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IT WORKS!!!!!!!!!!! Next time just steal from the creators originally
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| package frc.lib.math; | ||
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| public class Conversions { | ||
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| /** | ||
| * @param wheelRPS Wheel Velocity: (in Rotations per Second) | ||
| * @param circumference Wheel Circumference: (in Meters) | ||
| * @return Wheel Velocity: (in Meters per Second) | ||
| */ | ||
| public static double RPSToMPS(double wheelRPS, double circumference) { | ||
| double wheelMPS = wheelRPS * circumference; | ||
| return wheelMPS; | ||
| } | ||
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| /** | ||
| * @param wheelMPS Wheel Velocity: (in Meters per Second) | ||
| * @param circumference Wheel Circumference: (in Meters) | ||
| * @return Wheel Velocity: (in Rotations per Second) | ||
| */ | ||
| public static double MPSToRPS(double wheelMPS, double circumference) { | ||
| double wheelRPS = wheelMPS / circumference; | ||
| return wheelRPS; | ||
| } | ||
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| /** | ||
| * @param wheelRotations Wheel Position: (in Rotations) | ||
| * @param circumference Wheel Circumference: (in Meters) | ||
| * @return Wheel Distance: (in Meters) | ||
| */ | ||
| public static double rotationsToMeters(double wheelRotations, double circumference) { | ||
| double wheelMeters = wheelRotations * circumference; | ||
| return wheelMeters; | ||
| } | ||
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| /** | ||
| * @param wheelMeters Wheel Distance: (in Meters) | ||
| * @param circumference Wheel Circumference: (in Meters) | ||
| * @return Wheel Position: (in Rotations) | ||
| */ | ||
| public static double metersToRotations(double wheelMeters, double circumference) { | ||
| double wheelRotations = wheelMeters / circumference; | ||
| return wheelRotations; | ||
| } | ||
| } | ||
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| package frc.lib.util.ctre; | ||
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| import com.ctre.phoenix6.configs.CANcoderConfiguration; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import frc.robot.Constants; | ||
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| public final class CTREConfigs { | ||
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| public TalonFXConfiguration swerveAngleFXConfig = new TalonFXConfiguration(); | ||
| public TalonFXConfiguration swerveDriveFXConfig = new TalonFXConfiguration(); | ||
| public CANcoderConfiguration swerveCANcoderConfig = new CANcoderConfiguration(); | ||
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| public CTREConfigs() { | ||
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| /** Swerve CANCoder Configuration */ | ||
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| swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.cancoderInvert; | ||
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| /** Swerve Angle Motor Configurations */ | ||
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| /* Motor Inverts and Neutral Mode */ | ||
| swerveAngleFXConfig.MotorOutput.Inverted = Constants.Swerve.angleMotorInvert; | ||
| swerveAngleFXConfig.MotorOutput.NeutralMode = Constants.Swerve.angleNeutralMode; | ||
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| /* Gear Ratio and Wrapping Config */ | ||
| swerveAngleFXConfig.Feedback.SensorToMechanismRatio = Constants.Swerve.angleGearRatio; | ||
| swerveAngleFXConfig.ClosedLoopGeneral.ContinuousWrap = true; | ||
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| /* Current Limiting */ | ||
| swerveAngleFXConfig.CurrentLimits.SupplyCurrentLimitEnable = | ||
| Constants.Swerve.angleEnableCurrentLimit; | ||
| swerveAngleFXConfig.CurrentLimits.SupplyCurrentLimit = Constants.Swerve.angleCurrentLimit; | ||
| swerveAngleFXConfig.CurrentLimits.SupplyCurrentThreshold = | ||
| Constants.Swerve.angleCurrentThreshold; | ||
| swerveAngleFXConfig.CurrentLimits.SupplyTimeThreshold = | ||
| Constants.Swerve.angleCurrentThresholdTime; | ||
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| /* PID Config */ | ||
| swerveAngleFXConfig.Slot0.kP = Constants.Swerve.angleKP; | ||
| swerveAngleFXConfig.Slot0.kI = Constants.Swerve.angleKI; | ||
| swerveAngleFXConfig.Slot0.kD = Constants.Swerve.angleKD; | ||
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| /** Swerve Drive Motor Configuration */ | ||
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| /* Motor Inverts and Neutral Mode */ | ||
| swerveDriveFXConfig.MotorOutput.Inverted = Constants.Swerve.driveMotorInvert; | ||
| swerveDriveFXConfig.MotorOutput.NeutralMode = Constants.Swerve.driveNeutralMode; | ||
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| /* Gear Ratio Config */ | ||
| swerveDriveFXConfig.Feedback.SensorToMechanismRatio = Constants.Swerve.driveGearRatio; | ||
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| /* Current Limiting */ | ||
| swerveDriveFXConfig.CurrentLimits.SupplyCurrentLimitEnable = | ||
| Constants.Swerve.driveEnableCurrentLimit; | ||
| swerveDriveFXConfig.CurrentLimits.SupplyCurrentLimit = Constants.Swerve.driveCurrentLimit; | ||
| swerveDriveFXConfig.CurrentLimits.SupplyCurrentThreshold = | ||
| Constants.Swerve.driveCurrentThreshold; | ||
| swerveDriveFXConfig.CurrentLimits.SupplyTimeThreshold = | ||
| Constants.Swerve.driveCurrentThresholdTime; | ||
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| /* PID Config */ | ||
| swerveDriveFXConfig.Slot0.kP = Constants.Swerve.driveKP; | ||
| swerveDriveFXConfig.Slot0.kI = Constants.Swerve.driveKI; | ||
| swerveDriveFXConfig.Slot0.kD = Constants.Swerve.driveKD; | ||
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| /* Open and Closed Loop Ramping */ | ||
| swerveDriveFXConfig.OpenLoopRamps.DutyCycleOpenLoopRampPeriod = | ||
| Constants.Swerve.openLoopRamp; | ||
| swerveDriveFXConfig.OpenLoopRamps.VoltageOpenLoopRampPeriod = Constants.Swerve.openLoopRamp; | ||
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| swerveDriveFXConfig.ClosedLoopRamps.DutyCycleClosedLoopRampPeriod = | ||
| Constants.Swerve.closedLoopRamp; | ||
| swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod = | ||
| Constants.Swerve.closedLoopRamp; | ||
| } | ||
| } | ||
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