Indentation, whitespace, and linting changes
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@ -3,19 +3,19 @@ package frc.robot.constants;
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import edu.wpi.first.math.trajectory.TrapezoidProfile;
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public final class AutoConstants {
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public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6
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public static final double kMaxAccelerationMetersPerSecondSquared = 3; // max capable = 7.4
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public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
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public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
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public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6
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public static final double kMaxAccelerationMetersPerSecondSquared = 3; // max capable = 7.4
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public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
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public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
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public static final double kPXController = 1.05;
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public static final double kPYController = 1.05;
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public static final double kPThetaController = 0.95; // needs to be separate from heading control
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public static final double kPXController = 1.05;
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public static final double kPYController = 1.05;
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public static final double kPThetaController = 0.95; // needs to be separate from heading control
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public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
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public static final double kDHeadingController = 0.0025;
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public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
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public static final double kDHeadingController = 0.0025;
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// Constraint for the motion profiled robot angle controller
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public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
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kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
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}
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// Constraint for the motion profiled robot angle controller
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public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
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kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
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}
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@ -5,47 +5,47 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.math.util.Units;
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public final class DrivetrainConstants {
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// Driving Parameters - Note that these are not the maximum capable speeds of
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// the robot, rather the allowed maximum speeds
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public static final double kMaxSpeedMetersPerSecond = 4.6;
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public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
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// Driving Parameters - Note that these are not the maximum capable speeds of
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// the robot, rather the allowed maximum speeds
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public static final double kMaxSpeedMetersPerSecond = 4.6;
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public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
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public static final double kDirectionSlewRate = 2.4; // radians per second
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public static final double kMagnitudeSlewRate = 3.2; // percent per second (1 = 100%)
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public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
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public static final double kDirectionSlewRate = 2.4; // radians per second
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public static final double kMagnitudeSlewRate = 3.2; // percent per second (1 = 100%)
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public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
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// Chassis configuration
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public static final double kTrackWidth = Units.inchesToMeters(26.5-1.75*2);
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// Distance between centers of right and left wheels on robot
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public static final double kWheelBase = Units.inchesToMeters(32.3-1.75*2);
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// Distance between front and back wheels on robot
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public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
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new Translation2d(kWheelBase / 2, kTrackWidth / 2),
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new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
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new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
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new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
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// Chassis configuration
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public static final double kTrackWidth = Units.inchesToMeters(26.5-1.75*2);
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// Distance between centers of right and left wheels on robot
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public static final double kWheelBase = Units.inchesToMeters(32.3-1.75*2);
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// Distance between front and back wheels on robot
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public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
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new Translation2d(kWheelBase / 2, kTrackWidth / 2),
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new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
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new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
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new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
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// Angular offsets of the modules relative to the chassis in radians
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public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
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public static final double kFrontRightChassisAngularOffset = 0;
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public static final double kBackLeftChassisAngularOffset = Math.PI;
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public static final double kBackRightChassisAngularOffset = Math.PI / 2;
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// Angular offsets of the modules relative to the chassis in radians
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public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
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public static final double kFrontRightChassisAngularOffset = 0;
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public static final double kBackLeftChassisAngularOffset = Math.PI;
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public static final double kBackRightChassisAngularOffset = Math.PI / 2;
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// SPARK MAX CAN IDs
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public static final int kFrontLeftDrivingCanId = 1;
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public static final int kRearLeftDrivingCanId = 3;
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public static final int kFrontRightDrivingCanId = 4;
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public static final int kRearRightDrivingCanId = 2;
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// SPARK MAX CAN IDs
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public static final int kFrontLeftDrivingCanId = 1;
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public static final int kRearLeftDrivingCanId = 3;
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public static final int kFrontRightDrivingCanId = 4;
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public static final int kRearRightDrivingCanId = 2;
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public static final int kFrontLeftTurningCanId = 5;
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public static final int kRearLeftTurningCanId = 7;
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public static final int kFrontRightTurningCanId = 8;
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public static final int kRearRightTurningCanId = 6;
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public static final int kFrontLeftTurningCanId = 5;
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public static final int kRearLeftTurningCanId = 7;
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public static final int kFrontRightTurningCanId = 8;
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public static final int kRearRightTurningCanId = 6;
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public static final double kTurnToleranceDeg = 0;
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public static final double kTurnRateToleranceDegPerS = 0;
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public static final double kTurnToleranceDeg = 0;
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public static final double kTurnRateToleranceDegPerS = 0;
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public static final boolean kGyroReversed = true;
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public static final boolean kGyroReversed = true;
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public static final double kRobotStartOffset = 180;
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}
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public static final double kRobotStartOffset = 180;
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}
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@ -4,51 +4,51 @@ import com.revrobotics.CANSparkBase.IdleMode;
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public class ModuleConstants {
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// The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
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// This changes the drive speed of the module (a pinion gear with more teeth will result in a
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// robot that drives faster).
