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Adding AHRS from Studica to the drivetrain so the NavX is assumed to be used, also cleaned up some unused imports

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This commit is contained in:
Bradley Bickford 2025-01-20 19:33:33 -05:00
parent 4d9aa82520
commit 198d105741
2 changed files with 16 additions and 12 deletions
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25
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -7,6 +7,9 @@ package frc.robot.subsystems;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import com.studica.frc.AHRS;
import com.studica.frc.AHRS.NavXComType;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@ -30,7 +33,7 @@ public class Drivetrain extends SubsystemBase {
protected MAXSwerveModule m_rearRight;
// The gyro sensor
private ADIS16470_IMU m_gyro;
private AHRS ahrs;
// Odometry class for tracking robot pose
private SwerveDriveOdometry m_odometry;
@ -61,11 +64,11 @@ public class Drivetrain extends SubsystemBase {
DrivetrainConstants.kBackRightChassisAngularOffset
);
m_gyro = new ADIS16470_IMU();
ahrs = new AHRS(NavXComType.kMXP_SPI);
m_odometry = new SwerveDriveOdometry(
DrivetrainConstants.kDriveKinematics,
Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
Rotation2d.fromDegrees(ahrs.getAngle()),
new SwerveModulePosition[] {
m_frontLeft.getPosition(),
m_frontRight.getPosition(),
@ -78,7 +81,7 @@ public class Drivetrain extends SubsystemBase {
public void periodic() {
// Update the odometry in the periodic block
m_odometry.update(
Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] {
m_frontLeft.getPosition(),
m_frontRight.getPosition(),
@ -103,7 +106,7 @@ public class Drivetrain extends SubsystemBase {
*/
public void resetOdometry(Pose2d pose) {
m_odometry.resetPosition(
Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] {
m_frontLeft.getPosition(),
m_frontRight.getPosition(),
@ -144,7 +147,7 @@ public class Drivetrain extends SubsystemBase {
var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
Rotation2d.fromDegrees(getGyroValue()))
: new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
SwerveDriveKinematics.desaturateWheelSpeeds(
swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
@ -194,7 +197,11 @@ public class Drivetrain extends SubsystemBase {
/** Zeroes the heading of the robot. */
public void zeroHeading() {
m_gyro.reset();
ahrs.reset();;
}
public double getGyroValue() {
return ahrs.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
}
/**
@ -203,7 +210,7 @@ public class Drivetrain extends SubsystemBase {
* @return the robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
return Rotation2d.fromDegrees(getGyroValue()).getDegrees();
}
/**
@ -212,6 +219,6 @@ public class Drivetrain extends SubsystemBase {
* @return The turn rate of the robot, in degrees per second
*/
public double getTurnRate() {
return m_gyro.getRate(IMUAxis.kZ) * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
return ahrs.getRate() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
}
}

3
src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
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@ -4,11 +4,8 @@ import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.MutAngle;
import edu.wpi.first.units.measure.MutAngularVelocity;
import edu.wpi.first.units.measure.MutDistance;
import edu.wpi.first.units.measure.MutLinearVelocity;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;