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Merge branch 'master' into 2024x2025

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This commit is contained in:
C4llSiqn
2025-01-17 20:39:20 -07:00
parent 9db9d25f5b e8fe7a1d52
commit a8c91b3ce1
7 changed files with 394 additions and 223 deletions
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src/main/deploy/pathplanner/autos/New Auto.auto
+19
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@@ -0,0 +1,19 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Example Path"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/navgrid.json
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File diff suppressed because one or more lines are too long
src/main/deploy/pathplanner/paths/Example Path.path
+54
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.415049342105263,
"y": 4.785115131578947
},
"prevControl": null,
"nextControl": {
"x": 2.905756578947368,
"y": 4.794736842105262
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.8294407894736837,
"y": 5.862746710526316
},
"prevControl": {
"x": 3.0693256578947365,
"y": 5.872368421052631
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -2.4366482468102095
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+32
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@@ -0,0 +1,32 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 22.6796,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.273,
"flModuleY": 0.273,
"frModuleX": 0.273,
"frModuleY": -0.273,
"blModuleX": -0.273,
"blModuleY": 0.273,
"brModuleX": -0.273,
"brModuleY": -0.273,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}
src/main/java/frc4388/robot/Constants.java
+37 -12
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@@ -102,51 +102,76 @@ public final class Constants {
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270 public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
// public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0); // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
private static final class ModuleSpecificConstants { private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
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_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
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);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
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 ModuleSpecificConstants { // 2024
//Front Left //Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125); private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
// private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false; private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true; private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_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_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT); private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right //Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625); private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625);
// private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false; private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true; private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false; private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH); private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT); private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
// private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
//Back Left //Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5); private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5);
// private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false; private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true; private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_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_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT); private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
// private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Right //Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5); private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5);
// private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false; private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true; private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_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_XPOS = Inches.of(-HALF_WIDTH);
// 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 Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
} } */
public static final class IDs { public static final class IDs {
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4); public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
@@ -347,4 +372,4 @@ public final class Constants {
public static final double LEFT_AXIS_DEADBAND = 0.1; public static final double LEFT_AXIS_DEADBAND = 0.1;
} }
} }
src/main/java/frc4388/robot/RobotContainer.java
+15 -22
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@@ -28,13 +28,14 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.Commands;
// Autos // Autos
import frc4388.utility.controller.VirtualController; import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand; import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.Swerve.neoJoystickPlayback; import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder; import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems // Subsystems
// import frc4388.robot.subsystems.LED; // import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision; import frc4388.robot.subsystems.Vision;
@@ -155,26 +156,6 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON) DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// @ /* Trim Test Buttons */
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
// ! /* Speed */ // ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
@@ -248,9 +229,21 @@ public class RobotContainer {
*/ */
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
//return autoPlayback; //return autoPlayback;
return new GotoPositionCommand(m_robotSwerveDrive, m_vision); //return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
try{
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("New Auto");
} catch (Exception e) {
DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
// zach told me to do the below comment
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
} }
/** /**
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller} * A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
* @param joystickA A controller * @param joystickA A controller
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+236 -189
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@@ -5,6 +5,7 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import java.util.Optional; import java.util.Optional;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.CANcoder;
@@ -30,258 +31,304 @@ import frc4388.robot.Constants.VisionConstants;
import frc4388.utility.Status; import frc4388.utility.Status;
import frc4388.utility.Subsystem; import frc4388.utility.Subsystem;
import frc4388.utility.Status.ReportLevel; import frc4388.utility.Status.ReportLevel;
import edu.wpi.first.wpilibj.DriverStation;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.config.RobotConfig;
public class SwerveDrive extends Subsystem { public class SwerveDrive extends Subsystem {
private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain; private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
private Vision vision; private Vision vision;
private int gear_index = SwerveDriveConstants.STARTING_GEAR; private int gear_index = SwerveDriveConstants.STARTING_GEAR;
private boolean stopped = false; private boolean stopped = false;
public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index]; public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED; public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to 25% public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to 25%
public double rotTarget = 0.0; public double rotTarget = 0.0;
public Rotation2d orientRotTarget = new Rotation2d(); public Rotation2d orientRotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
/** Creates a new SwerveDrive. */ /** Creates a new SwerveDrive. */
public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) { public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) {
// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) { // public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
super(); super();
this.swerveDriveTrain = swerveDriveTrain; this.swerveDriveTrain = swerveDriveTrain;
this.vision = vision; this.vision = vision;
}
// public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){ RobotConfig config;
// // double ang = Math.atan2(rightStick.getY(), rightStick.getX()); try{
// // rightStick.getAngle() config = RobotConfig.fromGUISettings();
// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2)); } catch (Exception e) {
// // System.out.println(ang); // Handle exception as needed
// // module.go(ang); config = null;
// // Rotation2d rot = Rotation2d.fromRadians(ang); }
// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY()); // DoubleSupplier a = () -> 1.d;
// SwerveModuleState state = new SwerveModuleState(speed, rot); AutoBuilder.configure(
// module.setDesiredState(state); () -> {
// } var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
// pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;//getRotation().times(-1)
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
.withSpeeds(speeds)
), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
),
config, // The robot configuration
() -> {
// Boolean supplier that controls when the path will be mirrored for the red alliance
// This will flip the path being followed to the red side of the field.
// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { var alliance = DriverStation.getAlliance();
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going: if (alliance.isPresent()) {
stopModules(); // stop the swerve return alliance.get() == DriverStation.Alliance.Red;
}
return false;
},
this // Reference to this subsystem to set requirements
);
}
// public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
// // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
// // rightStick.getAngle()
// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
// // System.out.println(ang);
// // module.go(ang);
// // Rotation2d rot = Rotation2d.fromRadians(ang);
// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
// SwerveModuleState state = new SwerveModuleState(speed, rot);
// module.setDesiredState(state);
// }
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
return; // don't bother doing swerve drive math and return early. return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET)); leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
if (fieldRelative) { if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric() swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*-speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(-leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust) .withRotationalRate(rightStick.getX()*rotSpeedAdjust)
); );
// double rot = 0; // double rot = 0;
// ! drift correction // ! drift correction
// dependant on if the new odomitry system acounts for rotational drift, this may not be needed. // dependant on if the new odomitry system acounts for rotational drift, this may not be needed.
// if (rightStick.getNorm() > 0.05) { // if (rightStick.getNorm() > 0.05) {
// rotTarget = swerveDriveTrain.getRotation3d().toRotation2d().getDegrees(); // rotTarget = swerveDriveTrain.getRotation3d().toRotation2d().getDegrees();
// swerveDriveTrain.setControl(new SwerveRequest.FieldCentric() // swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
// .withVelocityX(leftStick.getX()*speedAdjust) // .withVelocityX(leftStick.getX()*speedAdjust)
// .withVelocityY(leftStick.getY()*speedAdjust) // .withVelocityY(leftStick.getY()*speedAdjust)
// .withRotationalRate(rightStick.getY()*rotSpeedAdjust) // .withRotationalRate(rightStick.getY()*rotSpeedAdjust)
// ); // );
// // SmartDashboard.putBoolean("drift correction", false); // // SmartDashboard.putBoolean("drift correction", false);
// stopped = false; // stopped = false;
// } else if(leftStick.getNorm() > 0.05) { // } else if(leftStick.getNorm() > 0.05) {
// if (!stopped) { // if (!stopped) {
// stopModules(); // stopModules();
// stopped = true; // stopped = true;
// } // }
// // SmartDashboard.putBoolean("drift correction", true); // // SmartDashboard.putBoolean("drift correction", true);
// // rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED; // // 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. // // 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() * speedAdjust);
// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00)); // // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// // Convert field-relative speeds to robot-relative speeds. // // Convert field-relative speeds to robot-relative speeds.
// // chassisSpeeds = chassisSpeeds. // // chassisSpeeds = chassisSpeeds.
// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1)); // chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
} else { // Create robot-relative speeds. } else { // Create robot-relative speeds.
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric() swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX()*-speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(-leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust) .withRotationalRate(rightStick.getX()*rotSpeedAdjust)
); );
}
} }
}
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical reason to have a robot relitive version of this, and no pre provided version public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical reason to have a robot relitive version of this, and no pre provided version
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going: if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve stopModules(); // stop the swerve
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
return; // don't bother doing swerve drive math and return early. return; // don't bother doing swerve drive math and return early.
leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET)); leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle() swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX()*speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(leftStick.getY()*speedAdjust)
.withTargetDirection(rightStick.getAngle()) .withTargetDirection(rightStick.getAngle())
); );
}
public boolean rotateToTarget(double angle) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(0)
.withVelocityY(0)
.withTargetDirection(Rotation2d.fromDegrees(angle))
);
if (Math.abs(angle - getGyroAngle()) < 5.0) {
return true;
} }
return false; public boolean rotateToTarget(double angle) {
} swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(0)
.withVelocityY(0)
.withTargetDirection(Rotation2d.fromDegrees(angle))
);
public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) { if (Math.abs(angle - getGyroAngle()) < 5.0) {
// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going: return true;
// stopModules(); // stop the swerve }
return false;
}
public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) {
// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
// stopModules(); // stop the swerve
// if (leftStick.getNorm() < 0.05) //if no imput // if (leftStick.getNorm() < 0.05) //if no imput
// return; // don't bother doing swerve drive math and return early. // return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET)); leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle() swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX()*-speedAdjust) .withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(leftStick.getY()*speedAdjust)
.withTargetDirection(rot) .withTargetDirection(rot)
); );
// double // double
} }
public double getGyroAngle() { public double getGyroAngle() {
return swerveDriveTrain.getRotation3d().getAngle(); return swerveDriveTrain.getRotation3d().getAngle();
} }
public void resetGyro() { public void resetGyro() {
swerveDriveTrain.tareEverything(); swerveDriveTrain.tareEverything();
} }
public void stopModules() { public void stopModules() {
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake()); swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
} }
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run\ // This method will be called once per scheduler run\
SmartDashboard.putNumber("Gyro", getGyroAngle()); SmartDashboard.putNumber("Gyro", getGyroAngle());
SmartDashboard.putNumber("RotTartget", rotTarget); SmartDashboard.putNumber("RotTartget", rotTarget);
double time = Vision.getTime(); double time = Vision.getTime();
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time)); vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
if(vision.isTag()){ if(vision.isTag()){
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time); swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
}
// if(e.isPresent())
} }
// if(e.isPresent()) private void reset_index() {
} gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the robot start in?)
}
private void reset_index() { public void shiftDown() {
gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the robot start in?) if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
} int i = gear_index - 1;
if (i == -1) i = 0;
setPercentOutput(SwerveDriveConstants.GEARS[i]);
gear_index = i;
}
public void shiftDown() { public void shiftUp() {
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
int i = gear_index - 1; int i = gear_index + 1;
if (i == -1) i = 0; if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1;
setPercentOutput(SwerveDriveConstants.GEARS[i]); setPercentOutput(SwerveDriveConstants.GEARS[i]);
gear_index = i; gear_index = i;
} }
public void shiftUp() { public void setPercentOutput(double speed) {
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
int i = gear_index + 1; gear_index = -1;
if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1; }
setPercentOutput(SwerveDriveConstants.GEARS[i]);
gear_index = i;
}
public void setPercentOutput(double speed) { public void setToSlow() {
speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed; setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
gear_index = -1; gear_index = 0;
} }
public void setToSlow() { public void setToFast() {
setPercentOutput(SwerveDriveConstants.SLOW_SPEED); setPercentOutput(SwerveDriveConstants.FAST_SPEED);
gear_index = 0; gear_index = 1;
} }
public void setToFast() { public void setToTurbo() {
setPercentOutput(SwerveDriveConstants.FAST_SPEED); setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
gear_index = 1; gear_index = 2;
} }
public void setToTurbo() { public void shiftUpRot() {
setPercentOutput(SwerveDriveConstants.TURBO_SPEED); rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
gear_index = 2; }
}
public void shiftUpRot() { public void shiftDownRot() {
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED; rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
} }
public void shiftDownRot() { @Override
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED; public String getSubsystemName() {
} return "Swerve Drive Controller";
}
@Override ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
public String getSubsystemName() { .getLayout(getSubsystemName(), BuiltInLayouts.kList)
return "Swerve Drive Controller"; .withSize(2, 2);
}
ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems") GenericEntry sbGyro = subsystemLayout
.getLayout(getSubsystemName(), BuiltInLayouts.kList) .add("Gyro angle", 0)
.withSize(2, 2); .withWidget(BuiltInWidgets.kGyro)
.getEntry();
GenericEntry sbGyro = subsystemLayout GenericEntry sbShiftState = subsystemLayout
.add("Gyro angle", 0) .add("Shift State", 0)
.withWidget(BuiltInWidgets.kGyro) .withWidget(BuiltInWidgets.kNumberBar)
.getEntry(); .getEntry();
GenericEntry sbShiftState = subsystemLayout @Override
.add("Shift State", 0) public void queryStatus() {
.withWidget(BuiltInWidgets.kNumberBar) sbGyro.setDouble(getGyroAngle());
.getEntry(); sbShiftState.setDouble(this.speedAdjust);
@Override
public void queryStatus() {
sbGyro.setDouble(getGyroAngle());
sbShiftState.setDouble(this.speedAdjust);
//TODO: Add more status things //TODO: Add more status things
} }
@Override @Override
public Status diagnosticStatus() { public Status diagnosticStatus() {
Status status = new Status(); Status status = new Status();
status.addReport(ReportLevel.ERROR, "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there."); status.addReport(ReportLevel.ERROR, "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there.");
return status; return status;
} }
} }