diff --git a/ElevatorSysIDConfig.json b/ElevatorSysIDConfig.json new file mode 100644 index 0000000..bcd05d6 --- /dev/null +++ b/ElevatorSysIDConfig.json @@ -0,0 +1,42 @@ +{ + "counts per rotation": 2048.0, + "encoder type": "Built-in", + "encoding": false, + "gearing denominator": 20.0, + "gearing numerator": 1.0, + "gyro": "Analog Gyro", + "gyro ctor": "0", + "is drivetrain": false, + "motor controllers": [ + "TalonFX", + "TalonFX" + ], + "number of samples per average": 1, + "primary encoder inverted": false, + "primary encoder ports": [ + 0, + 1 + ], + "primary motor ports": [ + 18, + 17 + ], + "primary motors inverted": [ + false, + true + ], + "secondary encoder inverted": false, + "secondary encoder ports": [ + 2, + 3 + ], + "secondary motor ports": [ + 2, + 3 + ], + "secondary motors inverted": [ + false, + false + ], + "velocity measurement period": 100 +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 84f0465..ca61050 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -16,206 +16,223 @@ import frc.robot.Ports.SwervePorts; /** - * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean - * constants. This class should not be used for any other purpose. All constants should be declared + * The Constants class provides a convenient place for teams to hold robot-wide + * numerical or boolean + * constants. This class should not be used for any other purpose. All constants + * should be declared * globally (i.e. public static). Do not put anything functional in this class. *

- * It is advised to statically import this class (or one of its inner classes) wherever the + * It is advised to statically import this class (or one of its inner classes) + * wherever the * constants are needed, to reduce verbosity. */ -public final class Constants -{ - - // auto distances, need to adjust for swerve and get rid of unused ones - public static final double normalAutoDriveBackDistance = -3.78; - public static final double backOfGridToFrontOfGridForAutosButNotUsed = 1.42; - public static final double BALANCE_DISTANCE = -50000.0 * 1.5; - public static final double OVER_CHARGESTATION_DISTANCE = -50000.0 * 1; - public static final double RETURN_TO_CHARGESTATION_DISTANCE = 50000 * 1; - - public static final double ELEVATOR_MAX_POWER_CHANGE = 0.275; - - public static final double ELEVATOR_DEADBAND_VALUE = .6; - public static final double maxElevatorMotorSpeed = 0.3; // Normally .2 - - // elevator positions - probably need to update for new chassis/GRITS - public static final double MINIMUM_ELEVATOR_POSITION = 2.2; - public static final double restElevatorTargetPosition = 10.6; - public static final double carryElevatorPos = 7.05; - public static final double bottomElevatorTargetPosition = 17.08; - public static final double middleElevatorTargetPosition = 32.61; - public static final double topElevatorTargetPosition = 45.5; // 48.3; - public static final double substationPickupElevatorTargetPosition = 31.05; - - public static final double clawCloseThreshold = 11.6; - - public static final double ELEVATOR_POWER_EXPONENT = 3; - - public static final double SLOW_SPEED = 2.0; // CHANGE AFTER ROBOT WEIGHT IS CHANGED!!! - public static final double NORMAL_SPEED = 3.8; // CHANGE AFTER ROBOT WEIGHT IS CHANGED!!! - public static final double FAST_SPEED = 4.5; // CHANGE AFTER ROBOT WEIGHT IS CHANGED!!! - - public static final double JOYSTICK_DEADBAND = 0.1; - - public static final class CANSparkMaxPeriodicRates - { - // In ms - public static final int LOW_INTERVAL = 30; // Originally 20 - public static final int MID_INTERVAL = 100; // Originally 50 - public static final int HIGH_INTERVAL = 1000; // Originally 500 - } - - public static final class Swerve - { - public static final boolean invertGyro = true; // Always ensure Gyro is CCW+ CW- - - /* Drivetrain Constants */ - public static final double trackWidth = Units.inchesToMeters(21.708); // will test when - // testing PID - public static final double wheelBase = Units.inchesToMeters(27.1); // will test when testing - // PID - public static final double wheelDiameter = Units.inchesToMeters(4.0); - public static final double wheelCircumference = wheelDiameter * Math.PI; - - /* - * Swerve Kinematics No need to ever change this unless you are not doing a traditional - * rectangular/square 4 module swerve - */ - public static final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics( - new Translation2d(wheelBase / 2.0, trackWidth / 2.0), - new Translation2d(wheelBase / 2.0, -trackWidth / 2.0), - new Translation2d(-wheelBase / 2.0, trackWidth / 2.0), - new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0)); - - /* Swerve Voltage Compensation */ - public static final double voltageComp = 12.0; // need to confirm this - - /* Module Gear Ratios */ - public static final double driveGearRatio = 6.75; - public static final double angleGearRatio = 150.0 / 7.0; - - /* Motor Inverts */ - public static final boolean angleMotorInvert = true; // check when testing - public static final boolean driveMotorInvert = false; - - /* Angle Encoder Invert */ - public static final boolean canCoderInvert = false; - - /* Swerve Current Limiting */ - public static final int angleContinuousCurrentLimit = 25; - public static final int anglePeakCurrentLimit = 40; - public static final double anglePeakCurrentDuration = 0.1; - public static final boolean angleEnableCurrentLimit = true; - - public static final int driveContinuousCurrentLimit = 35; - public static final int drivePeakCurrentLimit = 60; - public static final double drivePeakCurrentDuration = 0.1; - public static final boolean driveEnableCurrentLimit = true; - - /* - * These values are used by the drive falcon to ramp in open loop and closed loop driving. - * We found a small open loop ramp (0.25) helps with tread wear, tipping, etc - */ - public static final double openLoopRamp = 0.25; - public static final double closedLoopRamp = 0.0; - - /* Angle Motor PID Values */ - public static final double angleKP = 0.025; // must find/double check all of these in sysid - public static final double angleKI = 0.0; - public static final double angleKD = 0.0; - public static final double angleKF = 0.0; - - /* Drive Motor PID Values */ - public static final double driveKP = 0.05; // TODO: This must be tuned to specific robot - public static final double driveKI = 0.0; - public static final double driveKD = 0.0; - public static final double driveKF = 0.0; - - /* - * Drive Motor Characterization Values Divide SYSID values by 12 to convert from volts to - * percent output for CTRE - */ - public static final double driveKS = (0.32 / 12); // TODO: This must be tuned to specific - // robot - public static final double driveKV = (1.51 / 12); - public static final double driveKA = (0.27 / 12); - - /* Angle Motor Conversion Factors */ - public static final double angleConversionFactor = 360.0 / angleGearRatio; - - /* Swerve Profiling Values */ - /** Meters per Second */ - public static final double maxSpeed = 0.5; // 4.5; //TODO: This must be tuned to specific - // robot - /** Radians per Second */ - public static final double maxAngularVelocity = 1.5; // 10.0; //TODO: This must be tuned to - // specific robot - - /* Neutral Modes */ - public static final IdleMode angleNeutralMode = IdleMode.kCoast; - public static final NeutralMode driveNeutralMode = NeutralMode.Brake; - - /* Module Specific Constants */ - /* Front Left Module - Module 0 */ - public static final class Mod0 - { // TODO: This must be tuned to specific robot - public static final int driveMotorID = SwervePorts.MOD0_DRIVEMOTOR; - public static final int angleMotorID = SwervePorts.MOD0_ANGLEMOTOR; - public static final int canCoderID = SwervePorts.MOD0_CANCODER; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(337.6); - public static final SwerveModuleConstants constants = new SwerveModuleConstants( - driveMotorID, angleMotorID, canCoderID, angleOffset); - } +public final class Constants { + + // auto distances, need to adjust for swerve and get rid of unused ones + public static final double EXIT_COMMUNITY_DISTANCE = 5; + public static final double EXIT_COMMUNITY_CHARGE_STATION_DISTANCE = 5; + public static final double RETURN_TO_CHARGE_STATION_DISTANCE = -1.5; + + public static final double ELEVATOR_MAX_POWER_CHANGE = 0.275; + + public static final double ELEVATOR_DEADBAND_VALUE = .6; + public static final double maxElevatorMotorSpeed = 0.3; // Normally .2 + + // elevator positions + public static final double MINIMUM_ELEVATOR_POSITION = 2.2; + public static final double carryElevatorPos = 4.87; + public static final double bottomElevatorTargetPosition = 21.30; + public static final double middleElevatorTargetPosition = 31.91; + public static final double topElevatorTargetPosition = 45.48; + public static final