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public static final int kDrivingMotorPinionTeeth = 14;
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// This changes the drive speed of the module (a pinion gear with more teeth will result in a
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// robot that drives faster).
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public static final int kDrivingMotorPinionTeeth = 14;
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// Invert the turning encoder, since the output shaft rotates in the opposite direction of
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// the steering motor in the MAXSwerve Module.
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public static final boolean kTurningEncoderInverted = true;
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// Invert the turning encoder, since the output shaft rotates in the opposite direction of
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// the steering motor in the MAXSwerve Module.
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public static final boolean kTurningEncoderInverted = true;
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// Calculations required for driving motor conversion factors and feed forward
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public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
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public static final double kWheelDiameterMeters = 0.0762;
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public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
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// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
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public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
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public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
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/ kDrivingMotorReduction;
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// Calculations required for driving motor conversion factors and feed forward
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public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
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public static final double kWheelDiameterMeters = 0.0762;
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public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
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// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
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public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
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public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
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/ kDrivingMotorReduction;
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public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
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/ kDrivingMotorReduction; // meters
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public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
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/ kDrivingMotorReduction) / 60.0; // meters per second
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public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
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/ kDrivingMotorReduction; // meters
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public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
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/ kDrivingMotorReduction) / 60.0; // meters per second
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public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
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public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
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public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
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public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
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public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
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public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
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public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
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public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
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public static final double kDrivingP = 0.04;
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public static final double kDrivingI = 0;
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public static final double kDrivingD = 0;
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public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
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public static final double kDrivingMinOutput = -1;
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public static final double kDrivingMaxOutput = 1;
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public static final double kDrivingP = 0.04;
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public static final double kDrivingI = 0;
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public static final double kDrivingD = 0;
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public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
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public static final double kDrivingMinOutput = -1;
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public static final double kDrivingMaxOutput = 1;
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public static final double kTurningP = 1;
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public static final double kTurningI = 0;
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public static final double kTurningD = 0;
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public static final double kTurningFF = 0;
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public static final double kTurningMinOutput = -1;
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public static final double kTurningMaxOutput = 1;
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public static final double kTurningP = 1;
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public static final double kTurningI = 0;
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public static final double kTurningD = 0;
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public static final double kTurningFF = 0;
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public static final double kTurningMinOutput = -1;
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public static final double kTurningMaxOutput = 1;
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public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
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public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
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public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
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public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
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public static final int kDrivingMotorCurrentLimit = 60; // amps
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public static final int kTurningMotorCurrentLimit = 30; // amps
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public static final int kDrivingMotorCurrentLimit = 60; // amps
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public static final int kTurningMotorCurrentLimit = 30; // amps
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}
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@ -29,22 +29,26 @@ public class Drivetrain extends SubsystemBase {
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private final MAXSwerveModule m_frontLeft = new MAXSwerveModule(
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DrivetrainConstants.kFrontLeftDrivingCanId,
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DrivetrainConstants.kFrontLeftTurningCanId,
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DrivetrainConstants.kFrontLeftChassisAngularOffset);
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DrivetrainConstants.kFrontLeftChassisAngularOffset
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);
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private final MAXSwerveModule m_frontRight = new MAXSwerveModule(
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DrivetrainConstants.kFrontRightDrivingCanId,
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DrivetrainConstants.kFrontRightTurningCanId,
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DrivetrainConstants.kFrontRightChassisAngularOffset);
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DrivetrainConstants.kFrontRightChassisAngularOffset
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);
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private final MAXSwerveModule m_rearLeft = new MAXSwerveModule(
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DrivetrainConstants.kRearLeftDrivingCanId,
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DrivetrainConstants.kRearLeftTurningCanId,
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DrivetrainConstants.kBackLeftChassisAngularOffset);
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DrivetrainConstants.kBackLeftChassisAngularOffset
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);
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private final MAXSwerveModule m_rearRight = new MAXSwerveModule(
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DrivetrainConstants.kRearRightDrivingCanId,
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DrivetrainConstants.kRearRightTurningCanId,
