Merge branch 'main' into kraken_swerve

src/main/java/frc/robot/RobotContainer.java

@@ -14,12 +14,16 @@ import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public class RobotContainer {
@@ -40,6 +44,8 @@ public class RobotContainer {
 	private CommandXboxController driver;
 	private CommandXboxController operator;
 
+	private SendableChooser<Command> autoChooser;
+
 	public RobotContainer() {
 		arm = new Arm();
 
@@ -58,8 +64,12 @@ public class RobotContainer {
 		driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 		operator = new CommandXboxController(OIConstants.kOperatorControllerPort);
 
+		autoChooser = AutoBuilder.buildAutoChooser();
+
 		configureButtonBindings();
 
+		configureNamedCommands();
+
 		configureShuffleboard();
 	}
 
@@ -148,10 +158,22 @@ public class RobotContainer {
 		);
 	}
 
+	private void configureNamedCommands() {
+		NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
+	}
+
 	//creates tabs and transforms them on the shuffleboard
     private void configureShuffleboard() {
+		ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTab);
     	ShuffleboardTab sensorTab = Shuffleboard.getTab(OIConstants.kSensorsTab);
 
+		Shuffleboard.selectTab(OIConstants.kAutoTab);
+
+		autoTab.add("Auto Selection", autoChooser)
+			.withSize(2, 1)
+			.withPosition(0, 0)
+			.withWidget(BuiltInWidgets.kComboBoxChooser);
+
 		sensorTab.addDouble("ElevatorPosition", elevator::getEncoderPosition)
 			.withSize(2, 1)
 			.withPosition(0, 0)
@@ -164,7 +186,7 @@ public class RobotContainer {
   }
 
 	public Command getAutonomousCommand() {
-		return new PrintCommand("NO AUTO DEFINED");
+		return autoChooser.getSelected();
 	}
 
 	//teleop routines

src/main/java/frc/robot/constants/AutoConstants.java

@@ -1,5 +1,13 @@
 package frc.robot.constants;
 
+import java.io.IOException;
+
+import org.json.simple.parser.ParseException;
+
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
 public class AutoConstants {
@@ -15,4 +23,21 @@ public class AutoConstants {
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+
+    // TODO This is a constant being managed like a static rewriteable variable
+    public static RobotConfig kRobotConfig;
+
+    public static final PPHolonomicDriveController kPPDriveController = new PPHolonomicDriveController(
+        new PIDConstants(kPXController, 0, 0),
+        new PIDConstants(kPYController, 0, 0)
+    );
+
+    static {
+        try {
+            kRobotConfig = RobotConfig.fromGUISettings();
+        } catch (IOException | ParseException e) {
+            System.err.println("FAILED TO READ ROBOTCONFIG, WAS THE CONFIG SET UP IN PATHPLANNER?");
+            e.printStackTrace();
+        }
+    }
 }

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -2,6 +2,12 @@ package frc.robot.constants;
 
 import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 public class ModuleConstants {
@@ -20,52 +26,73 @@ public class ModuleConstants {
     public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
         / kDrivingMotorReduction;
 
-    public static final int kDriveMotorCurrentLimit = 40;
+    public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final double kTurningFactor = 2 * Math.PI;
+    public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRps;
+    
+    public static final double kDriveP = .04;
+    public static final double kDriveI = 0;
+    public static final double kDriveD = 0;
+    public static final double kDriveS = 0;
+    public static final double kDriveV = kDrivingVelocityFeedForward;
+    public static final double kDriveA = 0;
+    
+    public static final double kTurnP = 1;
+    public static final double kTurnI = 0;
+    public static final double kTurnD = 0;
+
+    public static final int kDriveMotorStatorCurrentLimit = 120;
     public static final int kTurnMotorCurrentLimit = 20;
 
+    public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
+
+    public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
+    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 
 
-    public static final SparkMaxConfig drivingConfig = new SparkMaxConfig();
     public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
 
-    static {
+    public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
-        // Use module constants to calculate conversion factors and feed forward gain.
+    public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
-        double drivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
-        double turningFactor = 2 * Math.PI;
+    public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
-        double drivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRps;
 
