mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-09 00:38:02 -06:00
functional constants, may need revision. sweve drivetrain in robot map
This commit is contained in:
C4llSiqn
@@ -11,9 +11,13 @@ import static edu.wpi.first.units.Units.Inches;
|
||||
import static edu.wpi.first.units.Units.Rotations;
|
||||
|
||||
import com.ctre.phoenix6.configs.CANcoderConfiguration;
|
||||
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
|
||||
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
|
||||
import com.ctre.phoenix6.configs.MotorOutputConfigs;
|
||||
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
|
||||
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
|
||||
@@ -53,25 +57,36 @@ public final class Constants {
|
||||
public static final double CORRECTION_MIN = 10;
|
||||
public static final double CORRECTION_MAX = 50;
|
||||
|
||||
public static final double[] GEARS = {0.25, 0.5, 1.0};
|
||||
|
||||
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 final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
|
||||
|
||||
// dimensions
|
||||
public static final double WIDTH = 18.5;
|
||||
public static final double HEIGHT = 18.5;
|
||||
public static final double WIDTH = 18.5; // TODO: validate
|
||||
public static final double HEIGHT = 18.5; // TODO: validate
|
||||
public static final double HALF_WIDTH = WIDTH / 2.d;
|
||||
public static final double HALF_HEIGHT = HEIGHT / 2.d;
|
||||
|
||||
// Mechanics
|
||||
private static final double COUPLE_RATIO = 1; //todo: find
|
||||
private static final double DRIVE_RATIO = 6.12;
|
||||
private static final double STEER_RATIO = (150/7);
|
||||
private static final Distance WHEEL_RADIUS = Inches.of(2);
|
||||
|
||||
public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate
|
||||
|
||||
public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
|
||||
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
|
||||
|
||||
private static final class ModuleSpecificConstants {
|
||||
//Front Left
|
||||
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.0);
|
||||
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
|
||||
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = false;
|
||||
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
|
||||
private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
|
||||
private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
|
||||
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
|
||||
|
||||
//Front Right
|
||||
@@ -87,8 +102,8 @@ public final class Constants {
|
||||
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
|
||||
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = false;
|
||||
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
|
||||
private static final Distance BACK_LEFT_XPOS = Inches.of(HALF_WIDTH);
|
||||
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
|
||||
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
|
||||
private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
|
||||
|
||||
//Back Right
|
||||
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.0);
|
||||
@@ -96,11 +111,7 @@ public final class Constants {
|
||||
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = false;
|
||||
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
|
||||
private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
|
||||
private static final Distance BACK_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
|
||||
}
|
||||
|
||||
private static final class DrivetrainSpecificConstants {
|
||||
|
||||
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
|
||||
}
|
||||
|
||||
public static final class IDs {
|
||||
@@ -129,8 +140,23 @@ public final class Constants {
|
||||
public static final int SWERVE_PID_LOOP_IDX = 1;
|
||||
public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
|
||||
|
||||
public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs()
|
||||
.withKP(50).withKI(0).withKD(0.32)
|
||||
.withKS(0).withKV(0).withKA(0);
|
||||
|
||||
public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
|
||||
|
||||
// The steer motor uses any SwerveModule.SteerRequestType control request with the
|
||||
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
|
||||
private static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
|
||||
.withKP(100).withKI(0).withKD(0.5)
|
||||
.withKS(0.1).withKV(1.91).withKA(0)
|
||||
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
|
||||
// When using closed-loop control, the drive motor uses the control
|
||||
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
|
||||
private static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
|
||||
.withKP(0.1).withKI(0).withKD(0)
|
||||
.withKS(0).withKV(0.124);
|
||||
}
|
||||
|
||||
public static final class AutoConstants {
|
||||
@@ -164,166 +190,94 @@ public final class Constants {
|
||||
}
|
||||
|
||||
public static final class Configurations {
|
||||
public static final double OPEN_LOOP_RAMP_RATE = 0.2;
|
||||
public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
|
||||
public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
|
||||
public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
|
||||
public static final double NEUTRAL_DEADBAND = 0.04;
|
||||
|
||||
// POWER! (limiting)
|
||||
private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
|
||||
.withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
.withStatorCurrentLimit(100) // TODO: tune???
|
||||
.withStatorCurrentLimitEnable(true)
|
||||
).withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withNeutralMode(NeutralModeValue.Brake)
|
||||
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
|
||||
).withOpenLoopRamps(
|
||||
new OpenLoopRampsConfigs()
|
||||
.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
|
||||
).withClosedLoopRamps(
|
||||
new ClosedLoopRampsConfigs()
|
||||
.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
|
||||
);
|
||||
private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration()
|
||||
.withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
.withStatorCurrentLimit(40) // TODO: tune???
|
||||
.withStatorCurrentLimitEnable(true)
|
||||
).withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withNeutralMode(NeutralModeValue.Brake)
|
||||
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
|
||||
).withOpenLoopRamps(
|
||||
new OpenLoopRampsConfigs()
|
||||
.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
|
||||
).withClosedLoopRamps(
|
||||
new ClosedLoopRampsConfigs()
|
||||
.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
|
||||
);
|
||||
private static final double SLIP_CURRENT = 120; // TODO: Tune???
