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add more to swervedrive subsystem and remove dead code.

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This commit is contained in:
C4llSiqn
2025-01-07 13:45:41 -07:00
parent 31dc2d9f8d
commit da2a1e46fa
5 changed files with 63 additions and 505 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -9
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@@ -62,7 +62,7 @@ public final class Constants {
public static final double TURBO_SPEED = 1.0;
public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
public static final int STARTING_GEAR = 0;
// dimensions
public static final double WIDTH = 18.5; // TODO: validate
public static final double HEIGHT = 18.5; // TODO: validate
@@ -192,17 +192,13 @@ public final class Constants {
}
public static final class Configurations {
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 OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.0; // 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(
.withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Brake)
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
@@ -229,7 +225,7 @@ public final class Constants {
new ClosedLoopRampsConfigs()
.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
);
private static final double SLIP_CURRENT = 120; // TODO: Tune???
private static final double SLIP_CURRENT = 100; // TODO: Tune???
}
// No mans land