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Initial commit
This commit is contained in:
mirage54321
@@ -0,0 +1,467 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems.swerve;
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import org.littletonrobotics.junction.AutoLogOutput;
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import org.littletonrobotics.junction.Logger;
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import com.ctre.phoenix6.swerve.SwerveRequest;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.constants.Constants.AutoConstants;
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import frc4388.robot.subsystems.vision.Vision;
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import frc4388.utility.compute.TimesNegativeOne;
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import frc4388.utility.status.Status;
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import frc4388.utility.status.FaultReporter;
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import frc4388.utility.status.Queryable;
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import com.pathplanner.lib.controllers.PPHolonomicDriveController;
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import com.pathplanner.lib.util.PathPlannerLogging;
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import com.pathplanner.lib.config.PIDConstants;
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import com.pathplanner.lib.auto.AutoBuilder;
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import com.pathplanner.lib.config.RobotConfig;
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public class SwerveDrive extends SubsystemBase implements Queryable {
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// private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
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private SwerveIO io;
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private SwerveStateAutoLogged state;
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private Vision vision;
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public int gear_index = SwerveDriveConstants.STARTING_GEAR;
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public boolean stopped = false;
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public boolean robotKnowsWhereItIs = false;
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public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
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public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
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public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
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// 25%
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public double lastOdomSpeed;
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public Pose2d initalPose2d = new Pose2d();
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public double rotTarget = 0.0;
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public Rotation2d orientRotTarget = new Rotation2d();
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public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
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/** Creates a new SwerveDrive. */
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public SwerveDrive(SwerveIO swerveDriveTrain, Vision vision) {
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// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder>
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// swerveDriveTrain) {
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FaultReporter.register(this);
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this.io = swerveDriveTrain;
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this.state = new SwerveStateAutoLogged();
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this.vision = vision;
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RobotConfig config;
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try {
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config = RobotConfig.fromGUISettings();
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} catch (Exception e) {
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// Handle exception as needed
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config = null;
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}
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// DoubleSupplier a = () -> 1.d;
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AutoBuilder.configure(
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() -> {
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return getPose2d();
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}, // Robot pose supplier
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this::setOdoPose, // Method to reset odometry (will be called if your auto has a starting
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// pose)
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() -> state.speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
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(speeds, feedforwards) -> io.setControl(new SwerveRequest.ApplyRobotSpeeds()
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.withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds.
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// Also optionally outputs individual module feedforwards
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new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for
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// holonomic drive trains
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new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
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new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
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),
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config, // The robot configuration
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() -> {
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// Boolean supplier that controls when the path will be mirrored for the red
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// alliance
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// This will flip the path being followed to the red side of the field.
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// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
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// var alliance = DriverStation.getAlliance();
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// if (alliance.isPresent()) {
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// return alliance.get() == DriverStation.Alliance.Red;
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// }
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return TimesNegativeOne.isRed;
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},
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this // Reference to this subsystem to set requirements
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);
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PathPlannerLogging.setLogActivePathCallback(
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(activePath) -> {
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Logger.recordOutput(
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"Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
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});
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PathPlannerLogging.setLogTargetPoseCallback(
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(targetPose) -> {
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Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
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});
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// // Configure SysId
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// sysId =
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// new SysIdRoutine(
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// new SysIdRoutine.Config(
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// null,
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// null,
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// null,
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// (state) -> Logger.recordOutput("Drive/SysIdState", toString())),
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// new SysIdRoutine.Mechanism(
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// (voltage) -> runCharacterization(voltage.in(Volts)), null, this));
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}
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public void setOdoPose(Pose2d pose) {
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if (pose == null) return;
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initalPose2d = pose;
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io.resetPose(pose);
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}
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// public void oneModuleTest(SwerveModule module, Translation2d leftStick,
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// Translation2d rightStick){
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// // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
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// // rightStick.getAngle()
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// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) +
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// Math.pow(leftStick.getY(), 2));
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// // System.out.println(ang);
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// // module.go(ang);
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// // Rotation2d rot = Rotation2d.fromRadians(ang);
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// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
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// SwerveModuleState state = new SwerveModuleState(speed, rot);
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// module.setDesiredState(state);
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// }
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public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
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stopModules(); // stop the swerve
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
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return; // don't bother doing swerve drive math and return early.
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leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
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stopped = false;
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if (fieldRelative) {
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leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
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rightStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);
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// ! drift correction
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if (rightStick.getNorm() > 0.05 || !SwerveDriveConstants.DRIFT_CORRECTION_ENABLED) {
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rotTarget = state.currentPose.getRotation().getDegrees();
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io.setControl(new SwerveRequest.FieldCentric()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
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// .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective));
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SmartDashboard.putBoolean("drift correction", false);
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} else {
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var ctrl = new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(Rotation2d.fromDegrees(rotTarget));
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ctrl.HeadingController.setPID(
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
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);
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io.setControl(ctrl);
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SmartDashboard.putBoolean("drift correction", true);
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}
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} else { // Create robot-relative speeds.