double substationPickupElevatorTargetPosition = 30; + + public static final double clawCloseThreshold = 11.6; + + public static final double ELEVATOR_POWER_EXPONENT = 3; + + public static final double JOYSTICK_DEADBAND = 0.1; - /* Front Right Module - Module 1 */ - public static final class Mod1 - { // TODO: This must be tuned to specific robot - public static final int driveMotorID = SwervePorts.MOD1_DRIVEMOTOR; - public static final int angleMotorID = SwervePorts.MOD1_ANGLEMOTOR; - public static final int canCoderID = SwervePorts.MOD1_CANCODER; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(259.8); - public static final SwerveModuleConstants constants = new SwerveModuleConstants( - driveMotorID, angleMotorID, canCoderID, angleOffset); + public static final class CANSparkMaxPeriodicRates { + // In ms + public static final int LOW_INTERVAL = 30; // Originally 20 + public static final int MID_INTERVAL = 100; // Originally 50 + public static final int HIGH_INTERVAL = 1000; // Originally 500 } - /* Back Left Module - Module 2 */ - public static final class Mod2 - { // TODO: This must be tuned to specific robot - public static final int driveMotorID = SwervePorts.MOD2_DRIVEMOTOR; - public static final int angleMotorID = SwervePorts.MOD2_ANGLEMOTOR; - public static final int canCoderID = SwervePorts.MOD2_CANCODER; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(266.7); - public static final SwerveModuleConstants constants = new SwerveModuleConstants( - driveMotorID, angleMotorID, canCoderID, angleOffset); + public static final class Swerve { + public static final boolean invertGyro = false; // Always ensure Gyro is CCW+ CW- + + /* Drivetrain Constants */ + public static final double trackWidth = Units.inchesToMeters(21.708); // will test + // when + // testing PID + public static final double wheelBase = Units.inchesToMeters(27.1); // will test when + // testing + // PID + public static final double wheelDiameter = Units.inchesToMeters(4.0); + public static final double wheelCircumference = wheelDiameter * Math.PI; + + /* + * Swerve Kinematics No need to ever change this unless you are not doing a + * traditional rectangular/square 4 module swerve + */ + public static final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics( + new Translation2d(wheelBase / 2.0, trackWidth / 2.0), + new Translation2d(wheelBase / 2.0, -trackWidth / 2.0), + new Translation2d(-wheelBase / 2.0, trackWidth / 2.0), + new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0)); + + /* Swerve Voltage Compensation */ + public static final double voltageComp = 12.0; // need to confirm this + + /* Module Gear Ratios */ + public static final double driveGearRatio = 6.75; + public static final double angleGearRatio = 150.0 / 7.0; + + /* Motor Inverts */ + public static final boolean angleMotorInvert = true; // check when testing + public static final boolean driveMotorInvert = false; + + /* Angle Encoder Invert */ + public static final boolean canCoderInvert = false; + + /* Swerve Current Limiting */ + public static final int angleContinuousCurrentLimit = 25; + public static final int anglePeakCurrentLimit = 40; + public static final double anglePeakCurrentDuration = 0.1; + public static final boolean angleEnableCurrentLimit = true; + + public static final int driveContinuousCurrentLimit = 35; + public static final int drivePeakCurrentLimit = 60; + public static final double drivePeakCurrentDuration = 0.1; + public static final boolean driveEnableCurrentLimit = true; + + /* + * These values are used by the drive falcon to ramp in open loop and closed + * loop + * driving. We found a small open loop ramp (0.25) helps with tread wear, + * tipping, + * etc + */ + public static final double openLoopRamp = 0.25; + public static final double closedLoopRamp = 0.0; + + /* Angle Motor PID Values */ + public static final double angleKP = 0.025; // must find/double check all of these + // in sysid + public static final double angleKI = 0.0; + public static final double angleKD = 0.0; + public static final double angleKF = 0.0; + + /* Drive Motor PID Values */ + public static final double driveKP = 0.05; // TODO: This must be tuned to specific + // robot + public static final double driveKI = 0.0; + public static final double driveKD = 0.0; + public static final double driveKF = 0.0; + + /* + * Drive Motor Characterization Values Divide SYSID values by 12 to convert from + * volts to percent output for CTRE + */ + public static final double driveKS = (0.32 / 12); // TODO: This must be tuned to + // specific + // robot + public static final double driveKV = (1.51 / 12); + public static final double driveKA = (0.27 / 12); + + /* Angle Motor Conversion Factors */ + public static final double angleConversionFactor = 360.0 / angleGearRatio; + + /* Swerve Profiling Values */ + /** Meters per Second */ + public static final double BASE_DRIVE_SPEED = 0.5, BASE_TURN_SPEED = 1.5; + public static final double SLOW_SPEED = 0.5; + public static final double AUTO_SPEED = 0.85; + public static final double NORMAL_SPEED = 1; + public static final double FAST_SPEED = 1.5; + public static final double maxSpeed = 0.7; // 4.5; //TODO: This must be tuned to + // specific + // robot + /** Radians per Second */ + public static final double maxAngularVelocity = 2.25; // 10.0; //TODO: This must be + // tuned to + // specific robot + + /* Neutral Modes */ + public static final IdleMode angleNeutralMode = IdleMode.kCoast; + public static final NeutralMode driveNeutralMode = NeutralMode.Brake; + + public static final boolean DEFAULT_ANGLE_INVERT = false; + + public static final double[] ANGLE_OFFSETS = new double[] { + 114.3, // FL + 80.2, // FR + 61.4, // RL + 313.4 // RR + }; + + /* Module Specific Constants */ + /* Front Left Module - Module 0 */ + public static final class Mod0 { // TODO: This must be tuned to specific robot + public static final int driveMotorID = SwervePorts.MOD0_DRIVEMOTOR; + public static final int angleMotorID = SwervePorts.MOD0_ANGLEMOTOR; + public static final int canCoderID = SwervePorts.MOD0_CANCODER; + public static Rotation2d angleOffset = Rotation2d.fromDegrees( + ANGLE_OFFSETS[0] - (DEFAULT_ANGLE_INVERT ? 180 : 0));; + public static final SwerveModuleConstants constants = new SwerveModuleConstants( + driveMotorID, angleMotorID, canCoderID, angleOffset); + } + + /* Front Right Module - Module 1 */ + public static final class Mod1 { // TODO: This must be tuned to specific robot + public static final int driveMotorID = SwervePorts.MOD1_DRIVEMOTOR; + public static final int angleMotorID = SwervePorts.MOD1_ANGLEMOTOR; + public static final int canCoderID = SwervePorts.MOD1_CANCODER; + public static Rotation2d angleOffset = Rotation2d.fromDegrees( + ANGLE_OFFSETS[1] - (DEFAULT_ANGLE_INVERT ? 180 : 0));; + public static final SwerveModuleConstants constants = new SwerveModuleConstants( + driveMotorID, angleMotorID, canCoderID, angleOffset); + } + + /* Back Left Module - Module 2 */ + public static final class Mod2 { // TODO: This must be tuned to specific robot + public static final int driveMotorID = SwervePorts.MOD2_DRIVEMOTOR; + public static final int angleMotorID = SwervePorts.MOD2_ANGLEMOTOR; + public static final int canCoderID = SwervePorts.MOD2_CANCODER; + public static Rotation2d angleOffset = Rotation2d.fromDegrees( + ANGLE_OFFSETS[2] - (DEFAULT_ANGLE_INVERT ? 180 : 0));; + public static final SwerveModuleConstants constants = new SwerveModuleConstants( + driveMotorID, angleMotorID, canCoderID, angleOffset); + } + + /* Back Right Module - Module 3 */ + public static final class Mod3 { // TODO: This must be tuned to specific robot + public static final int driveMotorID = SwervePorts.MOD3_DRIVEMOTOR; + public static final int angleMotorID = SwervePorts.MOD3_ANGLEMOTOR; + public static final int canCoderID = SwervePorts.MOD3_CANCODER; + public static Rotation2d angleOffset = Rotation2d.fromDegrees( + ANGLE_OFFSETS[3] - (DEFAULT_ANGLE_INVERT ? 