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Setup Swerve and add Deadbanded Xbox

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This commit is contained in:
Abhishrek05
2024-01-08 13:47:43 -07:00
parent 1ad5464df5
commit a1b28dabee
4 changed files with 105 additions and 28 deletions
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src/main/java/frc4388/robot/Constants.java
+2
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@@ -148,5 +148,7 @@ public final class Constants {
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final double LEFT_AXIS_DEADBAND = 0.1;
}
}
src/main/java/frc4388/robot/RobotContainer.java
+18 -26
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@@ -16,7 +16,9 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -34,9 +36,16 @@ public class RobotContainer {
/* Subsystems */
private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -74,9 +83,9 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
}
/**
@@ -92,28 +101,11 @@ public class RobotContainer {
/**
* Add your docs here.
*/
public IHandController getDriverController() {
return m_driverXbox;
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
/**
* Add your docs here.
*/
public IHandController getOperatorController() {
return m_operatorXbox;
}
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
}
src/main/java/frc4388/robot/RobotMap.java
+58 -2
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@@ -10,11 +10,14 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;
/**
@@ -22,6 +25,13 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public RobotMap() {
configureLEDMotorControllers();
@@ -31,10 +41,56 @@ public class RobotMap {
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
/* Swreve Drive Subsystem */
public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
void configureLEDMotorControllers() {
}
void configureDriveMotorControllers() {
// config factory default
leftFrontWheel.configFactoryDefault();
leftFrontSteer.configFactoryDefault();
rightFrontWheel.configFactoryDefault();
rightFrontSteer.configFactoryDefault();
leftBackWheel.configFactoryDefault();
leftBackSteer.configFactoryDefault();
rightBackWheel.configFactoryDefault();
rightBackSteer.configFactoryDefault();
// set neutral mode
leftFrontWheel.setNeutralMode(NeutralMode.Brake);
rightFrontWheel.setNeutralMode(NeutralMode.Brake);
leftBackWheel.setNeutralMode(NeutralMode.Brake);
rightBackWheel.setNeutralMode(NeutralMode.Brake);
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
leftBackSteer.setNeutralMode(NeutralMode.Brake);
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);
}
}
src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+27
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@@ -0,0 +1,27 @@
package frc4388.utility.controller;
import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.XboxController;
public class DeadbandedXboxController extends XboxController {
public DeadbandedXboxController(int port) { super(port); }
@Override public double getLeftX() { return getLeft().getX(); }
@Override public double getLeftY() { return getLeft().getY(); }
@Override public double getRightX() { return getRight().getX(); }
@Override public double getRightY() { return getRight().getY(); }
public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
public static Translation2d skewToDeadzonedCircle(double x, double y) {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
return translation2d;
}
}