Team4388/Robot-Essentials
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Do some stuff

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This commit is contained in:
Michael Mikovsky
2024-11-28 13:14:26 -07:00
parent 9b1f1e7854
commit 63f127e9b5
11 changed files with 184 additions and 101 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+37 -16
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import java.util.logging.Level;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -17,8 +19,11 @@ import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotUnits;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Status.ReportLevel;
public class SwerveDrive extends SubsystemBase {
public class SwerveDrive extends Subsystem {
private SwerveModule leftFront;
private SwerveModule rightFront;
@@ -285,29 +290,23 @@ public class SwerveDrive extends SubsystemBase {
public void setToSlow() {
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED;
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
for(int i=0;i<5;i++){
Log("SLOW");
}
}
public void setToFast() {
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED;
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
for(int i=0;i<5;i++){
Log("FAST");
}
}
public void setToTurbo() {
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED;
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
for(int i=0;i<5;i++){
Log("TURBO");
}
}
public void toggleGear(double angle) {
@@ -328,6 +327,28 @@ public class SwerveDrive extends SubsystemBase {
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
}
@Override
public String getSubsystemName() {
return "Swerve Drive Controller";
}
@Override
public Status queryStatus() {
Status status = new Status();
status.addReport(ReportLevel.INFO, "Gyro Angle: " + this.gyro.getAngle());
status.addReport(ReportLevel.INFO, "Shift State: " + this.speedAdjust);
//TODO: Add more status things
return status;
}
@Override
public Status diagnosticStatus() {
Log("Diagnostic info for this has not been inplemented!"); //TODO
return new Status();
}
}