double FRONT_RIGHT_ROT_OFFSET = 255.0464068;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.4284884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.009765625;
}
@@ -67,7 +67,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.2, 0.0, 0, 0.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -87,9 +87,9 @@ public class RobotContainer {
private ParallelCommandGroup intakeToShoot = new ParallelCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.idle()),
new InstantCommand(() -> m_driverXbox.setRumble(null, 1.0)).andThen(new WaitCommand(1)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(null, 0.0)))
//new InstantCommand(() -> m_robotShooter.spin())
new InstantCommand(() -> m_robotShooter.idle())
// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
// new InstantCommand(() -> m_robotShooter.spin())
);
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
@@ -376,11 +376,11 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true), m_robotSwerveDrive));
//? /* Operator Buttons */
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -81,7 +81,7 @@ public class SwerveDrive extends SubsystemBase {
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX(), gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+10 -3
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@@ -18,12 +18,14 @@ import edu.wpi.first.math.util.Units;
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 WPI_TalonFX driveMotor;
private WPI_TalonFX angleMotor;
private CANCoder encoder;
//private ConfigurableDouble offsetGetter;
private static int swerveId = 0;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
/** Creates a new SwerveModule. */
@@ -31,7 +33,8 @@ public class SwerveModule extends SubsystemBase {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
// this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
swerveId++;
TalonFXConfiguration angleConfig = new TalonFXConfiguration();
angleConfig.slot0.kP = swerveGains.kP;
angleConfig.slot0.kI = swerveGains.kI;
@@ -48,7 +51,11 @@ public class SwerveModule extends SubsystemBase {
driveMotor.setSelectedSensorPosition(0);
driveMotor.config_kP(0, 0.2);
}
//@Override
// public void periodic() {
// encoder.configMagnetOffset(offsetGetter.get());
// }
/**
* Get the drive motor of the SwerveModule
* @return the drive motor of the SwerveModule