|
||||
}
|
||||
|
||||
public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
|
||||
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
|
||||
|
||||
|
||||
|
||||
|
||||
// No mans land
|
||||
// Beware, there be dragons.
|
||||
// The steer motor uses any SwerveModule.SteerRequestType control request with the
|
||||
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
|
||||
private static final Slot0Configs steerGains = new Slot0Configs()
|
||||
.withKP(100).withKI(0).withKD(0.5)
|
||||
.withKS(0.1).withKV(1.91).withKA(0)
|
||||
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
|
||||
// When using closed-loop control, the drive motor uses the control
|
||||
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
|
||||
private static final Slot0Configs driveGains = new Slot0Configs()
|
||||
.withKP(0.1).withKI(0).withKD(0)
|
||||
.withKS(0).withKV(0.124);
|
||||
|
||||
// The closed-loop output type to use for the steer motors;
|
||||
// This affects the PID/FF gains for the steer motors
|
||||
private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
|
||||
// The closed-loop output type to use for the drive motors;
|
||||
// This affects the PID/FF gains for the drive motors
|
||||
private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
|
||||
|
||||
// The type of motor used for the drive motor
|
||||
private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
|
||||
// The type of motor used for the drive motor
|
||||
private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
|
||||
|
||||
// The remote sensor feedback type to use for the steer motors;
|
||||
// When not Pro-licensed, FusedCANcoder/SyncCANcoder automatically fall back to RemoteCANcoder
|
||||
private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.RemoteCANcoder;
|
||||
|
||||
// The stator current at which the wheels start to slip;
|
||||
// This needs to be tuned to your individual robot
|
||||
private static final double kSlipCurrent = 120; // TODO: tune???
|
||||
|
||||
// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
|
||||
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
|
||||
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration()
|
||||
.withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
// Swerve azimuth does not require much torque output, so we can set a relatively low
|
||||
// stator current limit to help avoid brownouts without impacting performance.
|
||||
.withStatorCurrentLimit(100) // TODO: tune???
|
||||
.withStatorCurrentLimitEnable(true)
|
||||
);
|
||||
private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
|
||||
.withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
// Swerve azimuth does not require much torque output, so we can set a relatively low
|
||||
// stator current limit to help avoid brownouts without impacting performance.
|
||||
.withStatorCurrentLimit(40) // TODO: tune???
|
||||
.withStatorCurrentLimitEnable(true)
|
||||
);
|
||||
private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
|
||||
|
||||
// Theoretical free speed (m/s) at 12 V applied output;
|
||||
// This needs to be tuned to your individual robot
|
||||
public static final double kSpeedAt12Volts = 4.69;// todo: tune???
|
||||
|
||||
// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
|
||||
// This may need to be tuned to your individual robot
|
||||
private static final double kCoupleRatio = 3.8181818181818183; //todo: find
|
||||
|
||||
private static final double kDriveGearRatio = 6.12;
|
||||
private static final double kSteerGearRatio = (150/7);
|
||||
private static final Distance kWheelRadius = Inches.of(2); // 2 inches in meters
|
||||
|
||||
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
|
||||
.withPigeon2Id(IDs.DRIVE_PIGEON.id);
|
||||
|
||||
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
|
||||
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.
|
||||
.withDriveMotorGearRatio(kDriveGearRatio)
|
||||
.withSteerMotorGearRatio(kSteerGearRatio)
|
||||
.withCouplingGearRatio(kCoupleRatio)
|
||||
.withWheelRadius(kWheelRadius)
|
||||
.withSteerMotorGains(steerGains)
|
||||
.withDriveMotorGains(driveGains)
|
||||
.withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
|
||||
.withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
|
||||
.withSlipCurrent(kSlipCurrent)
|
||||
.withSpeedAt12Volts(kSpeedAt12Volts)
|
||||
.withDriveMotorType(kDriveMotorType)
|
||||
.withSteerMotorType(kSteerMotorType)
|
||||
.withFeedbackSource(kSteerFeedbackType)
|
||||
.withDriveMotorInitialConfigs(driveInitialConfigs)
|
||||
.withSteerMotorInitialConfigs(steerInitialConfigs)
|
||||
.withEncoderInitialConfigs(encoderInitialConfigs);
|
||||
.withDriveMotorGearRatio(DRIVE_RATIO)
|
||||
.withSteerMotorGearRatio(STEER_RATIO)
|
||||
.withCouplingGearRatio(COUPLE_RATIO)
|
||||
.withWheelRadius(WHEEL_RADIUS)
|
||||
.withSteerMotorGains(PIDConstants.CURRENT_SWERVE_ROT_GAINS) // ?
|
||||
.withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ?
