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Update swerve module code to work with TalonFX #2

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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Drivetrain.java
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Expand Up @@ -26,11 +26,13 @@ public class Drivetrain {
private final Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
private final Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);

// Todo: these drive motor channel IDs need to be set
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@lilawren lilawren Nov 11, 2021

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We need to address these todos before deploying the code.

Please remove after it is done.

private final SwerveModule m_frontLeft = new SwerveModule(1, 2);
private final SwerveModule m_frontRight = new SwerveModule(3, 4);
private final SwerveModule m_backLeft = new SwerveModule(5, 6);
private final SwerveModule m_backRight = new SwerveModule(7, 8);

// Todo: Gyro channel ID needs to be set
private final AnalogGyro m_gyro = new AnalogGyro(0);

private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
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17 changes: 9 additions & 8 deletions src/main/java/frc/robot/SwerveModule.java
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Expand Up @@ -7,9 +7,10 @@

package frc.robot;

import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
Expand All @@ -24,8 +25,8 @@ public class SwerveModule {
private static final double kModuleMaxAngularAcceleration
= 2 * Math.PI; // radians per second squared

private final SpeedController m_driveMotor;
private final SpeedController m_turningMotor;
private final TalonFX m_driveMotor;
private final TalonFX m_turningMotor;

private final Encoder m_driveEncoder = new Encoder(0, 1);
private final Encoder m_turningEncoder = new Encoder(2, 3);
Expand All @@ -43,8 +44,8 @@ public class SwerveModule {
* @param turningMotorChannel ID for the turning motor.
*/
public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
m_driveMotor = new PWMVictorSPX(driveMotorChannel);
m_turningMotor = new PWMVictorSPX(turningMotorChannel);
m_driveMotor = new TalonFX(driveMotorChannel);
m_turningMotor = new TalonFX(turningMotorChannel);

// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
Expand Down Expand Up @@ -86,7 +87,7 @@ public void setDesiredState(SwerveModuleState state) {
);

// Calculate the turning motor output from the turning PID controller.
m_driveMotor.set(driveOutput);
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@lilawren lilawren Nov 11, 2021 •
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With the sample code using PWM VictorSPX motor controller (looks like this), this was previously expecting values of -1.0 < x < 1.0

Screenshot 2021-11-11 001840

For TalonFX we need to create the same behavior. How can we do this? We can do a hover over m_driveMotor.set or do a control + click to view the class definition they provide us.

Hover:
image

ctrl + click (same content different format)
image

This is how we can get information on how to use the libraries provided by wpi and external vendors.

m_turningMotor.set(turnOutput);
m_driveMotor.set(TalonFXControlMode.PercentOutput, driveOutput);
m_turningMotor.set(TalonFXControlMode.PercentOutput, turnOutput);
}
}
234 changes: 234 additions & 0 deletions vendordeps/Phoenix.json
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@@ -0,0 +1,234 @@
{
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@lilawren lilawren Nov 11, 2021 •
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We needed to add this external vendor library or the code will not compile. Basically looked on google for "phoenix talon fx java frc" There's a lot of subjects but the one we needed was this:

https://docs.ctre-phoenix.com/en/latest/ch05a_CppJava.html#frc-c-java-add-phoenix

So I followed the steps and visited https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-latest.json and just copy pasted the content to Phoenix.json like we do for FalconRecharged2021 code.

We can do similar thought process for other libraries: look at documentation. There might even be FRC friendly docs like for there was for Phoenix.

"fileName": "Phoenix.json",
"name": "CTRE-Phoenix",
"version": "5.20.0-beta-1",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-latest.json",
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.20.0"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.20.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxathena"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simTalonSRX",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simTalonFX",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simVictorSPX",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simPigeonIMU",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simCANCoder",
"version": "5.20.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.20.0",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.20.0",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.20.0",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.20.0",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simTalonSRX",
"version": "5.20.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simTalonFX",
"version": "5.20.0",
"libName": "CTRE_SimTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simVictorSPX",
"version": "5.20.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simPigeonIMU",
"version": "5.20.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simCANCoder",
"version": "5.20.0",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
}
]
}