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i love using phonix 6 sweve drivetrain

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This commit is contained in:
C4llSiqn
2025-01-06 14:51:44 -07:00
parent 5348cafeea
commit 631958e662
2 changed files with 31 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+18 -2
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@@ -10,6 +10,11 @@ package frc4388.robot;
import java.util.ArrayList;
import java.util.List;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ParentConfiguration;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.CanDevice;
import frc4388.utility.Gains;
@@ -43,7 +48,7 @@ public final class Constants {
public static final double SLOW_SPEED = 0.25;
public static final double FAST_SPEED = 0.5;
public static final double TURBO_SPEED = 1.0;
// public static List<CanDevice> CAN_DEVICES = new ArrayList<>();
public static final class DefaultSwerveRotOffsets {
@@ -127,7 +132,18 @@ public final class Constants {
public static final double HEIGHT = 18.5;
public static final double HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
public static final SwerveModuleConstants<ParentConfiguration, ParentConfiguration, ParentConfiguration> FRONT_LEFT = new SwerveModuleConstants<>()
.withLocationX(HALF_WIDTH)
.withLocationX(HALF_HEIGHT)
.withDriveMotorId(2)
.withDriveMotorInverted(false)
.withSteerMotorId(3)
.withSteerMotorInverted(false)
.withEncoderId(10)
.withEncoderInverted(false)
.withEncoderOffset(0.0);
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
src/main/java/frc4388/robot/RobotMap.java
+13 -2
View File
@@ -10,6 +10,10 @@ package frc4388.robot;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
// import edu.wpi.first.wpilibj.motorcontrol.Spark;
// import frc4388.robot.Constants.LEDConstants;
@@ -22,8 +26,8 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
public RobotGyro gyro = new RobotGyro(m_pigeon2);
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
@@ -37,6 +41,13 @@ public class RobotMap {
/* LED Subsystem */
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
public final SwerveDrivetrain swerveDrivetrain = new SwerveDrivetrain(
TalonFX::new, TalonFX::new, CANcoder::new,
new SwerveDrivetrainConstants().withPigeon2Id(SwerveDriveConstants.IDs.DRIVE_PIGEON.id),
new SwerveModuleConstants[] {
}
)
/* Swreve Drive Subsystem */
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);