Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Janky working prototype, Most code removed, Using phoenix 6

Browse Source
This commit is contained in:
Michael Mikovsky
2024-06-13 11:51:23 -06:00
parent a1b28dabee
commit cceb2b1cc2
40 changed files with 2426 additions and 296 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+128 -23
View File
@@ -4,17 +4,18 @@
package frc4388.robot.subsystems;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class SwerveDrive extends SubsystemBase {
public class SwerveDrive extends SubsystemBase {
private SwerveModule leftFront;
private SwerveModule rightFront;
@@ -24,17 +25,20 @@ 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);
private RobotGyro gyro;
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // * slow by default
public double rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
public double rotTarget = 0.0;
public Rotation2d orientRotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
/** Creates a new SwerveDrive. */
@@ -51,14 +55,51 @@ public class SwerveDrive extends SubsystemBase {
boolean stopped = false;
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
rightFront.go(leftStick);
// if (fieldRelative) {
// double rot = 0;
// // ! drift correction
// if (rightStick.getNorm() > 0.05) {
// rotTarget = gyro.getAngle();
// rot = rightStick.getX();
// // SmartDashboard.putBoolean("drift correction", false);
// stopped = false;
// } else if(leftStick.getNorm() > 0.05) {
// if (!stopped) {
// stopModules();
// stopped = true;
// }
// // SmartDashboard.putBoolean("drift correction", true);
// 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(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1));
// } else { // Create robot-relative speeds.
// chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
// }
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}
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) {
@@ -66,36 +107,63 @@ public class SwerveDrive extends SubsystemBase {
stopped = true;
}
SmartDashboard.putBoolean("drift correction", true);
// SmartDashboard.putBoolean("drift correction", true);
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 speed = leftStick.times(leftStick.getNorm() * autoSpeedAdjust);
// 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(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED);
}
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}
public void driveWithInputOrientation(Translation2d leftStick, double rightX, double rightY, boolean fieldRelative) {
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));
Rotation2d tmp = orientRotTarget.minus(gyro.getRotation2d().minus(new Rotation2d(Math.PI)).interpolate(orientRotTarget, 0.5));
double min = tmp.getDegrees();
min = Math.max(Math.abs(min), 2);
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);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}
/**
* Set each module of the swerve drive to the corresponding desired state.
* @param desiredStates Array of module states to set.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state);
}
}
// public void setModuleStates(SwerveModuleState[] desiredStates) {
// SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
// for (int i = 0; i < desiredStates.length; i++) {
// SwerveModule module = modules[i];
// SwerveModuleState state = desiredStates[i];
// module.setDesiredState(state);
// }
// }
public boolean rotateToTarget(double angle) {
double currentAngle = getGyroAngle();
@@ -114,9 +182,30 @@ public class SwerveDrive extends SubsystemBase {
return gyro.getAngle();
}
public void add180() {
gyro.reset(gyro.getAngle()+180);
rotTarget = gyro.getAngle();
}
public void resetGyro() {
gyro.reset();
rotTarget = 0.0;
rotTarget = gyro.getAngle();
}
public void resetGyroFlip() {
gyro.resetFlip();
rotTarget = gyro.getAngle();
}
public void resetGyroRightBlue() {
gyro.resetRightSideBlue();
rotTarget = gyro.getAngle();
}
public void resetGyroRightAmp() {
gyro.resetAmpSide();
rotTarget = gyro.getAngle();
}
public void stopModules() {
@@ -129,10 +218,15 @@ public class SwerveDrive extends SubsystemBase {
return this.kinematics;
}
public boolean getSpeedState() {
return false;
}
@Override
public void periodic() {
// This method will be called once per scheduler run\
SmartDashboard.putNumber("Gyro", getGyroAngle());
// SmartDashboard.putNumber("Gyro", getGyroAngle());
}
public void shiftDown() {
@@ -142,6 +236,7 @@ public class SwerveDrive extends SubsystemBase {
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
} else {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
}
}
@@ -192,4 +287,14 @@ public class SwerveDrive extends SubsystemBase {
}
}
public void shiftUpRot() {
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
}
public void shiftDownRot() {
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
}
}