First tinkering iteration, missing some stuff

2026-01-12 23:25:11 -05:00
parent ec73c42cfb
commit 58a6971704
20 changed files with 1752 additions and 3 deletions
--- a/src/main/java/frc/robot/constants/ModuleConstants.java
+++ b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -0,0 +1,102 @@
+package frc.robot.constants;
+
+import com.ctre.phoenix6.configs.AudioConfigs;
+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.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.util.Units;
+
+public class ModuleConstants {
+    // DRIVING MOTOR CONFIG (Kraken)
+    // TODO Replace with something other than 0
+    public static final double kDrivingMotorReduction = 0;
+
+    public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
+    public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
+    public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
+    public static final double kDriveWheelFreeSpeedRPS = (kDrivingMotorFeedSpeedRPS * kWheelCircumferenceMeters) /
+        kDrivingMotorReduction;
+    public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
+    public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
+    
+    // TODO Hold over from 2025, adjust?
+    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;
+
+    // TODO Hold over from 2025, adjust?
+    public static final int kDriveMotorStatorCurrentLimit = 100;
+    public static final int kDriveMotorSupplyCurrentLimit = 65;
+
+    // TODO Hold over from 2025, adjust?
+    public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
+
+    // TURNING MOTOR CONFIG (NEO)
+
+    // TODO Hold over from 2025, adjust?
+    public static final double kTurningMotorReduction = 0;
+    public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
+    public static final double kTurnP = 1;
+    public static final double kTurnI = 0;
+    public static final double kTurnD = 0;
+    
+    public static final int kTurnMotorCurrentLimit = 20;
+
+    public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
+
+    public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
+    public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
+    public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
+    public static final AudioConfigs kAudioConfig = new AudioConfigs();
+    public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
+
+    static {
+        kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
+
+        kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
+        kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
+        kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
+        kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
+
+        kDriveMotorConfig.Inverted = kDriveInversionState;
+        kDriveMotorConfig.NeutralMode = kDriveIdleMode;
+
+        kAudioConfig.AllowMusicDurDisable = true;
+
+        kDriveSlot0Config.kP = kDriveP;
+        kDriveSlot0Config.kI = kDriveI;
+        kDriveSlot0Config.kD = kDriveD;
+        kDriveSlot0Config.kS = kDriveS;
+        kDriveSlot0Config.kV = kDriveV;
+        kDriveSlot0Config.kA = kDriveA;
+
+        turningConfig
+            .idleMode(kTurnIdleMode)
+            .smartCurrentLimit(kTurnMotorCurrentLimit);
+        turningConfig.encoder
+            .inverted(true)
+            .positionConversionFactor(kTurningFactor)
+            .velocityConversionFactor(kTurningFactor / 60.0);
+        turningConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+            .pid(kTurnP, kTurnI, kTurnD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, 2 * Math.PI);
+    }
+}