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io.setControl(new SwerveRequest.RobotCentric()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(-leftStick.getY() * speedAdjust)
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.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
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}
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}
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public void driveFine(Translation2d leftStick, Translation2d rightStick, double percentOutput) {
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stopped = false;
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// Create robot-relative speeds.
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if (rightStick.getNorm() > 0.1) rightStick = rightStick.times(0);
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io.setControl(new SwerveRequest.RobotCentric()
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.withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
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.withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
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.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
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}
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public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical
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// reason to have a robot
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// relitive version of
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// this, and no pre
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// provided version
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve
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// drive is still going:
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stopModules(); // stop the swerve
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
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return; // don't bother doing swerve drive math and return early.
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leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
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io.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(rightStick.getAngle()));
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}
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public void driveRelativeAngle(Translation2d leftStick, Rotation2d heading) {
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leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
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leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
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var ctrl = new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(heading);
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ctrl.HeadingController.setPID(
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SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
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SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
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SwerveDriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
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);
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io.setControl(ctrl);
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}
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public void driveRelativeLockedAngle(Translation2d leftStick, Rotation2d heading) {
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leftStick = leftStick.rotateBy(heading);
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var ctrl = new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(heading);
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// ctrl.HeadingController.setPID(
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// DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kP,
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// DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kI,
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// DriveConstants.PIDConstants.RELATIVE_LOCKED_ANGLE_GAINS.kD
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// );
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io.setControl(ctrl);
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}
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public void activateLuigiMode() {
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io.setLimits(20);
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}
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public void deactivateLuigiMode() {
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io.setLimits(SwerveDriveConstants.Configurations.SLIP_CURRENT);
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}
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public boolean rotateToTarget(double angle) {
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io.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(0)
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.withVelocityY(0)
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.withTargetDirection(Rotation2d.fromDegrees(angle)));
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if (Math.abs(angle - getGyroAngle()) < 5.0) {
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return true;
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}
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return false;
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}
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public boolean isStopped() {
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return lastOdomSpeed < AutoConstants.STOP_VELOCITY;
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}
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public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) {
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// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the
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// swerve drive is still going:
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// stopModules(); // stop the swerve
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// if (leftStick.getNorm() < 0.05) //if no imput
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// return; // don't bother doing swerve drive math and return early.
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leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
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io.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * -speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(rot));
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// double
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}
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public double getGyroAngle() {
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return getPose2d().getRotation().getRadians();
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}
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public Pose2d getPose2d() {
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if(state.currentPose == null)
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return initalPose2d;
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return state.currentPose;
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}
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public void resetGyro() {
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io.tareEverything();
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robotKnowsWhereItIs = false;
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rotTarget = 0;
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// vision.resetRotations();
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}
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public void softStop() {
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stopped = true;
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io.setControl(new SwerveRequest.FieldCentric()
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.withVelocityX(0)
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.withVelocityY(0)
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.withRotationalRate(0)
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); // stop the modules without breaking
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}
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public void stopModules() {
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// stopped = true;
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// swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
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softStop();
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run\
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SmartDashboard.putNumber("Gyro", (getGyroAngle() * 180) / Math.PI);
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SmartDashboard.putNumber("RotTartget", rotTarget);
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io.updateInputs(state);
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Logger.processInputs("SwerveDrive", state);
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vision.setLastOdomPose(state.currentPose);
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setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
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if (vision.isTag()) {
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Pose2d pose = vision.getPose2d();
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if (!robotKnowsWhereItIs) {
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robotKnowsWhereItIs = true;
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Pose2d curPose = getPose2d();
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rotTarget += pose.getRotation().getDegrees() - curPose.getRotation().getDegrees();
|
||||
}
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||||
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io.addVisionMeasurement(vision.getPosesToAdd());
|
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}
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// if(e.isPresent())
|
||||
}
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||||
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private void reset_index() {
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gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the
|
||||
// robot start in?)
