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Swerve Drive works! (Im tweakin)

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This commit is contained in:
Abhishrek05
2024-01-17 19:34:02 -07:00
parent 06aa76d3f3
commit 5c1077bff8
4 changed files with 60 additions and 12 deletions
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simgui.json
+3
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@@ -10,5 +10,8 @@
"types": {
"/FMSInfo": "FMSInfo"
}
},
"NetworkTables Info": {
"visible": true
}
}
src/main/java/frc4388/robot/Constants.java
+8 -1
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@@ -35,6 +35,13 @@ public final class Constants {
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 = 130.957 + 90;
public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 90;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = 347.871 + 90;
public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90;
}
public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
@@ -56,7 +63,7 @@ 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(0.05, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotMap.java
+43 -4
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@@ -75,6 +75,45 @@ public class RobotMap {
rightBackWheel.configFactoryDefault();
rightBackSteer.configFactoryDefault();
// config open loop ramp
leftFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
// config closed loop ramp
leftFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
leftBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
// config neutral deadband
leftFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
leftFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
leftBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
leftBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
// set neutral mode
leftFrontWheel.setNeutralMode(NeutralMode.Brake);
rightFrontWheel.setNeutralMode(NeutralMode.Brake);
@@ -87,9 +126,9 @@ public class RobotMap {
rightBackSteer.setNeutralMode(NeutralMode.Brake);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -7
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@@ -24,8 +24,8 @@ public class SwerveDrive extends SubsystemBase {
private SwerveModule[] modules;
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));
private Translation2d leftBackLocation = 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));
private Translation2d leftBackLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
@@ -71,16 +71,15 @@ public class SwerveDrive extends SubsystemBase {
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
// 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(), speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
} else {
// Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(speed.getX(), speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(leftStick.getX(), leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}