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talon stuff

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This commit is contained in:
Michael Mikovsky
2024-07-23 09:15:37 -06:00
parent 578b749186
commit 7d97800536
4 changed files with 13 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -182,8 +182,8 @@ public class RobotContainer {
// ! Swerve Drive Default Command (Regular Rotation) // ! Swerve Drive Default Command (Regular Rotation)
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getRightTrigger(), m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getRightTrigger(),
getDeadbandedDriverController().getRight(), getDeadbandedDriverController().getRight().times(-1),
true); false);
}, m_robotSwerveDrive) }, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand")); .withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.hellsHorses(); m_robotSwerveDrive.hellsHorses();
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -1
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@@ -84,7 +84,9 @@ public class SwerveDrive extends SubsystemBase {
// Convert field-relative speeds to robot-relative speeds. // Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1)); chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds. } else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED); Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
chassisSpeeds = new ChassisSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
} }
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds)); setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
} }
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+7 -4
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@@ -19,6 +19,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units; import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
@@ -63,15 +64,17 @@ public class SwerveModule extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
if (DriverStation.isEnabled()) {
System.out.println("Drive Velocity_60FT_NoRunup: " + selfid + ", " + getDriveVel());
System.out.println("Drive Powerdraw_60FT_NoRunup: " + selfid + ", " + driveMotor.getMotorOutputVoltage());
}
//encoder.configMagnetOffset(offsetGetter.get()); //encoder.configMagnetOffset(offsetGetter.get());
//SmartDashboard.putString("Error Code: " + selfid, getstuff()); //SmartDashboard.putString("Error Code: " + selfid, getstuff());
// SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees()); // SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
// SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel()); // SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
// SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos()); // SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel()); // SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
SmartDashboard.putNumber("Drive Powerdraw: " + selfid, driveMotor.getMotorOutputVoltage()); // SmartDashboard.putNumber("Drive Powerdraw: " + selfid, driveMotor.getMotorOutputVoltage());
System.out.println("Drive Velocity: " + selfid + ", " + getDriveVel());
System.out.println("Drive Powerdraw: " + selfid + ", " + driveMotor.getMotorOutputVoltage());
} }
/** /**
src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+1
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@@ -16,6 +16,7 @@ public class DeadbandedXboxController extends XboxController {
public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); } public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); } public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
public Translation2d getRightTrigger() {return skewToDeadzonedCircle(0, -getRightTriggerAxis() + getLeftTriggerAxis());} public Translation2d getRightTrigger() {return skewToDeadzonedCircle(0, -getRightTriggerAxis() + getLeftTriggerAxis());}
public Translation2d getFixed() {return skewToDeadzonedCircle(0, -0.8);}
public static Translation2d skewToDeadzonedCircle(double x, double y) { public static Translation2d skewToDeadzonedCircle(double x, double y) {
Translation2d translation2d = new Translation2d(x, y); Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm(); double magnitude = translation2d.getNorm();