Team_2648/2024_Robot_Code
5
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Commiting general changes to try to fix swerve issues

Browse Source
This commit is contained in:
Bradley Bickford 2024-03-10 11:09:17 -04:00
parent c7ee873b7e
commit 3046f2d256
8 changed files with 164 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
src/main/deploy/pathplanner/autos/From Subwoofer Far Edge to Amp.auto Normal file
View File

@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7046435911053639,
"y": 4.3751818412727745
},
"rotation": 120.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "From Subwoofer Far Edge to Amp"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

25
src/main/deploy/pathplanner/autos/From Subwoofer Front to Amp.auto Normal file
View File

@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.29,
"y": 5.58
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "From Subwoofer Front to Amp"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

52
src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path Normal file
View File

@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.7046435911053639,
"y": 4.3751818412727745
},
"prevControl": null,
"nextControl": {
"x": 2.4368920788482864,
"y": 3.1622483921028106
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.82409310273166,
"y": 7.565612949407717
},
"prevControl": {
"x": 1.8176568333482528,
"y": 6.336387277909188
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 89.21368742867472,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 122.73522627210761,
"velocity": 0
},
"useDefaultConstraints": true
}

52
src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path Normal file
View File

@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.2945574370576298,
"y": 5.580559282764361
},
"prevControl": null,
"nextControl": {
"x": 2.2786077412442953,
"y": 5.580559282764361
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.8232420006879377,
"y": 7.533755031731888
},
"prevControl": {
"x": 1.8232420006879377,
"y": 6.694612522270728
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}

6
src/main/java/frc/robot/constants/AutoConstants.java
View File

@ -13,9 +13,9 @@ public final class AutoConstants {
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kPXController = 5;
public static final double kPYController = 5;
public static final double kPThetaController = 0.5; // needs to be separate from heading control
public static final double kPXController = 1.05;//5;
public static final double kPYController = 1.05;//5;
public static final double kPThetaController = 0.95;//0.5; // needs to be separate from heading control
public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
public static final double kDHeadingController = 0.0025;

6
src/main/java/frc/robot/constants/DrivetrainConstants.java
View File

@ -26,16 +26,18 @@ public final class DrivetrainConstants {
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
// Angular offsets of the modules relative to the chassis in radians
/*
public static final double kFrontLeftChassisAngularOffset = Math.PI;
public static final double kFrontRightChassisAngularOffset = -Math.PI / 2;
public static final double kBackLeftChassisAngularOffset = Math.PI / 2;
public static final double kBackRightChassisAngularOffset = 0;
*/
/*
public static final double kFrontLeftChassisAngularOffset = -2*Math.PI;
public static final double kFrontRightChassisAngularOffset = -2*Math.PI;
public static final double kBackLeftChassisAngularOffset = -2*Math.PI;
public static final double kBackRightChassisAngularOffset = -2*Math.PI-(4/180.0);
*/
// SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 8;

4
src/main/java/frc/robot/constants/SwerveModuleConstants.java
View File

@ -16,8 +16,8 @@ public class SwerveModuleConstants {
public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
public static final double kWheelDiameterMeters = 0.0762;
public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
// 45 teeth on the wheel's bevel gear, 20 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
public static final double kDrivingMotorReduction = (45.0 * 20) / (kDrivingMotorPinionTeeth * 15);
public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
/ kDrivingMotorReduction;

1
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -299,6 +299,7 @@ public class Drivetrain extends SubsystemBase {
}
public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
//speeds.omegaRadiansPerSecond = -speeds.omegaRadiansPerSecond;
SwerveModuleState[] states = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(speeds);
m_frontLeft.setDesiredState(states[0]);