Team_2648/2026-Robot-Code
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Adding a preliminary mechanism for auto rezeroing the turning encoder from the absolute encoder when it's not moving

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This commit is contained in:
Bradley Bickford
2026-01-22 17:03:24 -05:00
parent 7c4a381f2b
commit c6cc0c6b60
2 changed files with 41 additions and 1 deletions
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34
src/main/java/frc/robot/utilities/SwerveModule.java
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@@ -43,7 +43,10 @@ public class SwerveModule {
private String moduleName;
private SwerveModuleState lastTargetState;
private boolean isAbsoluteEncoderDisabled;
private boolean turningEncoderAutoRezeroEnabled;
/**
* Builds the swerve module but with the Absolute Encoder disabled.
@@ -60,7 +63,8 @@ public class SwerveModule {
}
/**
* Builds the swerve module with the normal features
* Builds the swerve module with the normal features, disables automatic rezeroing of the turning encoder
* from the absolute encoder.
*
* @param moduleName The module name, Front Left, Front Right, etc.
* @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
@@ -69,6 +73,22 @@ public class SwerveModule {
* @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) {
this(moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
}
/**
* Builds the swerve module with the normal features, and gives the option to enable automatic turning encoder rezeroing
* when the turning motor is not moving
*
* @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
* @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
*/
public SwerveModule(String moduleName, int drivingCANID, int turningCANID,
int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
drive = new TalonFX(drivingCANID);
@@ -102,6 +122,10 @@ public class SwerveModule {
drive.setPosition(0);
this.lastTargetState = getState();
this.turningEncoderAutoRezeroEnabled = turningEncoderAutoRezeroEnabled;
this.moduleName = "Drivetrain/Modules/" + moduleName;
}
@@ -109,6 +133,12 @@ public class SwerveModule {
Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
if(!isAbsoluteEncoderDisabled && turningEncoderAutoRezeroEnabled) {
if(Math.abs(getState().angle.getRadians() - lastTargetState.angle.getRadians()) <= ModuleConstants.kAutoResetPositionDeadband) {
resetEncoders();
}
}
}
public SwerveModuleState getState() {
@@ -131,6 +161,8 @@ public class SwerveModule {
// Probably doesn't *hurt* that it's here, but it may not be needed
desiredState.optimize(new Rotation2d(turningRelativeEncoder.getPosition()));
lastTargetState = desiredState;
drive.setControl(
driveVelocityRequest.withVelocity(
desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters