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Basic swerve stuff

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Also separated arcade from swerve everywhere in the code.
This commit is contained in:
aarav18
2021-11-15 17:52:28 -07:00
parent 0bc2442ec1
commit a3d2b5f029
8 changed files with 58 additions and 36 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+23 -7
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@@ -1,3 +1,19 @@
/*----------------------------------------------------------------------------*/
/* 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 edu.wpi.first.wpilibj.geometry.Rotation2d;
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 frc4388.robot.Constants.SwerveDriveConstants;
public class SwerveDrive
{
SwerveDriveKinematics m_kinematics;
@@ -17,8 +33,8 @@ public class SwerveDrive
public void drive(double strafeX, double strafeY, double rotate)
{
//https://jacobmisirian.gitbooks.io/frc-swerve-drive-programming/content/chapter1.html
var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.RotationSpeed /*in rad/s */);
//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);
@@ -35,9 +51,9 @@ public class SwerveDrive
SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
}
public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
{
var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary,
rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
}
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
// {
// var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary,
// rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
// }
}