Team4388/2024AcrossTheRidgebotiverse
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phoenix 6

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This commit is contained in:
C4llSiqn
2024-04-04 08:31:23 -06:00
parent ee9ea8f601
commit f176fb2800
2 changed files with 85 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+11 -5
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@@ -14,6 +14,9 @@ import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -26,16 +29,16 @@ 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 TalonFX driveMotor;
private TalonFX angleMotor;
private CANcoder encoder;
private int selfid;
// private ConfigurableDouble offsetGetter;
private static int swerveId = 0;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
/** Creates a new SwerveModule. */
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
public SwerveModule(TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
@@ -48,6 +51,9 @@ public class SwerveModule extends SubsystemBase {
angleConfig.slot0.kD = swerveGains.kD;
// use the CANcoder as the remote sensor for the primary TalonFX PID
new Slot0Configs().
angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
@@ -56,7 +62,7 @@ public class SwerveModule extends SubsystemBase {
//encoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
reset(0);
encoder.configMagnetOffset(offset);
driveMotor.
driveMotor.setSelectedSensorPosition(0);
driveMotor.config_kP(0, 0.2);
}