-        drivingConfig
+    static {
-            .idleMode(IdleMode.kBrake)
+        kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
-            .smartCurrentLimit(kDriveMotorCurrentLimit);
+
-        drivingConfig.encoder
+        kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
-            .positionConversionFactor(drivingFactor) // meters
+        kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
-            .velocityConversionFactor(drivingFactor / 60.0); // meters per second
+
-        drivingConfig.closedLoop
+        kDriveMotorConfig.Inverted = kDriveInversionState;
-            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+        kDriveMotorConfig.NeutralMode = kDriveIdleMode;
-            // These are example gains you may need to them for your own robot!
+
-            .pid(0.04, 0, 0)
+        kDriveSlot0Config.kP = kDriveP;
-            .velocityFF(drivingVelocityFeedForward)
+        kDriveSlot0Config.kI = kDriveI;
-            .outputRange(-1, 1);
+        kDriveSlot0Config.kD = kDriveD;
+        kDriveSlot0Config.kS = kDriveS;
+        kDriveSlot0Config.kV = kDriveV;
+        kDriveSlot0Config.kA = kDriveA;
 
         turningConfig
-            .idleMode(IdleMode.kBrake)
+            .idleMode(kTurnIdleMode)
-            .smartCurrentLimit(20);
+            .smartCurrentLimit(kTurnMotorCurrentLimit);
         turningConfig.absoluteEncoder
             // Invert the turning encoder, since the output shaft rotates in the opposite
             // direction of the steering motor in the MAXSwerve Module.
             .inverted(true)
-            .positionConversionFactor(turningFactor) // radians
+            .positionConversionFactor(kTurningFactor) // radians
-            .velocityConversionFactor(turningFactor / 60.0); // radians per second
+            .velocityConversionFactor(kTurningFactor / 60.0); // radians per second
         turningConfig.closedLoop
             .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
             // These are example gains you may need to them for your own robot!
-            .pid(1, 0, 0)
+            .pid(kTurnP, kTurnI, kTurnD)
             .outputRange(-1, 1)
             // Enable PID wrap around for the turning motor. This will allow the PID
             // controller to go through 0 to get to the setpoint i.e. going from 350 degrees
             // to 10 degrees will go through 0 rather than the other direction which is a
             // longer route.
             .positionWrappingEnabled(true)
-            .positionWrappingInputRange(0, turningFactor);
+            .positionWrappingInputRange(0, kTurningFactor);
     }
 }

src/main/java/frc/robot/constants/OIConstants.java

@@ -6,5 +6,6 @@ public class OIConstants {
     
     public static final double kDriveDeadband = 0.05;
 
+    public static final String kAutoTab = "Auto Tab";
     public static final String kSensorsTab = "Sensors Tab";
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -4,9 +4,11 @@
 
 package frc.robot.subsystems;
 
+import java.util.Optional;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
+import com.pathplanner.lib.auto.AutoBuilder;
 import com.studica.frc.AHRS;
 import com.studica.frc.AHRS.NavXComType;
 
@@ -18,10 +20,10 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.AutoConstants;
 import frc.robot.constants.DrivetrainConstants;
 import frc.robot.constants.OIConstants;
 
@@ -75,6 +77,23 @@ public class Drivetrain extends SubsystemBase {
                 m_rearLeft.getPosition(),
                 m_rearRight.getPosition()
         });
+
+        AutoBuilder.configure(
+            this::getPose, 
+            this::resetOdometry, 
+            this::getCurrentChassisSpeeds, 
+            this::driveWithChassisSpeeds, 
+            AutoConstants.kPPDriveController, 
+            AutoConstants.kRobotConfig,
+            () -> {
+                Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+                    if (alliance.isPresent()) {
+                        return alliance.get() == DriverStation.Alliance.Red;
+                    }
+                    return false;
+            }, 
+            this
+        );
     }
 
     @Override
@@ -90,6 +109,23 @@ public class Drivetrain extends SubsystemBase {
         });
     }
 
+    public ChassisSpeeds getCurrentChassisSpeeds() {
+        return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
+            m_frontLeft.getState(),
+            m_frontRight.getState(),
+            m_rearLeft.getState(),
+            m_rearRight.getState()
+        );
+    }
+
+    public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
+        ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
+        SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
+        SwerveDriveKinematics.desaturateWheelSpeeds(newStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
+
+        setModuleStates(newStates);
+    }
+
     /**
      * Returns the currently-estimated pose of the robot.
      *

