Team_2648/2026-Robot-Code
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Adding a mechanism to zero the modules without an absolute encoder

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This commit is contained in:
Bradley Bickford
2026-01-21 17:52:25 -05:00
parent 929dd81329
commit 7f9214ae58
5 changed files with 129 additions and 5 deletions
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46
src/main/java/frc/robot/utilities/SwerveModule.java
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@@ -43,14 +43,43 @@ public class SwerveModule {
private String moduleName;
private boolean isAbsoluteEncoderDisabled;
/**
* Builds the swerve module but with the Absolute Encoder disabled.
*
* This constructor assumes you zeroed the swerve modules (faced all the bevel gears to the left)
* before booting up the robot.
*
* @param moduleName The module name, Front Left, Front Right, etc.
* @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
* @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID) {
this(moduleName, drivingCANID, turningCANID, -1, -1);
}
/**
* Builds the swerve module with the normal features
*
* @param moduleName The module name, Front Left, Front Right, etc.
* @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
* @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
* @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
* @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
drive = new TalonFX(drivingCANID);
turning = new SparkMax(turningCANID, MotorType.kBrushless);
turningRelativeEncoder = turning.getEncoder();
turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
if(!isAbsoluteEncoderDisabled) {
turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
}
turningClosedLoopController = turning.getClosedLoopController();
drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
@@ -65,7 +94,12 @@ public class SwerveModule {
PersistMode.kPersistParameters
);
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
if(isAbsoluteEncoderDisabled){
turningRelativeEncoder.setPosition(0);
} else {
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
}
drive.setPosition(0);
this.moduleName = "Drivetrain/Modules/" + moduleName;
@@ -118,6 +152,10 @@ public class SwerveModule {
}
public void zeroTurningEncoder() {
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
if(isAbsoluteEncoderDisabled) {
turningRelativeEncoder.setPosition(0);
} else {
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
}
}
}