180 : 0));; + public static final SwerveModuleConstants constants = new SwerveModuleConstants( + driveMotorID, angleMotorID, canCoderID, angleOffset); + } } - /* Back Right Module - Module 3 */ - public static final class Mod3 - { // TODO: This must be tuned to specific robot - public static final int driveMotorID = SwervePorts.MOD3_DRIVEMOTOR; - public static final int angleMotorID = SwervePorts.MOD3_ANGLEMOTOR; - public static final int canCoderID = SwervePorts.MOD3_CANCODER; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(69.7); - public static final SwerveModuleConstants constants = new SwerveModuleConstants( - driveMotorID, angleMotorID, canCoderID, angleOffset); + public static final class AutoConstants { // TODO: The below constants are used in the example auto, and must be + // tuned to specific robot + public static final double kMaxSpeedMetersPerSecond = 3; + public static final double kMaxAccelerationMetersPerSecondSquared = 3; + public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; + public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; + + public static final double kPXController = 1; + public static final double kPYController = 1; + public static final double kPThetaController = 1; + + /* Constraint for the motion profilied robot angle controller */ + public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints( + kMaxAngularSpeedRadiansPerSecond, + kMaxAngularSpeedRadiansPerSecondSquared); } - } - - public static final class AutoConstants - { // TODO: The below constants are used in the example auto, and must be - // tuned to specific robot - public static final double kMaxSpeedMetersPerSecond = 3; - public static final double kMaxAccelerationMetersPerSecondSquared = 3; - public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; - public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; - - public static final double kPXController = 1; - public static final double kPYController = 1; - public static final double kPThetaController = 1; - - /* Constraint for the motion profilied robot angle controller */ - public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints( - kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared); - } } diff --git a/src/main/java/frc/robot/Ports.java b/src/main/java/frc/robot/Ports.java index 1d67808..7cf1b9d 100644 --- a/src/main/java/frc/robot/Ports.java +++ b/src/main/java/frc/robot/Ports.java @@ -14,6 +14,7 @@ public class Ports { public final static int ELEVATOR_POTENTIOMETER = 2; public final static int ELEVATOR_LIMIT_SWITCH = 9; public final static Port NAV_X = Port.kMXP; // Need to check this + public final static int GYRO = 0; // CHECK THIS!!! public class SwervePorts { // TODO: Assign port values for each module diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 816c107..e68b9e8 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -7,14 +7,18 @@ import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.commands.ClawGrabberCommand; /** - * The VM is configured to automatically run this class, and to call the functions corresponding to - * each mode, as described in the TimedRobot documentation. If you change the name of this class or - * the package after creating this project, you must also update the build.gradle file in the + * The VM is configured to automatically run this class, and to call the + * functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the + * name of this class or + * the package after creating this project, you must also update the + * build.gradle file in the * project. */ public class Robot extends TimedRobot { @@ -28,12 +32,14 @@ public class Robot extends TimedRobot { public static CTREConfigs ctreConfigs; /** - * This function is run when the robot is first started up and should be used for any + * This function is run when the robot is first started up and should be used + * for any * initialization code. */ @Override public void robotInit() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our // autonomous chooser on the dashboard. ctreConfigs = new CTREConfigs(); m_robotContainer = new RobotContainer(); @@ -41,17 +47,22 @@ public void robotInit() { } /** - * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * This function is called every 20 ms, no matter the mode. Use this for items + * like diagnostics * that you want ran during disabled, autonomous, teleoperated and test. - * - *

This runs after the mode specific periodic functions, but before LiveWindow and - * SmartDashboard integrated updating. + *

+ * This runs after the mode specific periodic functions, but before LiveWindow + * and SmartDashboard + * integrated updating. */ @Override public void robotPeriodic() { - // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled - // commands, running already-scheduled commands, removing finished or interrupted commands, - // and running subsystem periodic() methods. This must be called from the robot's periodic + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled + // commands, running already-scheduled commands, removing finished or + // interrupted commands, + // and running subsystem periodic() methods. This must be called from the + // robot's periodic // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); } @@ -59,27 +70,40 @@ public void robotPeriodic() { /** This function is called once each time the robot enters Disabled mode. */ @Override public void disabledInit() { - if(RobotContainer.instance != null) + if (RobotContainer.instance != null) // RobotContainer.instance.drivetrain.driveStraight = false; - + isEnabled = false; - isTest = false; + isTest = false; } @Override - public void disabledPeriodic() {} + public void disabledPeriodic() { + } - /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + /** + * This autonomous runs the autonomous command selected by your + * {@link RobotContainer} class. + */ @Override + public void autonomousInit() { - // m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + m_robotContainer.swerveDrive.setAngleOffsets( + SmartDashboard.getBoolean("Invert Swerve", false)); + + m_robotContainer.swerveDrive.zeroGyro(); + + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); System.out.println("Auto Command: " + m_autonomousCommand); - // if(m_autonomousCommand == null) m_autonomousCommand = new NormalAutoCommand(); + // if(m_autonomousCommand == null) m_autonomousCommand = new + // NormalAutoCommand(); - // new ClawGrabberCommand(Value.kForward, RobotContainer.instance.clawIntake, true); + // new ClawGrabberCommand(Value.kForward, RobotContainer.instance.clawIntake, + // true); // isEnabled = true; - // RobotContainer.instance.elevator.resetTarget(); TODO: uncomment with working swerve - + // RobotContainer.instance.elevator.resetTarget(); TODO: uncomment with working + // swerve + // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); @@ -88,7 +112,8 @@ public void autonomousInit() { /** This function is called periodically during autonomous. */ @Override - public void autonomousPeriodic() {} + public void autonomousPeriodic() { + } @Override public void teleopInit() { @@ -97,39 +122,51 @@ public void teleopInit() { // continue until interrupted by another command, remove // this line or comment it out. // if (m_autonomousCommand != null) { - // m_autonomousCommand.cancel(); + // m_autonomousCommand.cancel(); // } CommandScheduler.getInstance().cancelAll(); - // RobotContainer.instance.elevator.setSpeed(0); TODO: uncomment with working swerve + m_robotContainer.swerveDrive.setAngleOffsets( + SmartDashboard.getBoolean("Invert Swerve", false)); + + // RobotContainer.instance.elevator.setSpeed(0); TODO: uncomment with working + // swerve // RobotContainer.instance.elevator.resetTarget(); - // new ClawGrabberCommand(Value.kForward, RobotContainer.instance.clawIntake, true); + // new ClawGrabberCommand(Value.kForward, RobotContainer.instance.clawIntake, + // true); isEnabled = true; } /** This function is called periodically during operator control. */ @Override - public void teleopPeriodic() {} + public void teleopPeriodic() { + } @Override public void testInit() { // Cancels all running commands at the start of test mode. CommandScheduler.getInstance().cancelAll(); + m_robotContainer.swerveDrive.setAngleOffsets( + SmartDashboard.getBoolean("Invert Swerve", false)); + isEnabled = true; isTest = true; } /** This function is called periodically during test mode. */ @Override - public void testPeriodic() {} + public void testPeriodic() { + } /** This function is called once when the robot is first started up. */ @Override - public void simulationInit() {} + public void simulationInit() { + } /** This function is called periodically whilst in simulation. */ @Override - public void simulationPeriodic() {} + public void simulationPeriodic() { + } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 47fad13..f5d300a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,6 +4,9 @@ package frc.robot; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.Joystick; @@ -12,9 +15,12 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.commands.SetElevatorTargetCommand; import frc.robot.commands.SetElevatorTargetOverrideCommand; +import frc.robot.autos.AutoBalanceAuto; import frc.robot.autos.DriveDistanceAuto; +import frc.robot.autos.GoodDriveDistanceAuto; import frc.robot.commands.ClawGrabberCommand; import frc.robot.commands.ExampleCommand; import frc.robot.commands.SetClawThresholdOverrideCommand; @@ -41,292 +47,357 @@ */ public class RobotContainer { - public static RobotContainer instance; - - public SwerveDriveSubsystem swerveDrive = new SwerveDriveSubsystem(); - // TODO: uncomment Robot.java code when swerve is done - // public ClawIntakeSubsystem clawIntake = new ClawIntakeSubsystem(); - // public ElevatorSubsystem elevator = new ElevatorSubsystem(clawIntake);; - // public VisionSubsystem vision = new VisionSubsystem(); - - public Joystick primaryController; - public Joystick secondaryController; - - public static ShuffleboardTab shuffleboard = Shuffleboard.getTab("SmartDashboard"); - - // The robot's subsystems and commands are defined here... - private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); - - private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem); - - /** - * The container for the robot. Contains subsystems, OI devices, and commands. - */ - public RobotContainer() { - // shuffleboard = Shuffleboard.getTab("SmartDashboard"); - - shuffleboard.addDouble("Gyro", () -> swerveDrive.gyro.getAngle()); - - secondaryController = new Joystick(2); // We need this for testing in elevator - - // Configure the button bindings - configurePrimaryBindings(); - // configureSecondaryBindings(); - - instance = this; - } - - /** - * Use this method to define your button->command mappings. Buttons can be - * created by - * instantiating a {@link GenericHID} or one of its subclasses - * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then - * passing it to a - * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. - */ - private void configurePrimaryBindings() { - primaryController = new Joystick(1); - - // JoystickButton a = new - // JoystickButton(primaryController,LogitechControllerButtons.a); - // JoystickButton b = new - // JoystickButton(primaryController,LogitechControllerButtons.b); - JoystickButton x = new JoystickButton(primaryController, LogitechControllerButtons.x); - JoystickButton y = new JoystickButton(primaryController, LogitechControllerButtons.y); - JoystickButton bumperLeft = new JoystickButton(primaryController, - LogitechControllerButtons.bumperLeft); - JoystickButton bumperRight = new JoystickButton(primaryController, - LogitechControllerButtons.bumperRight); - JoystickButton triggerLeft = new JoystickButton(primaryController, - LogitechControllerButtons.triggerLeft); - JoystickButton triggerRight = new JoystickButton(primaryController, - LogitechControllerButtons.triggerRight); - // JoystickButton up = new - // JoystickButton(primaryController,LogitechControllerButtons.up); - // JoystickButton down = new - // JoystickButton(primaryController,LogitechControllerButtons.down); - // JoystickButton left = new - // JoystickButton(primaryController,LogitechControllerButtons.left); - // JoystickButton right = new - // JoystickButton(primaryController,LogitechControllerButtons.right); - - swerveDrive - // vertical axis of left joystick -> translation - .setDefaultCommand(new TeleopSwerveCommand(swerveDrive, () -> -primaryController.getY(), - () -> -primaryController.getX(), // horizontal axis of left joystick-> strafe - // we want horizontal of right stick, if not twist, then change - () -> -primaryController.getTwist() - /* ()->y.getAsBoolean() owen doesn't want a button to turn field-relative off */ - )); - - x.onTrue(new InstantCommand(() -> swerveDrive.zeroGyro())); - y.onTrue(new InstantCommand(() -> { - for (SwerveModule mod : swerveDrive.mSwerveMods) - mod.resetToAbsolute(); - })); - - } - - // private void configureSecondaryBindings() { - // // secondaryController = new Joystick(2); - - // elevator.setDefaultCommand(new MoveElevatorCommand(() -> - // -secondaryController.getY(), - // elevator)); - - // JoystickButton a = new - // JoystickButton(secondaryController,LogitechControllerButtons.a); - // JoystickButton b = new - // JoystickButton(secondaryController,LogitechControllerButtons.b); - // JoystickButton x = new - // JoystickButton(secondaryController,LogitechControllerButtons.x); - // JoystickButton y = new - // JoystickButton(secondaryController,LogitechControllerButtons.y); - // JoystickButton bumperLeft = new - // JoystickButton(secondaryController,LogitechControllerButtons.bumperLeft); - // JoystickButton bumperRight = new - // JoystickButton(secondaryController,LogitechControllerButtons.bumperRight); - // JoystickButton triggerLeft = new - // JoystickButton(secondaryController,LogitechControllerButtons.triggerLeft); - // JoystickButton triggerRight = new - // JoystickButton(secondaryController,LogitechControllerButtons.triggerRight); - // POVButton up = new - // POVButton(secondaryController,LogitechControllerButtons.up); - // POVButton down = new - // POVButton(secondaryController,LogitechControllerButtons.down); - // POVButton left = new - // POVButton(secondaryController,LogitechControllerButtons.left);; - // POVButton right = new - // POVButton(secondaryController,LogitechControllerButtons.right); - // JoystickButton start = new JoystickButton(secondaryController, - // LogitechControllerButtons.start); - - // a.whileTrue(new ClawGrabberCommand(Value.kForward, clawIntake, true)); - // b.whileTrue(new ClawGrabberCommand(Value.kReverse, clawIntake, false)); - // // new IntakeMotorCommand( () -> bumperRight.getAsBoolean(),clawIntake); - - // up.onTrue(new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, - // elevator)); - // left.onTrue(new SetElevatorTargetCommand(Constants.carryElevatorPos, - // elevator)); - // right.onTrue(new - // SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, elevator)); - // down.onTrue(new - // SetElevatorTargetCommand(Constants.bottomElevatorTargetPosition, elevator)); - // bumperLeft.onTrue(new - // SetElevatorTargetCommand(Constants.substationPickupElevatorTargetPosition, - // elevator)); - - // bumperRight.onTrue(new SetClawThresholdOverrideCommand(true, elevator)); - // bumperRight.onFalse(new SetClawThresholdOverrideCommand(false, elevator)); - - // triggerLeft.onTrue(new SetElevatorTargetOverrideCommand(true, elevator)); - // triggerLeft.onFalse(new SetElevatorTargetOverrideCommand(false, elevator)); - - // start.onTrue(new - // SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, elevator)); - - // shuffleboard.addBoolean("Test", () -> Robot.isTest); - // if(Robot.isTest) { - // x.onTrue(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, - // true, elevator) - // .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, - // elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, - // true, elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, - // elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, - // true, elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, - // elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, - // true, elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, - // elevator)) - // .andThen(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, - // true, - // elevator))); - // } - // } - - // enum PossibleAutos { - // NORMAL_AUTO, - // CHARGE_STATION_AUTO, - // } - - // private final Command normalAuto = new SetElevatorTargetCommand( - // Constants.middleElevatorTargetPosition, true, elevator) - // .andThen(new ClawGrabberCommand( Value.kForward,clawIntake,true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command chargeStationAuto = new SetElevatorTargetCommand( - // Constants.topElevatorTargetPosition, true, elevator) - // .andThen(new ClawGrabberCommand( Value.kForward,clawIntake, true)) - // .andThen(new SetElevatorTargetCommand( Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command driveBackAuto = new - // DriveDistanceAuto(Constants.BALANCE_DISTANCE, - // swerveDrive); - - // private final Command openThenDriveAuto = new - // ClawGrabberCommand(Value.kForward, clawIntake, - // true) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command openClaw = new ClawGrabberCommand(Value.kReverse, - // clawIntake, true); - - // private final Command overThenBalanceAuto = new - // DriveDistanceAuto(Constants.OVER_CHARGESTATION_DISTANCE, swerveDrive) - // .andThen(new DriveDistanceAuto(Constants.RETURN_TO_CHARGESTATION_DISTANCE, - // swerveDrive)); - - // private final Command highBalance = - // new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command midBalance = - // new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command backOut = new DriveDistanceAuto(50000 * - // Constants.normalAutoDriveBackDistance, swerveDrive); - - // private final Command lowBalance = - // new SetElevatorTargetCommand(Constants.bottomElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); - - // private final Command highBack = - // new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.normalAutoDriveBackDistance, - // swerveDrive)); - - // private final Command midBack = - // new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(Constants.normalAutoDriveBackDistance, - // swerveDrive)); - - // private final Command lowBack = - // new SetElevatorTargetCommand(Constants.bottomElevatorTargetPosition, true, - // elevator) - // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) - // .andThen(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, - // true, elevator)) - // .andThen(new DriveDistanceAuto(50000 * Constants.normalAutoDriveBackDistance, - // swerveDrive)); - - // SendableChooser autoChooser = new SendableChooser<>(); - - // autoChooser.setDefaultOption("High Balance", highBalance); - // autoChooser.addOption("Open, then Drive Back", openThenDriveAuto); - // autoChooser.addOption("Normal", normalAuto); - // autoChooser.addOption("Charge Station", chargeStationAuto); - // autoChooser.addOption("Drive Back", driveBackAuto); - // autoChooser.addOption("Over, then Balance", overThenBalanceAuto); - // autoChooser.addOption("High Back Out", highBack); - // autoChooser.addOption("Mid Balance", midBalance); - // autoChooser.addOption("Mid Back Out", midBack); - // autoChooser.addOption("Low Balance", lowBalance); - // autoChooser.addOption("Low Back Out", lowBack); - - // shuffleboard.add(autoChooser); - // } - - // /** - // * Use this to pass the autonomous command to the main {@link Robot} class. - // * - // * @return the command to run in autonomous - // */ - // public Command getAutonomousCommand() { - // // An ExampleCommand will run in autonomous - // Command choice = autoChooser.getSelected(); - // // choice.schedule(); - // return choice; - - // } + public static RobotContainer instance; + + public SwerveDriveSubsystem swerveDrive = new SwerveDriveSubsystem(); + public ClawIntakeSubsystem clawIntake = new ClawIntakeSubsystem(); + public ElevatorSubsystem elevator = new ElevatorSubsystem(clawIntake);; + public VisionSubsystem vision = new VisionSubsystem(); + + public Joystick primaryController; + public Joystick secondaryController; + + public static ShuffleboardTab shuffleboard = Shuffleboard.getTab("SmartDashboard"); + + // The robot's subsystems and commands are defined here... + private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); + + private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem); + + SendableChooser autoChooser; + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + // shuffleboard = Shuffleboard.getTab("SmartDashboard"); + + SmartDashboard.putBoolean("Invert Swerve", false); + + swerveDrive.setAngleOffsets(SmartDashboard.getBoolean("Invert Swerve", + Constants.Swerve.DEFAULT_ANGLE_INVERT)); + + shuffleboard.addDouble("Gyro", () -> swerveDrive.gyro.getYaw()); + + autoChooser = new SendableChooser<>(); + + autoChooser.setDefaultOption("Charge Station", chargeStationAuto); + autoChooser.addOption("Exit Community", exitCommunityAuto); + + shuffleboard.addDouble("Yaw Gyro", () -> swerveDrive.gyro.getYaw()); + shuffleboard.addDouble("Pitch Gyro", () -> swerveDrive.gyro.getRoll()); + + shuffleboard.addDouble("Gyro Offset", () -> swerveDrive.gyroOffset); + + shuffleboard.add(autoChooser); + + // shuffleboard.add("Get Angle Offsets", new InstantCommand(() -> { + // System.out.println("Getting angle offsets..."); + + // for (int i = 0; i < swerveDrive.mSwerveMods.length; i++) { + // double degrees = swerveDrive.mSwerveMods[i].getCanCoder() + // .getDegrees(); + // System.out.println("Setting mod " + i + " to " + degrees + "..."); + // Constants.Swerve.ANGLE_OFFSETS[i] = degrees; + // } + + // swerveDrive.setAngleOffsets(false); + // })); + + secondaryController = new Joystick(2); // We need this for testing in elevator + + // Configure the button bindings + configurePrimaryBindings(); + configureSecondaryBindings(); + + instance = this; + + // shuffleboard.addBoolean("NavX Calibrate", () -> + // swerveDrive.yawGyro.isCalibrating()); + // shuffleboard.addBoolean("NavX Connected", () -> + // swerveDrive.yawGyro.isConnected()); + } + + /** + * Use this method to define your button->command mappings. Buttons can be + * created by + * instantiating a {@link GenericHID} or one of its subclasses + * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then + * passing it + * to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configurePrimaryBindings() { + primaryController = new Joystick(0); + + JoystickButton a = new JoystickButton(primaryController, + LogitechControllerButtons.a); + JoystickButton b = new JoystickButton(primaryController, + LogitechControllerButtons.b); + JoystickButton x = new JoystickButton(primaryController, + LogitechControllerButtons.x); + JoystickButton y = new JoystickButton(primaryController, + LogitechControllerButtons.y); + JoystickButton bumperLeft = new JoystickButton(primaryController, + LogitechControllerButtons.bumperLeft); + JoystickButton bumperRight = new JoystickButton(primaryController, + LogitechControllerButtons.bumperRight); + JoystickButton triggerLeft = new JoystickButton(primaryController, + LogitechControllerButtons.triggerLeft); + JoystickButton triggerRight = new JoystickButton(primaryController, + LogitechControllerButtons.triggerRight); + // JoystickButton up = new + // JoystickButton(primaryController,LogitechControllerButtons.up); + // JoystickButton down = new + // JoystickButton(primaryController,LogitechControllerButtons.down); + // JoystickButton left = new + // JoystickButton(primaryController,LogitechControllerButtons.left); + // JoystickButton right = new + // JoystickButton(primaryController,LogitechControllerButtons.right); + + swerveDrive + // vertical axis of left joystick -> translation + .setDefaultCommand(new TeleopSwerveCommand(swerveDrive, + () -> -primaryController.getY(), + () -> -primaryController.getX(), // horizontal + // axis + // of + // left + // joystick-> + // strafe + // we want horizontal of right stick, if not twist, + // then change + () -> primaryController.getTwist(), + () -> triggerLeft.getAsBoolean(), + () -> triggerRight.getAsBoolean() + /* + * ()->y.getAsBoolean() owen doesn't want a button to turn + * field-relative off + */ + )); + + x.onTrue(new InstantCommand(() -> { + swerveDrive.zeroGyro(); + swerveDrive.gyroOffset = 0; + })); + y.onTrue(new InstantCommand(() -> { + for (SwerveModule mod : swerveDrive.mSwerveMods) + mod.resetToAbsolute(); + })); + + a.onTrue(new InstantCommand(() -> { + boolean invert = SmartDashboard.getBoolean("Invert Serve", false); + invert = !invert; + swerveDrive.setAngleOffsets(invert); + SmartDashboard.putBoolean("Invert Swerve", invert); + })); + b.onTrue(new InstantCommand(() -> { + swerveDrive.setGyro(180); + })); + } + + private void configureSecondaryBindings() { + secondaryController = new Joystick(1); + + elevator.setDefaultCommand(new MoveElevatorCommand( + () -> -secondaryController.getY(), elevator)); + + JoystickButton a = new JoystickButton(secondaryController, + LogitechControllerButtons.a); + JoystickButton b = new JoystickButton(secondaryController, + LogitechControllerButtons.b); + JoystickButton x = new JoystickButton(secondaryController, + LogitechControllerButtons.x); + JoystickButton y = new JoystickButton(secondaryController, + LogitechControllerButtons.y); + JoystickButton bumperLeft = new JoystickButton(secondaryController, + LogitechControllerButtons.bumperLeft); + JoystickButton bumperRight = new JoystickButton(secondaryController, + LogitechControllerButtons.bumperRight); + JoystickButton triggerLeft = new JoystickButton(secondaryController, + LogitechControllerButtons.triggerLeft); + JoystickButton triggerRight = new JoystickButton(secondaryController, + LogitechControllerButtons.triggerRight); + POVButton up = new POVButton(secondaryController, LogitechControllerButtons.up); + POVButton down = new POVButton(secondaryController, LogitechControllerButtons.down); + POVButton left = new POVButton(secondaryController, LogitechControllerButtons.left); + ; + POVButton right = new POVButton(secondaryController, + LogitechControllerButtons.right); + JoystickButton start = new JoystickButton(secondaryController, + LogitechControllerButtons.start); + + a.whileTrue(new ClawGrabberCommand(Value.kForward, clawIntake, true)); + b.whileTrue(new ClawGrabberCommand(Value.kReverse, clawIntake, false)); + // new IntakeMotorCommand( () -> bumperRight.getAsBoolean(),clawIntake); + + up.onTrue(new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, + elevator)); + left.onTrue(new SetElevatorTargetCommand(Constants.carryElevatorPos, elevator)); + right.onTrue(new SetElevatorTargetCommand(Constants.middleElevatorTargetPosition, + elevator)); + down.onTrue(new SetElevatorTargetCommand(Constants.bottomElevatorTargetPosition, + elevator)); + bumperLeft.onTrue(new SetElevatorTargetCommand( + Constants.substationPickupElevatorTargetPosition, elevator)); + + bumperRight.onTrue(new SetClawThresholdOverrideCommand(true, elevator)); + bumperRight.onFalse(new SetClawThresholdOverrideCommand(false, elevator)); + + triggerLeft.onTrue(new