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -15,21 +15,22 @@ import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.RelativeEncoder;
 
 import frc.robot.constants.ModuleConstants;
 
 public class MAXSwerveModule {
-  private final SparkMax m_drivingSpark;
+  private final TalonFX m_drive;
   private final SparkMax m_turningSpark;
 
-  private final RelativeEncoder m_drivingEncoder;
   private final AbsoluteEncoder m_turningEncoder;
 
-  private final SparkClosedLoopController m_drivingClosedLoopController;
   private final SparkClosedLoopController m_turningClosedLoopController;
 
+  private final VelocityVoltage driveVelocityRequest;
+
   private double m_chassisAngularOffset = 0;
   private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
 
@@ -40,26 +41,29 @@ public class MAXSwerveModule {
    * Encoder.
    */
   public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngularOffset) {
-    m_drivingSpark = new SparkMax(drivingCANId, MotorType.kBrushless);
+    m_drive = new TalonFX(drivingCANId);
     m_turningSpark = new SparkMax(turningCANId, MotorType.kBrushless);
 
-    m_drivingEncoder = m_drivingSpark.getEncoder();
     m_turningEncoder = m_turningSpark.getAbsoluteEncoder();
 
-    m_drivingClosedLoopController = m_drivingSpark.getClosedLoopController();
     m_turningClosedLoopController = m_turningSpark.getClosedLoopController();
 
+    driveVelocityRequest = new VelocityVoltage(0).withSlot(0);
+
     // Apply the respective configurations to the SPARKS. Reset parameters before
     // applying the configuration to bring the SPARK to a known good state. Persist
     // the settings to the SPARK to avoid losing them on a power cycle.
-    m_drivingSpark.configure(ModuleConstants.drivingConfig, ResetMode.kResetSafeParameters,
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
-        PersistMode.kPersistParameters);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
+    m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
+
     m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,
         PersistMode.kPersistParameters);
 
     m_chassisAngularOffset = chassisAngularOffset;
     m_desiredState.angle = new Rotation2d(m_turningEncoder.getPosition());
-    m_drivingEncoder.setPosition(0);
+    m_drive.setPosition(0);
   }
 
   /**
@@ -70,7 +74,7 @@ public class MAXSwerveModule {
   public SwerveModuleState getState() {
     // Apply chassis angular offset to the encoder position to get the position
     // relative to the chassis.
-    return new SwerveModuleState(m_drivingEncoder.getVelocity(),
+    return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(),
         new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
   }
 
@@ -82,8 +86,7 @@ public class MAXSwerveModule {
   public SwerveModulePosition getPosition() {
     // Apply chassis angular offset to the encoder position to get the position
     // relative to the chassis.
-    return new SwerveModulePosition(
+    return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(),
-        m_drivingEncoder.getPosition(),
         new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset));
   }
 
@@ -102,14 +105,21 @@ public class MAXSwerveModule {
     correctedDesiredState.optimize(new Rotation2d(m_turningEncoder.getPosition()));
 
     // Command driving and turning SPARKS towards their respective setpoints.
-    m_drivingClosedLoopController.setReference(correctedDesiredState.speedMetersPerSecond, ControlType.kVelocity);
+    m_drive.setControl(
+      driveVelocityRequest.withVelocity(
+        correctedDesiredState.speedMetersPerSecond
+      ).withFeedForward(
+        correctedDesiredState.speedMetersPerSecond
+      )
+    );
+
     m_turningClosedLoopController.setReference(correctedDesiredState.angle.getRadians(), ControlType.kPosition);
 
     m_desiredState = desiredState;
   }
 
   public void setVoltageDrive(double voltage){
-    m_drivingSpark.setVoltage(voltage);
+    m_drive.setVoltage(voltage);
   }
 
   public void setVoltageTurn(double voltage) {
@@ -117,7 +127,7 @@ public class MAXSwerveModule {
   }
 
   public double getVoltageDrive() {
-    return m_drivingSpark.get() * RobotController.getBatteryVoltage();
+    return m_drive.get() * RobotController.getBatteryVoltage();
   }
 
   public double getVoltageTurn() {
@@ -126,6 +136,6 @@ public class MAXSwerveModule {
 
   /** Zeroes all the SwerveModule encoders. */
   public void resetEncoders() {
-    m_drivingEncoder.setPosition(0);
+    m_drive.setPosition(0);
   }
 }