Simulation fixes

CrossTheRoadElec · Dec 8, 2023 · 0383351 · 0383351
1 parent 5225e1f
commit 0383351
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Showing 38 changed files with 66 additions and 66 deletions.
diff --git a/cpp/BasicLatencyCompensation/build.gradle b/cpp/BasicLatencyCompensation/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CANcoder/build.gradle b/cpp/CANcoder/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CommandBasedDrive/build.gradle b/cpp/CommandBasedDrive/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CommandBasedDrive/src/main/include/subsystems/DriveSubsystem.h b/cpp/CommandBasedDrive/src/main/include/subsystems/DriveSubsystem.h
@@ -43,7 +43,7 @@ class DriveSubsystem : public frc2::SubsystemBase
     static constexpr units::inch_t kWheelRadiusInches = 3_in;
 
     frc::sim::DifferentialDrivetrainSim m_driveSim{
-        frc::DCMotor::Falcon500(2),
+        frc::DCMotor::Falcon500FOC(2),
         kGearRatio,
         2.1_kg_sq_m, // MOI of 2.1 kg m^2 (from CAD model)
         26.5_kg,     // Mass of robot is 26.5 kg

diff --git a/cpp/CurrentLimits/build.gradle b/cpp/CurrentLimits/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/Falcon500ArcadeDrive/build.gradle b/cpp/Falcon500ArcadeDrive/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/FusedCANcoder/build.gradle b/cpp/FusedCANcoder/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/MotionMagic/build.gradle b/cpp/MotionMagic/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/MotionMagic/src/main/cpp/sim/TalonFXSimProfile.cpp b/cpp/MotionMagic/src/main/cpp/sim/TalonFXSimProfile.cpp
@@ -3,7 +3,7 @@
 using namespace ctre::phoenix6;
 
 TalonFXSimProfile::TalonFXSimProfile(hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia) :
-    _motorSim{frc::DCMotor::Falcon500(1), 1, rotorInertia},
+    _motorSim{frc::DCMotor::Falcon500FOC(1), 1, rotorInertia},
     _falcon{falcon} {
 }
 
@@ -15,9 +15,10 @@ void TalonFXSimProfile::Run() {
     _motorSim.Update(GetPeriod());
 
     /// SET SIM PHYSICS INPUTS
-    auto velocity = _motorSim.GetAngularVelocity();
+    auto const position = _motorSim.GetAngularPosition();
+    auto const velocity = _motorSim.GetAngularVelocity();
 
-    _falcon.GetSimState().SetRawRotorPosition(_motorSim.GetAngularPosition());
+    _falcon.GetSimState().SetRawRotorPosition(position);
     _falcon.GetSimState().SetRotorVelocity(velocity);
 
     _falcon.GetSimState().SetSupplyVoltage(12_V - _falcon.GetSimState().GetSupplyCurrent() * kMotorResistance);

diff --git a/cpp/Pigeon2/build.gradle b/cpp/Pigeon2/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/PositionClosedLoop/build.gradle b/cpp/PositionClosedLoop/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/Simulation/build.gradle b/cpp/Simulation/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/Simulation/src/main/include/Robot.h b/cpp/Simulation/src/main/include/Robot.h
@@ -44,7 +44,7 @@ class Robot : public frc::TimedRobot {
   static constexpr units::inch_t kWheelRadiusInches = 3_in;
 
   frc::sim::DifferentialDrivetrainSim m_driveSim{
-    frc::DCMotor::Falcon500(2),
+    frc::DCMotor::Falcon500FOC(2),
     kGearRatio,
     2.1_kg_sq_m, // MOI of 2.1 kg m^2 (from CAD model)
     26.5_kg,     // Mass of robot is 26.5 kg

diff --git a/cpp/VelocityClosedLoop/build.gradle b/cpp/VelocityClosedLoop/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/WaitForAll/build.gradle b/cpp/WaitForAll/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/java/BasicLatencyCompensation/build.gradle b/java/BasicLatencyCompensation/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/CANcoder/build.gradle b/java/CANcoder/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/CANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java b/java/CANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java
@@ -2,7 +2,6 @@
 