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DrivetrainConstants.kBackRightChassisAngularOffset);
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DrivetrainConstants.kBackRightChassisAngularOffset
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);
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// The gyro sensor
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private final AHRS m_gyro = new AHRS(SPI.Port.kMXP);
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@ -67,7 +71,8 @@ public class Drivetrain extends SubsystemBase {
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m_frontRight.getPosition(),
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m_rearLeft.getPosition(),
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m_rearRight.getPosition()
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});
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}
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);
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/** Creates a new DriveSubsystem. */
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public Drivetrain() {
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@ -83,7 +88,8 @@ public class Drivetrain extends SubsystemBase {
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m_frontRight.getPosition(),
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m_rearLeft.getPosition(),
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m_rearRight.getPosition()
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});
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}
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);
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}
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/**
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@ -117,7 +123,8 @@ public class Drivetrain extends SubsystemBase {
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m_rearLeft.getPosition(),
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m_rearRight.getPosition()
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},
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pose);
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pose
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);
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}
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/**
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@ -131,56 +138,51 @@ public class Drivetrain extends SubsystemBase {
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* @param rateLimit Whether to enable rate limiting for smoother control.
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*/
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public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) {
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double xSpeedCommanded;
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double ySpeedCommanded;
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if (rateLimit) {
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// Convert XY to polar for rate limiting
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double inputTranslationDir = Math.atan2(ySpeed, xSpeed);
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double inputTranslationMag = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
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// Convert XY to polar for rate limiting
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double inputTranslationDir = Math.atan2(ySpeed, xSpeed);
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double inputTranslationMag = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
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// Calculate the direction slew rate based on an estimate of the lateral acceleration
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double directionSlewRate;
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if (m_currentTranslationMag != 0.0) {
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directionSlewRate = Math.abs(DrivetrainConstants.kDirectionSlewRate / m_currentTranslationMag);
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} else {
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directionSlewRate = 500.0; //some high number that means the slew rate is effectively instantaneous
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}
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double currentTime = WPIUtilJNI.now() * 1e-6;
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double elapsedTime = currentTime - m_prevTime;
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double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir);
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if (angleDif < 0.45*Math.PI) {
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m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
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m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
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}
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else if (angleDif > 0.85*Math.PI) {
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if (m_currentTranslationMag > 1e-4) { //some small number to avoid floating-point errors with equality checking
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// keep currentTranslationDir unchanged
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m_currentTranslationMag = m_magLimiter.calculate(0.0);
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// Calculate the direction slew rate based on an estimate of the lateral acceleration
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double directionSlewRate;
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if (m_currentTranslationMag != 0.0) {
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directionSlewRate = Math.abs(DrivetrainConstants.kDirectionSlewRate / m_currentTranslationMag);
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} else {
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directionSlewRate = 500.0; //some high number that means the slew rate is effectively instantaneous
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}
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else {
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m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI);
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m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
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double currentTime = WPIUtilJNI.now() * 1e-6;
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double elapsedTime = currentTime - m_prevTime;
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double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir);
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if (angleDif < 0.45*Math.PI) {
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m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
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m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
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} else if (angleDif > 0.85*Math.PI) {
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if (m_currentTranslationMag > 1e-4) { //some small number to avoid floating-point errors with equality checking
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// keep currentTranslationDir unchanged
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m_currentTranslationMag = m_magLimiter.calculate(0.0);
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} else {
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m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI);
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m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
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}
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} else {
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m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
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m_currentTranslationMag = m_magLimiter.calculate(0.0);
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}
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}
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else {
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m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
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m_currentTranslationMag = m_magLimiter.calculate(0.0);
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}
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m_prevTime = currentTime;
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xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir);
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ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir);
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m_currentRotation = m_rotLimiter.calculate(rot);
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m_prevTime = currentTime;
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xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir);
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ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir);
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m_currentRotation = m_rotLimiter.calculate(rot);
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} else {
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xSpeedCommanded = xSpeed;
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ySpeedCommanded = ySpeed;
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m_currentRotation = rot;
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xSpeedCommanded = xSpeed;
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ySpeedCommanded = ySpeed;
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m_currentRotation = rot;
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}
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// Convert the commanded speeds into the correct units for the drivetrain
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