Team_2648/2025_Robot_Code
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Team 2648 2025-02-22 19:28:38 -05:00
parent eb00b1146e
commit 4d260809d8
5 changed files with 15 additions and 8 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -285,7 +285,7 @@ public class RobotContainer {
sensorTab.addDouble("dt distance", drivetrain::driveDistance); sensorTab.addDouble("dt distance", drivetrain::driveDistance);
//sensorTab.add("odometry", drivetrain::getPose);
} }

6
src/main/java/frc/robot/constants/AutoConstants.java
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@ -16,9 +16,9 @@ public class AutoConstants {
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kPXController = 1; public static final double kPXController = 15;
public static final double kPYController = 1; public static final double kPYController = 15;
public static final double kPThetaController = 1; public static final double kPThetaController = 5;
// Constraint for the motion profiled robot angle controller // Constraint for the motion profiled robot angle controller
public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints( public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(

7
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@ -22,10 +22,17 @@ public class DrivetrainConstants {
public static final double kWheelBase = Units.inchesToMeters(24.5); public static final double kWheelBase = Units.inchesToMeters(24.5);
// Angular offsets of the modules relative to the chassis in radians // Angular offsets of the modules relative to the chassis in radians
/*
public static final double kFrontLeftChassisAngularOffset = Math.PI; public static final double kFrontLeftChassisAngularOffset = Math.PI;
public static final double kFrontRightChassisAngularOffset = -Math.PI / 2; public static final double kFrontRightChassisAngularOffset = -Math.PI / 2;
public static final double kBackLeftChassisAngularOffset = Math.PI / 2; public static final double kBackLeftChassisAngularOffset = Math.PI / 2;
public static final double kBackRightChassisAngularOffset = 0; public static final double kBackRightChassisAngularOffset = 0;
*/
public static final double kFrontLeftChassisAngularOffset = 0;
public static final double kFrontRightChassisAngularOffset = Math.PI / 2;
public static final double kBackLeftChassisAngularOffset = -Math.PI / 2;
public static final double kBackRightChassisAngularOffset = Math.PI;
// 1, 7, 10 is the default for these three values // 1, 7, 10 is the default for these three values
public static final double kSysIDDrivingRampRate = 1; public static final double kSysIDDrivingRampRate = 1;

2
src/main/java/frc/robot/constants/ModuleConstants.java
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@ -47,7 +47,7 @@ public class ModuleConstants {
public static final IdleMode kTurnIdleMode = IdleMode.kBrake; public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive; public static final InvertedValue kDriveInversionState = InvertedValue.CounterClockwise_Positive;
public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake; public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM

6
src/main/java/frc/robot/subsystems/MAXSwerveModule.java
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@ -74,7 +74,7 @@ public class MAXSwerveModule {
public SwerveModuleState getState() { public SwerveModuleState getState() {
// Apply chassis angular offset to the encoder position to get the position // Apply chassis angular offset to the encoder position to get the position
// relative to the chassis. // relative to the chassis.
return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(), return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset)); new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
} }
@ -86,7 +86,7 @@ public class MAXSwerveModule {
public SwerveModulePosition getPosition() { public SwerveModulePosition getPosition() {
// Apply chassis angular offset to the encoder position to get the position // Apply chassis angular offset to the encoder position to get the position
// relative to the chassis. // relative to the chassis.
return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(), return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset)); new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
} }
@ -140,6 +140,6 @@ public class MAXSwerveModule {
} }
public double getTotalDist(){ public double getTotalDist(){
return m_drive.getPosition().getValueAsDouble(); return m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters;
} }
} }