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.sim.CANcoderSimState;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
@@ -19,7 +18,6 @@ class TalonFXSimProfile extends SimProfile {
     private final double _gearRatio;
 
     private final DCMotorSim _motorSim;
-    private final CANcoderSimState _cancoderSim; // We need a sim state in order to change the values of CANcoder
 
     /**
      * Creates a new simulation profile for a TalonFX device.
@@ -38,8 +36,7 @@ public TalonFXSimProfile(final TalonFX falcon, final CANcoder canCoder, final do
         this._falcon = falcon;
         this._canCoder = canCoder;
         this._gearRatio = gearRatio;
-        this._motorSim = new DCMotorSim(DCMotor.getFalcon500(1), 100, .001);
-        this._cancoderSim = _canCoder.getSimState();
+        this._motorSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), gearRatio, .001);
     }
 
     /**
@@ -56,18 +53,15 @@ public void run() {
         _motorSim.update(getPeriod());
 
         // SET SIM PHYSICS INPUTS
-        double position = _motorSim.getAngularPositionRotations();
-        double velocity = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
+        final double position_rot = _motorSim.getAngularPositionRotations() * _gearRatio;
+        final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec()) * _gearRatio;
 
-        _falcon.getSimState().setRawRotorPosition(position);
-        _falcon.getSimState().setRotorVelocity(velocity);
+        _falcon.getSimState().setRawRotorPosition(position_rot);
+        _falcon.getSimState().setRotorVelocity(velocity_rps);
 
         _falcon.getSimState().setSupplyVoltage(12 - _falcon.getSimState().getSupplyCurrent() * kMotorResistance);
 
-        _canCoder.getSimState().setRawPosition(_motorSim.getAngularPositionRotations() / _gearRatio);
-        _canCoder.getSimState().setVelocity(velocity / _gearRatio);
-
-        _cancoderSim.setRawPosition(position);
-        _cancoderSim.setVelocity(velocity);
+        _canCoder.getSimState().setRawPosition(position_rot / _gearRatio);
+        _canCoder.getSimState().setVelocity(velocity_rps / _gearRatio);
     }
 }
diff --git a/java/CommandBasedDrive/build.gradle b/java/CommandBasedDrive/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -56,7 +56,7 @@ public class DriveSubsystem extends SubsystemBase {
 
     /* Simulation model of the drivetrain */
     private final DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
-        DCMotor.getFalcon500(2), // 2 CIMS on each side of the drivetrain.
+        DCMotor.getFalcon500Foc(2), // 2 CIMS on each side of the drivetrain.
         kGearRatio, // Standard AndyMark Gearing reduction.
         2.1, // MOI of 2.1 kg m^2 (from CAD model).
         26.5, // Mass of the robot is 26.5 kg.

diff --git a/java/ControlRequestLimits/build.gradle b/java/ControlRequestLimits/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/CurrentLimits/build.gradle b/java/CurrentLimits/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/Falcon500ArcadeDrive/build.gradle b/java/Falcon500ArcadeDrive/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/FusedCANcoder/build.gradle b/java/FusedCANcoder/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/FusedCANcoder/src/main/java/frc/robot/Robot.java b/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
@@ -94,7 +94,7 @@ public void robotPeriodic() {
         }
       }
 
-      if(m_joystick.getAButton()) {
+      if (m_joystick.getAButton()) {
         /* Clear sticky faults */
         m_fx.clearStickyFaults();
       }
@@ -137,7 +137,7 @@ public void testPeriodic() {}
 
   @Override
   public void simulationInit() {
-    PhysicsSim.getInstance().addTalonFX(m_fx, m_cc, 25, 0.001);
+    PhysicsSim.getInstance().addTalonFX(m_fx, m_cc, 12.8, 0.001);
   }
 
   @Override

diff --git a/java/FusedCANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java b/java/FusedCANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java
@@ -36,7 +36,7 @@ public TalonFXSimProfile(final TalonFX falcon, final CANcoder canCoder, final do
         this._falcon = falcon;
         this._canCoder = canCoder;
         this._gearRatio = gearRatio;
-        this._motorSim = new DCMotorSim(DCMotor.getFalcon500(1), gearRatio, rotorInertia);
+        this._motorSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), gearRatio, rotorInertia);
     }
 
