From 15a6253e85e54f98d6aef0d3fa1602c4dbeab8f7 Mon Sep 17 00:00:00 2001 From: Tyler-J42 Date: Wed, 27 Mar 2024 10:39:04 -0400 Subject: [PATCH] attempted fix for swerve jitter --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- src/main/java/frc/robot/constants/AutoConstants.java | 4 ++-- src/main/java/frc/robot/utilities/MAXSwerveModule.java | 4 ++++ 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f7538b0..8d76323 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -226,9 +226,9 @@ public class RobotContainer { drivetrain.setDefaultCommand( drivetrain.teleopCommand( - () -> { return driver.getLeftY() /* * (invertXYDrive ? -1 : 1)*/; }, - () -> { return driver.getLeftX() /* * (invertXYDrive ? -1 : 1)*/; }, - () -> { return -driver.getRightX(); }, + () -> { return driver.getLeftY() * (invertXYDrive ? -1 : 1); }, + () -> { return driver.getLeftX() * (invertXYDrive ? -1 : 1); }, + () -> { return -driver.getRightX() * (invertXYDrive ? -1 : 1); }, OIConstants.kTeleopDriveDeadband ) ); @@ -409,7 +409,7 @@ public class RobotContainer { //operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0)); - operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState())); + operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand())); driver.a().whileTrue(indexer.shootNote(() -> 1.0)); diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java index 1e091ae..8fe2585 100644 --- a/src/main/java/frc/robot/constants/AutoConstants.java +++ b/src/main/java/frc/robot/constants/AutoConstants.java @@ -8,8 +8,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; public final class AutoConstants { - public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6 - public static final double kMaxAccelerationMetersPerSecondSquared = 3; // max capable = 7.4 + public static final double kMaxSpeedMetersPerSecond = 4; // max capable = 4.6 + public static final double kMaxAccelerationMetersPerSecondSquared = 4; // max capable = 7.4 public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; diff --git a/src/main/java/frc/robot/utilities/MAXSwerveModule.java b/src/main/java/frc/robot/utilities/MAXSwerveModule.java index ec84461..eab9fe7 100644 --- a/src/main/java/frc/robot/utilities/MAXSwerveModule.java +++ b/src/main/java/frc/robot/utilities/MAXSwerveModule.java @@ -6,6 +6,7 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkLowLevel.PeriodicFrame; import com.revrobotics.SparkAbsoluteEncoder.Type; import com.revrobotics.SparkPIDController; import com.revrobotics.AbsoluteEncoder; @@ -36,6 +37,9 @@ public class MAXSwerveModule { m_drivingSparkMax = new CANSparkMax(drivingCANId, MotorType.kBrushless); m_turningSparkMax = new CANSparkMax(turningCANId, MotorType.kBrushless); + m_turningSparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 20); + m_turningSparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 20); + // Factory reset, so we get the SPARKS MAX to a known state before configuring // them. This is useful in case a SPARK MAX is swapped out. m_drivingSparkMax.restoreFactoryDefaults();