|
||||
.withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
|
||||
.withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
|
||||
.withSlipCurrent(Configurations.SLIP_CURRENT)
|
||||
.withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC)
|
||||
.withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated)
|
||||
.withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated)
|
||||
.withFeedbackSource(SteerFeedbackType.RemoteCANcoder)
|
||||
.withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS)
|
||||
.withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS);
|
||||
|
||||
// Front Left
|
||||
private static final int kFrontLeftDriveMotorId = 3;
|
||||
private static final int kFrontLeftSteerMotorId = 2;
|
||||
private static final int kFrontLeftEncoderId = 10;
|
||||
private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.15234375);
|
||||
private static final boolean kFrontLeftSteerMotorInverted = true;
|
||||
private static final boolean kFrontLeftEncoderInverted = false;
|
||||
|
||||
private static final Distance kFrontLeftXPos = Inches.of(10);
|
||||
private static final Distance kFrontLeftYPos = Inches.of(10);
|
||||
|
||||
// Front Right
|
||||
private static final int kFrontRightDriveMotorId = 1;
|
||||
private static final int kFrontRightSteerMotorId = 0;
|
||||
private static final int kFrontRightEncoderId = 0;
|
||||
private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.4873046875);
|
||||
private static final boolean kFrontRightSteerMotorInverted = true;
|
||||
private static final boolean kFrontRightEncoderInverted = false;
|
||||
|
||||
private static final Distance kFrontRightXPos = Inches.of(10);
|
||||
private static final Distance kFrontRightYPos = Inches.of(-10);
|
||||
|
||||
// Back Left
|
||||
private static final int kBackLeftDriveMotorId = 7;
|
||||
private static final int kBackLeftSteerMotorId = 6;
|
||||
private static final int kBackLeftEncoderId = 3;
|
||||
private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.219482421875);
|
||||
private static final boolean kBackLeftSteerMotorInverted = true;
|
||||
private static final boolean kBackLeftEncoderInverted = false;
|
||||
|
||||
private static final Distance kBackLeftXPos = Inches.of(-10);
|
||||
private static final Distance kBackLeftYPos = Inches.of(10);
|
||||
|
||||
// Back Right
|
||||
private static final int kBackRightDriveMotorId = 5;
|
||||
private static final int kBackRightSteerMotorId = 4;
|
||||
private static final int kBackRightEncoderId = 2;
|
||||
private static final Angle kBackRightEncoderOffset = Rotations.of(0.17236328125);
|
||||
private static final boolean kBackRightSteerMotorInverted = true;
|
||||
private static final boolean kBackRightEncoderInverted = false;
|
||||
|
||||
private static final Distance kBackRightXPos = Inches.of(-10);
|
||||
private static final Distance kBackRightYPos = Inches.of(-10);
|
||||
|
||||
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
|
||||
ConstantCreator.createModuleConstants(
|
||||
kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, Rotations.of(SwerveRotOffsets.FRONT_LEFT_ROT_OFFSET),
|
||||
Inches.of(HALF_WIDTH), Inches.of(HALF_HEIGHT), false, false, false
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
|
||||
IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET,
|
||||
ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS,
|
||||
ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_RIGHT =
|
||||
ConstantCreator.createModuleConstants(
|
||||
kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
|
||||
kFrontRightXPos, kFrontRightYPos, false, false, false
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
|
||||
IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET,
|
||||
ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS,
|
||||
ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_LEFT =
|
||||
ConstantCreator.createModuleConstants(
|
||||
kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
|
||||
kBackLeftXPos, kBackLeftYPos, false, false, false
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
|
||||
IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET,
|
||||
ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS,
|
||||
ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED
|
||||
);
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_RIGHT =
|
||||
ConstantCreator.createModuleConstants(
|
||||
IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET,
|
||||
ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS,
|
||||
ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED
|
||||
);
|
||||
|
||||
// misc
|
||||
public static final int TIMEOUT_MS = 30;
|
||||
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
|
||||
|
||||
@@ -29,48 +29,20 @@ public class RobotMap {
|
||||
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
|
||||
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule rightFront;
|
||||
public SwerveModule leftBack;
|
||||
public SwerveModule rightBack;
|
||||
|
||||
public RobotMap() {
|
||||
configureDriveMotorControllers();
|
||||
}
|
||||
|
||||
/* 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);
|
||||
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
|
||||
public final SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrain = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
|
||||
Constants.SwerveDriveConstants.DrivetrainConstants,
|
||||
Constants.SwerveDriveConstants.FRONT_LEFT, Constants.SwerveDriveConstants.FRONT_RIGHT,
|
||||
Constants.SwerveDriveConstants.BACK_LEFT, Constants.SwerveDriveConstants.BACK_RIGHT
|
||||
);
|
||||
|
||||
|
||||
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
|
||||
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
|
||||
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
|
||||
|
||||
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
|
||||
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
|
||||
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
|
||||
|
||||
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
|
||||
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
|
||||
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
|
||||
|
||||
void configureDriveMotorControllers() {
|
||||
// initialize SwerveModules
|
||||
this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||
this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||
}
|
||||
void configureDriveMotorControllers() {}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user