|
||||
}
|
||||
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public void shiftDown() {
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if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
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||||
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 shiftUp() {
|
||||
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
|
||||
reset_index(); // If outof bounds: reset index
|
||||
int i = 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) {
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speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
|
||||
gear_index = -1;
|
||||
}
|
||||
|
||||
public void setToSlow() {
|
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setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
|
||||
gear_index = 0;
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||||
}
|
||||
|
||||
public void setToFast() {
|
||||
setPercentOutput(SwerveDriveConstants.FAST_SPEED);
|
||||
gear_index = 1;
|
||||
}
|
||||
|
||||
public void setToTurbo() {
|
||||
setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
|
||||
gear_index = 2;
|
||||
}
|
||||
|
||||
public void shiftUpRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
|
||||
}
|
||||
|
||||
public void shiftDownRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
}
|
||||
|
||||
private int tmp_gear_index = SwerveDriveConstants.STARTING_GEAR;
|
||||
|
||||
public void startSlowPeriod() {
|
||||
tmp_gear_index = gear_index;
|
||||
setToSlow();
|
||||
}
|
||||
|
||||
public void startTurboPeriod() {
|
||||
tmp_gear_index = gear_index;
|
||||
setToTurbo();
|
||||
}
|
||||
|
||||
public void endSlowPeriod() {
|
||||
setPercentOutput(SwerveDriveConstants.GEARS[tmp_gear_index]);
|
||||
gear_index = tmp_gear_index;
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void setLastOdomSpeed(Pose2d curPose, Pose2d lastPose, double freq){
|
||||
if(curPose != null && lastPose != null){
|
||||
lastOdomSpeed = curPose.getTranslation().getDistance(lastPose.getTranslation())/freq;
|
||||
}
|
||||
}
|
||||
|
||||
@AutoLogOutput(key="SwerveDrive/speed ")
|
||||
public double getOdometrySpeed() {
|
||||
return lastOdomSpeed;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "Swerve Drive Controller";
|
||||
}
|
||||
|
||||
@Override
|
||||
public Status diagnosticStatus() {
|
||||
Status status = new Status();
|
||||
|
||||
// status.addReport(ReportLevel.INFO,
|
||||
// "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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,246 @@
|
||||
package frc4388.robot.subsystems.swerve;
|
||||
|
||||
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;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
|
||||
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.units.measure.Distance;
|
||||
import frc4388.utility.status.CanDevice;
|
||||
import frc4388.utility.structs.Gains;
|
||||
|
||||
|
||||
// No mans land
|
||||
// Beware, there be dragons.
|
||||
public final class SwerveDriveConstants {
|
||||
public static final double MAX_ROT_SPEED = Math.PI * 2;
|
||||
public static final double AUTO_MAX_ROT_SPEED = 1.5;
|
||||
public static final double MIN_ROT_SPEED = 1.0;
|
||||
public static double ROTATION_SPEED = MAX_ROT_SPEED;
|
||||
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
|
||||
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
|
||||
|
||||
public static final double CORRECTION_MIN = 10;
|
||||
public static final double CORRECTION_MAX = 50;
|
||||
|
||||
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};
|
||||
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
|
||||
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 = 3; //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;
|
||||
|
||||
// Operation
|
||||
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
|
||||
|
||||
public static final boolean DRIFT_CORRECTION_ENABLED = true;
|
||||
public static final boolean INVERT_X = false;
|
||||
public static final boolean INVERT_Y = true;
|
||||
public static final boolean INVERT_ROTATION = false;
|
||||
|
||||
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
|
||||
|
||||
private static final class ModuleSpecificConstants { //2025
|
||||
//Front Left
|
||||
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
|
||||
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(-0.011474609375);
|
||||
private static final boolean FRONT_RIGHT_DRIVE_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 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(0.333251953125+0.5);
|
||||
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(0.4306640625+0.5);
|
||||
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);
|
||||
}
|
||||
|
||||
public static final class IDs {
|
||||
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
|
||||
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 5);
|
||||
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
|
||||
|
||||
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 2);
|
||||
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 3);
|
||||
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 10);
|
||||
|
||||
public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6);
|
||||
public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7);
|
||||
public static final CanDevice LEFT_BACK_ENCODER = new CanDevice("LEFT_BACK_ENCODER", 12);
|
||||
|
||||
public static final CanDevice RIGHT_BACK_WHEEL = new CanDevice("RIGHT_BACK_WHEEL", 8);
|
||||
public static final CanDevice RIGHT_BACK_STEER = new CanDevice("RIGHT_BACK_STEER", 9);
|
||||
public static final CanDevice RIGHT_BACK_ENCODER = new CanDevice("RIGHT_BACK_ENCODER", 13);
|
||||
|
||||
public static final CanDevice DRIVE_PIGEON = new CanDevice("DRIVE_PIGEON", 14);
|
||||
}
|
||||
|
||||
public static final class PIDConstants {
|
||||
public static final int SWERVE_SLOT_IDX = 0;
|
||||
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 Slot0Configs TEST_SWERVE_ROT_GAINS = new Slot0Configs()
|
||||
.withKP(10).withKI(0).withKD(0.3)
|
||||
.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
|
||||
public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
|
||||
.withKP(100).withKI(0).withKD(0.6)
|
||||
.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
|
||||
public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
|
||||
.withKP(0.1).withKI(0).withKD(0)
|
||||
.withKS(0).withKV(0.124);
|
||||
|
||||
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
|
||||
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(10, 0, 1);
|
||||
}
|
||||
|
||||
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 NEUTRAL_DEADBAND = 0.04;
|
||||
|
||||
// POWER! (limiting)
|
||||
private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
|
||||
.withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withNeutralMode(NeutralModeValue.Brake)
|
||||
.withDutyCycleNeutralDeadband(NEUTRAL_DEADBAND)
|
||||
).withOpenLoopRamps(
|
||||
new OpenLoopRampsConfigs()
|
||||
.withDutyCycleOpenLoopRampPeriod(OPEN_LOOP_RAMP_RATE)
|
||||
).withClosedLoopRamps(
|
||||
new ClosedLoopRampsConfigs()
|
||||
.withDutyCycleClosedLoopRampPeriod(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(NEUTRAL_DEADBAND)
|
||||
// ).withOpenLoopRamps(
|
||||
// new OpenLoopRampsConfigs()
|
||||
// .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
|
||||
// ).withClosedLoopRamps(
|
||||
// new ClosedLoopRampsConfigs()
|
||||
// .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
|
||||
);
|
||||
public static final double SLIP_CURRENT = 60; // TODO: Tune???