SetElevatorTargetOverrideCommand(true, elevator)); + triggerLeft.onFalse(new SetElevatorTargetOverrideCommand(false, elevator)); + + start.onTrue(new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, + elevator)); + + shuffleboard.addBoolean("Test", () -> Robot.isTest); + if (Robot.isTest) { + x.onTrue(new SetElevatorTargetCommand( + Constants.middleElevatorTargetPosition, true, elevator) + .andThen(new SetElevatorTargetCommand( + Constants.carryElevatorPos, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.middleElevatorTargetPosition, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.carryElevatorPos, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.middleElevatorTargetPosition, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.carryElevatorPos, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.middleElevatorTargetPosition, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.carryElevatorPos, + true, elevator)) + .andThen(new SetElevatorTargetCommand( + Constants.middleElevatorTargetPosition, + true, elevator))); + } + } + + // enum PossibleAutos + // { + // NORMAL_AUTO, + // CHARGE_STATION_AUTO + // } + + private final Command exitCommunityAuto = new InstantCommand(() -> { + swerveDrive.resetOdometry(new Pose2d(new Translation2d(0, 0), new Rotation2d(0))); + }).andThen(new ClawGrabberCommand(Value.kReverse, clawIntake, false)) + .andThen(new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, + true, elevator)) + .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, + elevator)) + .andThen(new GoodDriveDistanceAuto(Constants.EXIT_COMMUNITY_DISTANCE, -0.4, + swerveDrive)); + + private final Command chargeStationAuto = new InstantCommand(() -> { + swerveDrive.resetOdometry(new Pose2d(new Translation2d(0, 0), new Rotation2d(0))); + }).andThen(new ClawGrabberCommand(Value.kReverse, clawIntake, false)) + .andThen(new SetElevatorTargetCommand(Constants.topElevatorTargetPosition, + true, elevator)) + .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + .andThen(new SetElevatorTargetCommand(Constants.carryElevatorPos, true, + elevator)) + .andThen(new GoodDriveDistanceAuto( + Constants.EXIT_COMMUNITY_CHARGE_STATION_DISTANCE, -0.4, + swerveDrive)) + .andThen(new GoodDriveDistanceAuto( + Constants.RETURN_TO_CHARGE_STATION_DISTANCE, 0.4, + swerveDrive)); + // .andThen(new AutoBalanceAuto(swerveDrive)); + + // // Old autos below + + // private final Command driveBackAuto = new + // DriveDistanceAuto(Constants.BALANCE_DISTANCE, + // swerveDrive); + + // private final Command openThenDriveAuto = new + // ClawGrabberCommand(Value.kForward, clawIntake, + // true) + // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); + + // private final Command openClaw = new ClawGrabberCommand(Value.kReverse, + // clawIntake, true); + + // private final Command overThenBalanceAuto = new DriveDistanceAuto( + // Constants.OVER_CHARGESTATION_DISTANCE, swerveDrive) + // .andThen(new DriveDistanceAuto(Constants.RETURN_TO_CHARGESTATION_DISTANCE, + // swerveDrive)); + + // private final Command highBalance = new SetElevatorTargetCommand( + // Constants.topElevatorTargetPosition, true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); + + // private final Command midBalance = new SetElevatorTargetCommand( + // Constants.middleElevatorTargetPosition, true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); + + // private final Command backOut = new DriveDistanceAuto( + // 50000 * Constants.normalAutoDriveBackDistance, swerveDrive); + + // private final Command lowBalance = new SetElevatorTargetCommand( + // Constants.bottomElevatorTargetPosition, true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen(new DriveDistanceAuto(Constants.BALANCE_DISTANCE, swerveDrive)); + + // private final Command highBack = new + // SetElevatorTargetCommand(Constants.topElevatorTargetPosition, + // true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen(new DriveDistanceAuto(Constants.normalAutoDriveBackDistance, + // swerveDrive)); + + // private final Command midBack = new SetElevatorTargetCommand( + // Constants.middleElevatorTargetPosition, true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen(new DriveDistanceAuto(Constants.normalAutoDriveBackDistance, + // swerveDrive)); + + // private final Command lowBack = new SetElevatorTargetCommand( + // Constants.bottomElevatorTargetPosition, true, elevator) + // .andThen(new ClawGrabberCommand(Value.kForward, clawIntake, true)) + // .andThen( + // new SetElevatorTargetCommand(Constants.MINIMUM_ELEVATOR_POSITION, true, + // elevator)) + // .andThen( + // new DriveDistanceAuto(50000 * Constants.normalAutoDriveBackDistance, + // swerveDrive)); + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // An ExampleCommand will run in autonomous + Command choice = autoChooser.getSelected(); + // choice.schedule(); + return choice; + + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index e052157..e5b1bce 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -120,7 +120,7 @@ public void resetToAbsolute() private void configAngleEncoder() { angleEncoder.configFactoryDefault(); - CANCoderUtil.setCANCoderBusUsage(angleEncoder, CCUsage.kMinimal); + CANCoderUtil.setCANCoderBusUsage(angleEncoder, CCUsage.kAll); angleEncoder.configAllSettings(Robot.ctreConfigs.swerveCanCoderConfig); } @@ -137,7 +137,8 @@ private void configAngleMotor() angleController.setD(Constants.Swerve.angleKD); angleController.setFF(Constants.Swerve.angleKF); mAngleMotor.enableVoltageCompensation(Constants.Swerve.voltageComp); - mAngleMotor.burnFlash(); // writes configurations to flash memory so they save if a PDP breaker trips + mAngleMotor.burnFlash(); // writes configurations to flash memory so they save if a PDP + // breaker trips resetToAbsolute(); } diff --git a/src/main/java/frc/robot/autos/AutoBalanceAuto.java b/src/main/java/frc/robot/autos/AutoBalanceAuto.java new file mode 100644 index 0000000..c578cad --- /dev/null +++ b/src/main/java/frc/robot/autos/AutoBalanceAuto.java @@ -0,0 +1,85 @@ +package frc.robot.autos; + +import com.ctre.phoenix.sensors.Pigeon2; +import com.kauailabs.navx.frc.AHRS; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.AnalogGyro; +import edu.wpi.first.wpilibj.I2C.Port; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.Constants; +import frc.robot.subsystems.SwerveDriveSubsystem; + +public class AutoBalanceAuto extends CommandBase +{ + SwerveDriveSubsystem s_Swerve; + + private double balancingSpeed; + private int balancingDirection; + + private double tiltDeadband; + + private double wheelLockSpeed; + + private boolean wheelsLocked; + + private Pigeon2 gyro; + + public AutoBalanceAuto(SwerveDriveSubsystem s_Swerve) + { + this.s_Swerve = s_Swerve; + balancingSpeed = 0.25; + balancingDirection = 1; + tiltDeadband = 12; + wheelLockSpeed = 0; + + wheelsLocked = false; + + gyro = s_Swerve.gyro; + + addRequirements(s_Swerve); + } + + @Override + public void execute() + { + System.out.println("Autobalancing"); + if (gyro.getRoll() < tiltDeadband && gyro.getRoll() > -tiltDeadband) + { + balancingDirection = 0; + + if (!wheelsLocked) + { + wheelLockSpeed = 0.01; + wheelsLocked = true; + } + } + else if (gyro.getRoll() > 0 && balancingDirection == 1) + { + balancingSpeed /= 2; + balancingDirection = 1; + wheelLockSpeed = 0; + wheelsLocked = false; + } + else if (gyro.getRoll() < 0 && balancingDirection == -1) + { + balancingSpeed /= 2; + balancingDirection = -1; + wheelLockSpeed = 0; + wheelsLocked = false; + } + + if (balancingSpeed < 0.15) + { + balancingSpeed = 0.15; + } + + s_Swerve.drive(new Translation2d(balancingSpeed * balancingDirection, wheelLockSpeed), + 0 * Constants.Swerve.maxAngularVelocity, + /* !robotCentricSup.getAsBoolean(), */ true, // field relative is always on + true); + + wheelLockSpeed = 0; + } + +} diff --git a/src/main/java/frc/robot/autos/GoodDriveDistanceAuto.java b/src/main/java/frc/robot/autos/GoodDriveDistanceAuto.java new file mode 100644 index 0000000..9a22f9e --- /dev/null +++ b/src/main/java/frc/robot/autos/GoodDriveDistanceAuto.java @@ -0,0 +1,66 @@ +package frc.robot.autos; + +import javax.swing.text.StyleContext.SmallAttributeSet; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.Constants; +import frc.robot.subsystems.SwerveDriveSubsystem; + +public class GoodDriveDistanceAuto extends CommandBase +{ + private double distance; + + SwerveDriveSubsystem s_Swerve; + + private double speed; + + private double targetPosition; + + public GoodDriveDistanceAuto(double distance, double speed, SwerveDriveSubsystem s_Swerve) + { + this.distance = distance; + this.speed = speed; + this.s_Swerve = s_Swerve; + + addRequirements(s_Swerve); + } + + @Override + public void initialize() + { + targetPosition = s_Swerve.getPose().getX() + distance; + } + + @Override + public void execute() + { + SmartDashboard.putNumber("Auto Drive Target X", targetPosition); + SmartDashboard.putNumber("Swerve Pose X", s_Swerve.getPose().getX()); + + s_Swerve.drive(new Translation2d(-speed, 0).times(Constants.Swerve.AUTO_SPEED), 0, /* + * !robotCentricSup + * . + * getAsBoolean + * (), + */ true, // field + // relative + // is + // always + // on + true); + } + + @Override + public boolean isFinished() + { + if (distance > 0) + return (s_Swerve.getPose().getX() > targetPosition); + else + return (s_Swerve.getPose().getX() < targetPosition); + } +} diff --git a/src/main/java/frc/robot/commands/TeleopSwerveCommand.java b/src/main/java/frc/robot/commands/TeleopSwerveCommand.java index eadbce4..f6fe3a7 100644 --- a/src/main/java/frc/robot/commands/TeleopSwerveCommand.java +++ b/src/main/java/frc/robot/commands/TeleopSwerveCommand.java @@ -8,44 +8,59 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; -public class TeleopSwerveCommand extends CommandBase -{ - private SwerveDriveSubsystem s_Swerve; - private DoubleSupplier translationSup; - private DoubleSupplier strafeSup; - private DoubleSupplier rotationSup; - private BooleanSupplier robotCentricSup; // used for field relative - - public TeleopSwerveCommand(SwerveDriveSubsystem s_Swerve, DoubleSupplier translationSup, - DoubleSupplier strafeSup, - DoubleSupplier rotationSup /* BooleanSupplier robotCentricSup */) - { - this.s_Swerve = s_Swerve; - addRequirements(s_Swerve); - - this.translationSup = translationSup; - this.strafeSup = strafeSup; - this.rotationSup = rotationSup; - // this.robotCentricSup = robotCentricSup; - } - - @Override - public void execute() - { - /* Get Values, Deadband */ - double translationVal = MathUtil.applyDeadband(translationSup.getAsDouble(), - Constants.JOYSTICK_DEADBAND); - double strafeVal = MathUtil.applyDeadband(strafeSup.getAsDouble(), - Constants.JOYSTICK_DEADBAND); - double rotationVal = MathUtil.applyDeadband(rotationSup.getAsDouble(), - Constants.JOYSTICK_DEADBAND); - - /* Drive */ - s_Swerve.drive(new Translation2d(translationVal, strafeVal).times( - Constants.Swerve.maxSpeed), rotationVal * Constants.Swerve.maxAngularVelocity, - /* !robotCentricSup.getAsBoolean(), */ true, // field relative is always on - true); - } +public class TeleopSwerveCommand extends CommandBase { + private SwerveDriveSubsystem s_Swerve; + private DoubleSupplier translationSup; + private DoubleSupplier strafeSup; + private DoubleSupplier rotationSup; + private BooleanSupplier robotCentricSup, slowSpeedSupplier, fastSpeedSupplier; // used for field relative + + public TeleopSwerveCommand(SwerveDriveSubsystem s_Swerve, DoubleSupplier translationSup, + DoubleSupplier strafeSup, + DoubleSupplier rotationSup, + BooleanSupplier slowSpeedSupplier, + BooleanSupplier fastSpeedSupplier /* BooleanSupplier robotCentricSup */) { + this.s_Swerve = s_Swerve; + addRequirements(s_Swerve); + + this.translationSup = translationSup; + this.strafeSup = strafeSup; + this.rotationSup = rotationSup; + // this.robotCentricSup = robotCentricSup; + + this.slowSpeedSupplier = slowSpeedSupplier; + this.fastSpeedSupplier = fastSpeedSupplier; + } + + private double getSpeed() { + if (slowSpeedSupplier.getAsBoolean()) + return Constants.Swerve.SLOW_SPEED; + if (fastSpeedSupplier.getAsBoolean()) + return Constants.Swerve.FAST_SPEED; + return Constants.Swerve.NORMAL_SPEED; + } + + @Override + public void execute() { + /* Get Values, Deadband */ + double translationVal = MathUtil.applyDeadband(translationSup.getAsDouble(), + Constants.JOYSTICK_DEADBAND); + double strafeVal = MathUtil.applyDeadband(strafeSup.getAsDouble(), + Constants.JOYSTICK_DEADBAND); + double rotationVal = MathUtil.applyDeadband(rotationSup.getAsDouble(), + Constants.JOYSTICK_DEADBAND); + + double speed = getSpeed(); + SmartDashboard.putNumber("Swerve Speed", speed); + + /* Drive */ + s_Swerve.drive(new Translation2d(translationVal, strafeVal).times( + speed * Constants.Swerve.BASE_DRIVE_SPEED), + rotationVal * speed * Constants.Swerve.BASE_TURN_SPEED, + /* !robotCentricSup.getAsBoolean(), */ true, // field relative is always on + true); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java index e2745b4..18191c9 100644 --- a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java @@ -2,6 +2,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; +import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.wpilibj.AnalogPotentiometer; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Joystick; @@ -15,14 +16,13 @@ import frc.robot.RobotContainer; import frc.robot.TeamTalonFX; import frc.robot.commands.MoveElevatorCommand; -import edu.wpi.first.math.controller.PIDController; public class ElevatorSubsystem extends SubsystemBase { - + public ITeamTalon elevatorMotorMain, elevatorMotorSub; - public double targetPosition = Constants.restElevatorTargetPosition; + public double targetPosition = Constants.MINIMUM_ELEVATOR_POSITION; public final double DEADBAND_VALUE = Constants.ELEVATOR_DEADBAND_VALUE; - + public AnalogPotentiometer potentiometer; public ClawIntakeSubsystem intake; @@ -36,24 +36,25 @@ public class ElevatorSubsystem extends SubsystemBase { public DigitalInput elevatorLimitSwitch; - private static final double kP = 1.32; //1.2392; + private static final double kP = 1.32; // 1.2392; private static final double kI = 0; - private static final double kD = .0185; //0.019259; + private static final double kD = .0185; // 0.019259; PIDController pid = new PIDController(kP, kI, kD); - public ElevatorSubsystem(ClawIntakeSubsystem intake) - { - elevatorMotorMain = new TeamTalonFX("Subsystem.Elevator.ElevatorMotorMain", Ports.ELEVATOR_MOTOR_MAIN); - elevatorMotorSub = new TeamTalonFX("Subsystem.Elevator.ElevatorMotorSub", Ports.ELEVATOR_MOTOR_SUB); + public ElevatorSubsystem(ClawIntakeSubsystem intake) { + elevatorMotorMain = new TeamTalonFX("Subsystem.Elevator.ElevatorMotorMain", + Ports.ELEVATOR_MOTOR_MAIN); + elevatorMotorSub = new TeamTalonFX("Subsystem.Elevator.ElevatorMotorSub", + Ports.ELEVATOR_MOTOR_SUB); elevatorMotorMain.resetEncoder(); - elevatorMotorMain.enableVoltageCompensation(true); + elevatorMotorMain.enableVoltageCompensation(true); elevatorMotorMain.setInverted(false); elevatorMotorMain.setNeutralMode(NeutralMode.Brake); elevatorMotorSub.resetEncoder(); - elevatorMotorSub.enableVoltageCompensation(true); + elevatorMotorSub.enableVoltageCompensation(true); elevatorMotorSub.setInverted(true); elevatorMotorSub.setNeutralMode(NeutralMode.Brake); // elevatorMotorSub.follow(elevatorMotorMain); @@ -63,14 +64,18 @@ public ElevatorSubsystem(ClawIntakeSubsystem intake) potentiometer = new AnalogPotentiometer(Ports.ELEVATOR_POTENTIOMETER, 100); RobotContainer.shuffleboard.addDouble("Elevator", () -> potentiometer.get()); RobotContainer.shuffleboard.addDouble("Elevator Target", () -> targetPosition); - RobotContainer.shuffleboard.addDouble("Main Elevator Encoder", () -> elevatorMotorMain.getCurrentEncoderValue()); - RobotContainer.shuffleboard.addDouble("Sub Elevator Encoder", () -> elevatorMotorSub.getCurrentEncoderValue()); + RobotContainer.shuffleboard.addDouble("Main Elevator Encoder", + () -> elevatorMotorMain.getCurrentEncoderValue()); + RobotContainer.shuffleboard.addDouble("Sub Elevator Encoder", + () -> elevatorMotorSub.getCurrentEncoderValue()); RobotContainer.shuffleboard.addDouble("Main Elevator Power", () -> elevatorMotorMain.get()); RobotContainer.shuffleboard.addDouble("Sub Elevator Power", () -> elevatorMotorSub.get()); RobotContainer.shuffleboard.addBoolean("Elevator Override", () -> targetOverridden); - RobotContainer.shuffleboard.addBoolean("Claw Threshold Override", () -> clawThresholdOverridden); + RobotContainer.shuffleboard.addBoolean("Claw Threshold Override", + () -> clawThresholdOverridden); RobotContainer.shuffleboard.addBoolean("Elevator in Target", () -> isInTarget()); - RobotContainer.shuffleboard.addBoolean("Elevator Limit Switch", () -> elevatorLimitSwitch.get()); + RobotContainer.shuffleboard.addBoolean("Elevator Limit Switch", + () -> elevatorLimitSwitch.get()); this.intake = intake; } @@ -79,9 +84,9 @@ public void setTargetPosition(double newTargetPosition, String reason) { targetPosition = newTargetPosition; } - private double getCappedPower(double desired) - { - return Math.min(Constants.maxElevatorMotorSpeed, Math.max(desired, -Constants.maxElevatorMotorSpeed)); + private double getCappedPower(double desired) { + return Math.min(Constants.maxElevatorMotorSpeed, + Math.max(desired, -Constants.maxElevatorMotorSpeed)); } public void setSpeed(double newSpeed) { @@ -96,22 +101,20 @@ public void setSpeed(double newSpeed) { speed = getCappedPower(speed); double currentPower = elevatorMotorMain.get(); - - if ((speed < currentPower)) - { + + if ((speed < currentPower)) { newPower = Math.max(speed, currentPower - Constants.ELEVATOR_MAX_POWER_CHANGE); - } - else if ((speed > currentPower)) - { + } // /jack morton lawrence torrance jack morton lawrence torrance jack morton + // lawrence + // torrance + else if ((speed > currentPower)) { newPower = Math.min(speed, currentPower + Constants.ELEVATOR_MAX_POWER_CHANGE); - } - else - { + } else { newPower = speed; } - if((potentiometer.get() > Constants.topElevatorTargetPosition && speed > 0) || - (potentiometer.get() < Constants.MINIMUM_ELEVATOR_POSITION && speed < 0)) { + if ((potentiometer.get() > Constants.topElevatorTargetPosition && speed > 0) + || (potentiometer.get() < Constants.MINIMUM_ELEVATOR_POSITION && speed < 0)) { newPower = 0; } @@ -131,22 +134,21 @@ else if ((speed > currentPower)) public void periodic() { // System.out.println("Elevator Power: " + elevatorMotorMain.get()); // System.out.println("Current Potentiometer Value: " + potentiometer.get()); - - if(!targetOverridden) { + + if (!targetOverridden) { if (!isInTarget()) { // setSpeed(Math.signum(targetPosition - potentiometer.get())); setSpeed(pid.calculate(potentiometer.get(), targetPosition)); - } - else { + } else { setSpeed(0); } } - if(potentiometer.get() < Constants.clawCloseThreshold && !clawThresholdOverridden - && intake.clawGrabberLeft.get() != Value.kReverse && Robot.isEnabled) + if (potentiometer.get() < Constants.clawCloseThreshold && !clawThresholdOverridden + && intake.clawGrabberLeft.get() != Value.kReverse && Robot.isEnabled) intake.setSolenoid(Value.kReverse); - + } public boolean isInTarget() { @@ -159,4 +161,3 @@ public void resetTarget() { } } - diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java index 033ff66..e6d2bc4 100644 --- a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java @@ -2,17 +2,20 @@ import frc.robot.SwerveModule; import frc.robot.Constants; +import frc.robot.Ports; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModulePosition; +import com.ctre.phoenix.sensors.Pigeon2; import com.kauailabs.navx.frc.AHRS; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.AnalogGyro; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.I2C.Port; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -22,15 +25,23 @@ public class SwerveDriveSubsystem extends SubsystemBase { public SwerveDriveOdometry swerveOdometry; public SwerveModule[] mSwerveMods; - public AHRS gyro; // AHRS is the NavX class + // public AHRS gyro; // AHRS is the NavX class + public Pigeon2 gyro; public double maxModuleSpeed = Constants.Swerve.maxSpeed; + public double gyroOffset = 0; + public SwerveDriveSubsystem() { - gyro = new AHRS(Port.kMXP); // need to check this. port for gyro - // pls check ahrs gyro setup EDIT: gyro should automatically calibrate once powered on + // gyro = new AHRS(Port.kMXP); // need to check this. port for gyro + gyro = new Pigeon2(Ports.GYRO); + // pls check ahrs gyro setup EDIT: gyro should automatically calibrate once + // powered on + gyro.configFactoryDefault(); zeroGyro(); + setAngleOffsets(false); + // swerve module construction mSwerveMods = new SwerveModule[] { @@ -52,6 +63,18 @@ public SwerveDriveSubsystem() getModulePositions()); } + public void setAngleOffsets(boolean invert) + { + System.out.println("Setting angle offsets..."); + + double[] offsets = Constants.Swerve.ANGLE_OFFSETS; + + Constants.Swerve.Mod0.angleOffset = Rotation2d.fromDegrees(offsets[0] - (invert ? 180 : 0)); + Constants.Swerve.Mod1.angleOffset = Rotation2d.fromDegrees(offsets[1] - (invert ? 180 : 0)); + Constants.Swerve.Mod2.angleOffset = Rotation2d.fromDegrees(offsets[2] - (invert ? 180 : 0)); + Constants.Swerve.Mod3.angleOffset = Rotation2d.fromDegrees(offsets[3] - (invert ? 180 : 0)); + } + // main driving method. translation is change in every direction public void drive(Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop) @@ -127,15 +150,25 @@ public SwerveModulePosition[] getModulePositions() return positions; } + public void setGyro(double degrees) + { + System.out.println("Setting gyro to " + degrees + "..."); + gyroOffset = degrees - gyro.getYaw(); + zeroGyro(); + } + public void zeroGyro() { - gyro.reset(); // Used to setYaw(0); + System.out.println("Zeroing gyro"); + + gyro.setYaw(0); // Used to setYaw(0); } public Rotation2d getYaw() { - return (Constants.Swerve.invertGyro) ? Rotation2d.fromDegrees(360 - gyro.getAngle()) - : Rotation2d.fromDegrees(gyro.getAngle()); + return (Constants.Swerve.invertGyro) + ? Rotation2d.fromDegrees(360 - gyro.getYaw() + gyroOffset) + : Rotation2d.fromDegrees(gyro.getYaw() + gyroOffset); } public void resetModulesToAbsolute() @@ -161,6 +194,8 @@ public void periodic() SmartDashboard.putNumber("Mod " + mod.moduleNumber + " Velocity", mod.getState().speedMetersPerSecond); } + + SmartDashboard.putNumber("Gyro Angle", getYaw().getDegrees()); } public void resetEncoders() diff --git a/sysid_data20230328-164448.json b/sysid_data20230328-164448.json new file mode 100644 index 0000000..cdc307b --- /dev/null +++ b/sysid_data20230328-164448.json @@ -0,0 +1,39266 @@ +{ + "fast-backward": [ + [ + 1208.92916, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.933718, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.938682, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.943715, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.948709, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.953717, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.958669, + 0.0, + 1274.53125, + 0.0 + ], + [ + 1208.963715, + 0.0, + 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+1,7 @@ { "fileName": "Phoenix.json", "name": "CTRE-Phoenix (v5)", - "version": "5.30.4+23.0.12", + "version": "5.31.0+23.2.2", "frcYear": 2023, "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "mavenUrls": [ @@ -12,19 +12,19 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.30.4" + "version": "5.31.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.30.4" + "version": "5.31.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.30.4", + "version": "5.31.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.30.4", + "version": "5.31.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -48,9 +48,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -61,9 +61,9 @@ "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -74,9 +74,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -87,9 +87,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -100,9 +100,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -113,9 +113,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -126,9 +126,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -139,9 +139,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,9 +152,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -165,9 +165,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.0.12", + "version": "23.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -182,7 +182,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -197,7 +197,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -212,7 +212,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -225,9 +225,9 @@ "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -242,7 +242,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -257,7 +257,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.30.4", + "version": "5.31.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -285,9 +285,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -300,9 +300,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -315,9 +315,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -330,9 +330,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -345,9 +345,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -360,9 +360,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -375,9 +375,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -390,9 +390,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -405,9 +405,9 @@ "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.0.12", + "version": "23.2.2", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 18f6c4d..f2d0b7d 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,24 +1,24 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2023.1.1", + "version": "2023.1.3", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2023.1.1" + "version": "2023.1.3" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2023.1.1", + "version": "2023.1.3", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +36,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2023.1.1", + "version": "2023.1.3", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -54,7 +54,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2023.1.1", + "version": "2023.1.3", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -70,4 +70,4 @@ ] } ] -} +} \ No newline at end of file