/*----------------------------------------------------------------------------*/ /* Copyright (c) 2018 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.DemandType; import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.FollowerType; import com.ctre.phoenix.motorcontrol.InvertType; import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.SensorTerm; import com.ctre.phoenix.motorcontrol.StatusFrame; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.geometry.Rotation2d; import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpiutil.math.MathUtil; import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Gains; /** * Add your docs here. */ public class Drive extends SubsystemBase { // Put methods for controlling this subsystem // here. Call these from Commands. public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID); public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor); SendableChooser m_chooser = new SendableChooser(); public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS; public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS; public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS; public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS; public final DifferentialDriveOdometry m_odometry; public DoubleSolenoid speedShift; public long m_lastTime, m_deltaTime; //in milliseconds public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle; /** * Add your docs here. */ public Drive() { /* factory default values */ m_leftFrontMotor.configFactoryDefault(); m_rightFrontMotor.configFactoryDefault(); m_leftBackMotor.configFactoryDefault(); m_rightBackMotor.configFactoryDefault(); m_pigeon.configFactoryDefault(); resetGyroYaw(); m_odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); speedShift = new DoubleSolenoid(7,0,1); /* set back motors as followers */ m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); setDriveTrainNeutralMode(NeutralMode.Coast); /* deadbands */ m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same // speed /* flip input so forward becomes back, etc */ m_leftFrontMotor.setInverted(false); m_rightFrontMotor.setInverted(true); m_driveTrain.setRightSideInverted(false); m_leftBackMotor.setInverted(InvertType.FollowMaster); m_rightBackMotor.setInverted(InvertType.FollowMaster); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY); m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY); m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS); /* Setup Sensors for WPI_TalonFXs */ resetEncoders(); /* Configure the left Talon's selected sensor as local QuadEncoder */ m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout /* * Configure the Remote Talon's selected sensor as a remote sensor for the right * Talon */ m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source RemoteSensorSource.TalonSRX_SelectedSensor, DriveConstants.REMOTE_0, // Source number [0, 1] DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout /* * Configure the Pigeon IMU to the other Remote Slot available on the right * Talon */ m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), RemoteSensorSource.Pigeon_Yaw, DriveConstants.REMOTE_1, DriveConstants.DRIVE_TIMEOUT_MS); /* Setup Sum signal to be used for Distance */ m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS); /* Diff Signal */ m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS); /* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */ configMotorSensor(FeedbackDevice.SensorDifference); /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient DriveConstants.PID_PRIMARY, // PID Slot of Source DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS); /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ m_rightFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS); /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ m_leftFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS); /* Set status frame periods to ensure we don't have stale data */ m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS); m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS); m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS); /* Smart Dashboard Initial Values */ /* Gyro */ SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); /* Sensor Values */ //SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0)); //SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0)); //SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition()); /** * Max out the peak output (for all modes). However you can limit the output of * a given PID object with configClosedLoopPeakOutput(). */ m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); /** * 1ms per loop. PID loop can be slowed down if need be. For example, - if * sensor updates are too slow - sensor deltas are very small per update, so * derivative error never gets large enough to be useful. - sensor movement is * very slow causing the derivative error to be near zero. */ int closedLoopTimeMs = 1; m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); /** * configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local * output is PID0 + PID1, and other side Talon is PID0 - PID1 true means talon's * local output is PID0 - PID1, and other side Talon is PID0 + PID1 */ m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS); m_lastTime = System.currentTimeMillis(); } @Override public void periodic() { m_deltaTime = System.currentTimeMillis() - m_lastTime; m_lastTime = System.currentTimeMillis(); m_lastAngleYaw = m_currentAngleYaw; m_currentAngleYaw = getGyroYaw(); try { SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); //SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0)); //SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition()); //SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0)); //SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); //SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); //SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent()); //SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent()); //SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent()); //SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent()); //SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); //SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY)); //SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN)); //SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY)); //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); SmartDashboard.putString("Odometry Values Meters", getPose().toString()); } catch (Exception e) { System.err.println("Error in the Drive Subsystem"); // e.printStackTrace(System.err); } m_odometry.update(Rotation2d.fromDegrees( getHeading()), inchesToMeters(getDistanceInches(m_leftFrontMotor)), inchesToMeters(getDistanceInches(m_rightFrontMotor))); } /** * Sets Motors to a NeutralMode. * * @param mode NeutralMode to set motors to */ public void setDriveTrainNeutralMode(NeutralMode mode) { m_leftFrontMotor.setNeutralMode(mode); m_rightFrontMotor.setNeutralMode(mode); m_leftBackMotor.setNeutralMode(mode); m_rightBackMotor.setNeutralMode(mode); } /** * Runs percent output control on the moving and steering of the drive train, * using the Differential Drive class to manage the two inputs */ public void driveWithInput(double move, double steer) { m_driveTrain.arcadeDrive(move, steer); } /** * Runs percent output control on the drive train while using an AUX PID for rotation * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */ public void driveWithInputAux(double move, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_driveTrain.feedWatchdog(); } /** * Runs position PID while driving straight. * Position is absolute and displacement should be handled on the command side. * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */ public void runDriveStraightPositionPID(double targetPos, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_driveTrain.feedWatchdog(); } /** * Runs velocity PID while driving straight * * @param targetVel The velocity to drive at in units * @param targetGyro The angle to drive at in units */ public void runDriveStraightVelocityPID(double targetVel, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_driveTrain.feedWatchdog(); } /** * Runs motion magic PID while driving straight * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */ public void runMotionMagicPID(double targetPos, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_driveTrain.feedWatchdog(); } /** * Runs a Turning PID to rotate a to a target angle * * @param targetAngle target angle in degrees */ public void runTurningPID(double targetAngle) { double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV; runDriveStraightVelocityPID(0, targetGyro); } /** * Controls the left and right sides of the drive with velocity targets. * * @param leftSpeed the commanded left output * @param rightSpeed the commanded right output */ public void tankDriveVelocity(double leftSpeed, double rightSpeed) { DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed); ChassisSpeeds chassisSpeeds = DriveConstants.kDriveKinematics.toChassisSpeeds(wheelSpeeds); double moveVelMPS = chassisSpeeds.vxMetersPerSecond; double angleVelRad = chassisSpeeds.omegaRadiansPerSecond; double angleVelDeg = Math.toDegrees(angleVelRad); m_kinematicsTargetAngle += angleVelDeg * (m_deltaTime/1000); m_kinematicsTargetAngle = MathUtil.clamp( m_kinematicsTargetAngle, m_currentAngleYaw-(360), m_currentAngleYaw+(360)); double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV; double moveVel = inchesToMeters(metersToInches(moveVelMPS))/DriveConstants.SECONDS_TO_TICK_TIME; runDriveStraightVelocityPID(moveVel, targetGyro); } /** * Selects the feedback device for the motors. * @param feedbackDevice The feedback device to set it to, usually SensorDifference or */ public void configMotorSensor(FeedbackDevice type) { m_rightFrontMotor.configSelectedFeedbackSensor( type, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS); } /** * Returns the current yaw of the pigeon */ public double getGyroYaw() { double[] ypr = new double[3]; m_pigeon.getYawPitchRoll(ypr); return ypr[0]; } /** * Returns the current pitch of the pigeon */ public double getGyroPitch() { double[] ypr = new double[3]; m_pigeon.getYawPitchRoll(ypr); return ypr[1]; } /** * Returns the current roll of the pigeon */ public double getGyroRoll() { double[] ypr = new double[3]; m_pigeon.getYawPitchRoll(ypr); return ypr[2]; } /** * Resets the yaw of the pigeon */ public void resetGyroYaw() { m_pigeon.setYaw(0); m_pigeon.setAccumZAngle(0); resetGyroAngles(); } /** * Add docs here */ public void resetGyroAngles() { m_lastAngleYaw = 0; m_currentAngleYaw = 0; m_kinematicsTargetAngle = 0; } /** * Returns the heading of the robot * @return The robot's heading in degrees, from -180 to 180 */ public double getHeading() { return Math.IEEEremainder(getGyroYaw(), 360); } /** * Returns the turn rate of the robot. * * @return The turn rate of the robot, in degrees per second */ public double getTurnRate() { double deltaYaw = m_currentAngleYaw - m_lastAngleYaw; return deltaYaw / (m_deltaTime/1000); } /** * Returns the currently-estimated pose of the robot. * @return The pose. */ public Pose2d getPose() { return m_odometry.getPoseMeters(); } /** * Returns current wheel speeds of robot. * @return The current wheel speeds. */ public DifferentialDriveWheelSpeeds getWheelSpeeds() { return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftFrontMotor)), inchesToMeters(getVelocityInchesPerSecond(m_rightFrontMotor))); } /** * Resets the encoders for both motors. */ public void resetEncoders() { m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS); } /** * Resets the odometry to the specified pose. * * @param pose The pose to which to set the odometry. */ public void setOdometry(Pose2d pose) { resetEncoders(); m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading())); } /** * Gets the encoder value (position) of a motor * @param falcon The motor to get the position of * @return The position of the motor in inches */ public double getDistanceInches(WPI_TalonFX falcon) { return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()); } /** * Gets the encoder value (velocity) of a motor * @param falcon The motor to get the velocity of * @return The velocity of the motor in inches per second */ public double getVelocityInchesPerSecond(WPI_TalonFX falcon) { return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()/DriveConstants.TICK_TIME_TO_SECONDS); } /** * Converts a value in ticks to inches. * @param ticks The value in ticks to convert * @return The converted value in inches */ public double ticksToInches(double ticks) { return ticks * DriveConstants.INCHES_PER_TICK; } /** * Converts a value in inches to ticks. * @param inches The value in inches to convert * @return The converted value in ticks */ public double inchesToTicks(double inches) { return inches * DriveConstants.TICKS_PER_INCH; } /** * Converts a value in inches to meters. * @param inches The value in inches to convert * @return The converted value in meters */ public double inchesToMeters(double inches) { return inches / DriveConstants.INCHES_PER_METER; } /** * Converts a value in meters to inches. * @param meters The value in meters to convert * @return The converted value in inches */ public double metersToInches(double meters) { return meters * DriveConstants.INCHES_PER_METER; } /* * Set to high or low gear based on boolean state, true = high, false = low * @param state Chooses between high or low gear */ public void setShiftState(boolean state) { if (state == true) { speedShift.set(DoubleSolenoid.Value.kForward); } if (state == false) { speedShift.set(DoubleSolenoid.Value.kReverse); } } }