Team4388/Swerve-Drive
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Added drive command

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This commit is contained in:
‮Zach Wilke
2021-12-02 17:51:06 -07:00
parent 097a972625
commit 429cdb60d9
2 changed files with 31 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -1
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@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.ArcadeDrive;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -34,6 +35,17 @@ public class RobotContainer {
private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
m_robotMap.leftFrontEncoder,
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
@@ -47,10 +59,16 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
// drives the arcade drive with a two-axis input from the driver controller
m_robotArcadeDrive.setDefaultCommand(
new RunCommand(() -> m_robotArcadeDrive.driveWithInput(getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotArcadeDrive));
// drives the arcade drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getRightXAxis(),
getDriverController().getRightYAxis(), getDriverController().getLeftXAxis()), m_robotSwerveDrive));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+12 -7
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@@ -15,9 +15,10 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
public class SwerveDrive
public class SwerveDrive extends SubsystemBase
{
SwerveDriveKinematics m_kinematics;
private WPI_TalonFX m_leftFrontSteerMotor;
@@ -61,28 +62,32 @@ public class SwerveDrive
m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
}
public void drive(double strafeX, double strafeY, double rotate)
public void driveWithInput(double strafeX, double strafeY, double rotate)
{
var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED /*in rad/s */);
driveFromSpeeds(speeds);
}
public void driveFromSpeeds(ChassisSpeeds speeds)
{
//https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html
var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED /*in rad/s */);
// Convert to module states
SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
// Front left module state
SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], new Rotation2d(m_leftFrontEncoder.getPosition()));
// Front right module state
SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], new Rotation2d(m_rightFrontEncoder.getPosition()));
// Back left module state
SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], new Rotation2d(m_leftBackEncoder.getPosition()));
// Back right module state
SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(m_rightBackEncoder.getPosition()));
//Set the Wheel motor speeds
m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + lefBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
}