|
||||
}
|
||||
|
||||
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(DRIVE_RATIO)
|
||||
.withSteerMotorGearRatio(STEER_RATIO)
|
||||
.withCouplingGearRatio(COUPLE_RATIO)
|
||||
.withWheelRadius(WHEEL_RADIUS)
|
||||
.withSteerMotorGains(PIDConstants.PREPROVIDED_STEER_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);
|
||||
|
||||
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
|
||||
ConstantCreator.createModuleConstants(
|
||||
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(
|
||||
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(
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
package frc4388.robot.subsystems.swerve;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
import org.littletonrobotics.junction.AutoLog;
|
||||
|
||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
|
||||
|
||||
public interface SwerveIO {
|
||||
@AutoLog
|
||||
public class SwerveState {
|
||||
public Pose2d currentPose = null;
|
||||
public Pose2d lastPose = null;
|
||||
public ChassisSpeeds speeds = null;
|
||||
public double odometryRate = 1;
|
||||
}
|
||||
|
||||
public default void setControl(SwerveRequest ctrl) {}
|
||||
|
||||
public default void setLimits(double limitInAmps) {}
|
||||
|
||||
public default void tareEverything() {}
|
||||
|
||||
public default void resetPose(Pose2d pose) {}
|
||||
|
||||
public default void addVisionMeasurement(List<PoseObservation> poses) {}
|
||||
|
||||
public default void updateInputs(SwerveState state) {}
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
package frc4388.robot.subsystems.swerve;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
import com.ctre.phoenix6.Utils;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
|
||||
import com.ctre.phoenix6.swerve.SwerveModule;
|
||||
import com.ctre.phoenix6.swerve.SwerveRequest;
|
||||
|
||||
import frc4388.robot.subsystems.vision.Vision;
|
||||
import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
|
||||
|
||||
public class SwerveReal implements SwerveIO {
|
||||
SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
|
||||
|
||||
public SwerveReal(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
|
||||
this.swerveDriveTrain = swerveDriveTrain;
|
||||
swerveDriveTrain.getOdometryFrequency();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void updateInputs(SwerveState state) {
|
||||
double time = Vision.getTime();
|
||||
state.odometryRate = 1 / swerveDriveTrain.getOdometryFrequency();
|
||||
state.currentPose = swerveDriveTrain.samplePoseAt(time).orElse(null);
|
||||
state.lastPose = swerveDriveTrain.samplePoseAt(time - state.odometryRate).orElse(null);
|
||||
state.speeds = swerveDriveTrain.getState().Speeds;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setControl(SwerveRequest ctrl) {
|
||||
swerveDriveTrain.setControl(ctrl);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void tareEverything() {
|
||||
swerveDriveTrain.tareEverything();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setLimits(double limitInAmps) {
|
||||
for (SwerveModule<TalonFX, TalonFX, CANcoder> module : swerveDriveTrain.getModules()) {
|
||||
var talonFXConfigurator = module.getDriveMotor().getConfigurator();
|
||||
var talonFXConfigs = new TalonFXConfiguration();
|
||||
|
||||
talonFXConfigurator.refresh(talonFXConfigs);
|
||||
talonFXConfigs.CurrentLimits.StatorCurrentLimit = limitInAmps;
|
||||
talonFXConfigs.CurrentLimits.SupplyCurrentLimit = limitInAmps+10;
|
||||
talonFXConfigurator.apply(talonFXConfigs);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void addVisionMeasurement(List<PoseObservation> poses) {
|
||||
for(PoseObservation pose : poses) {
|
||||
swerveDriveTrain.addVisionMeasurement(pose.pose(), Utils.fpgaToCurrentTime(pose.timestamp()));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user