     /**
@@ -54,15 +54,16 @@ public void run() {
         _motorSim.update(getPeriod());
 
         /// SET SIM PHYSICS INPUTS
-        double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
+        final double position_rot = _motorSim.getAngularPositionRotations() * _gearRatio;
+        final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec()) * _gearRatio;
 
-        _falcon.getSimState().setRawRotorPosition(_motorSim.getAngularPositionRotations());
+        _falcon.getSimState().setRawRotorPosition(position_rot);
         _falcon.getSimState().setRotorVelocity(velocity_rps);
 
         _falcon.getSimState().setSupplyVoltage(12 - _falcon.getSimState().getSupplyCurrent() * kMotorResistance);
 
-        _canCoder.getSimState().setRawPosition(_motorSim.getAngularPositionRotations()/_gearRatio);
-        _canCoder.getSimState().setVelocity(velocity_rps/_gearRatio);
+        _canCoder.getSimState().setRawPosition(position_rot / _gearRatio);
+        _canCoder.getSimState().setVelocity(velocity_rps / _gearRatio);
 
     }
 }
diff --git a/java/MotionMagic/build.gradle b/java/MotionMagic/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/MotionMagic/src/main/java/frc/robot/sim/TalonFXSimProfile.java b/java/MotionMagic/src/main/java/frc/robot/sim/TalonFXSimProfile.java
@@ -31,7 +31,7 @@ class TalonFXSimProfile extends SimProfile {
      */
     public TalonFXSimProfile(final TalonFX falcon, final double rotorInertia) {
         this._falcon = falcon;
-        this._motorSim = new DCMotorSim(DCMotor.getFalcon500(1), 1.0, rotorInertia);
+        this._motorSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), 1.0, rotorInertia);
     }
 
     /**
@@ -49,9 +49,10 @@ public void run() {
         _motorSim.update(getPeriod());
 
         /// SET SIM PHYSICS INPUTS
-        double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
+        final double position_rot = _motorSim.getAngularPositionRotations();
+        final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
 
-        _falcon.getSimState().setRawRotorPosition(_motorSim.getAngularPositionRotations());
+        _falcon.getSimState().setRawRotorPosition(position_rot);
         _falcon.getSimState().setRotorVelocity(velocity_rps);
 
         _falcon.getSimState().setSupplyVoltage(12 - _falcon.getSimState().getSupplyCurrent() * kMotorResistance);

diff --git a/java/Pigeon2/build.gradle b/java/Pigeon2/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/Pigeon2/src/main/java/frc/robot/sim/TalonFXSimProfile.java b/java/Pigeon2/src/main/java/frc/robot/sim/TalonFXSimProfile.java
@@ -34,7 +34,7 @@ class TalonFXSimProfile extends SimProfile {
     public TalonFXSimProfile(final TalonFX falcon, final Pigeon2 pigeon, final double rotorInertia) {
         this._falcon = falcon;
         this._pigeon = pigeon;
-        this._motorSim = new DCMotorSim(DCMotor.getFalcon500(1), 1.0, rotorInertia);
+        this._motorSim = new DCMotorSim(DCMotor.getFalcon500Foc(1), 1.0, rotorInertia);
     }
 
     /**
@@ -52,14 +52,15 @@ public void run() {
         _motorSim.update(getPeriod());
 
         /// SET SIM PHYSICS INPUTS
-        double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
+        final double position_rot = _motorSim.getAngularPositionRotations();
+        final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec());
 
-        _falcon.getSimState().setRawRotorPosition(_motorSim.getAngularPositionRotations());
+        _falcon.getSimState().setRawRotorPosition(position_rot);
         _falcon.getSimState().setRotorVelocity(velocity_rps);
 
         _falcon.getSimState().setSupplyVoltage(12 - _falcon.getSimState().getSupplyCurrent() * kMotorResistance);
 
-        _pigeon.getSimState().setRawYaw(_motorSim.getAngularPositionRotations());
+        _pigeon.getSimState().setRawYaw(position_rot);
 
     }
 }
diff --git a/java/PositionClosedLoop/build.gradle b/java/PositionClosedLoop/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {