Update mini swerve cancoder constants (#26)

Frc5572 · Jan 27, 2023 · 71c8c98 · 71c8c98
1 parent 6495231
commit 71c8c98
Show file tree

Hide file tree

Showing 12 changed files with 13 additions and 452 deletions.
diff --git a/src/main/java/frc/robot/CTREModuleState.java b/src/main/java/frc/robot/CTREModuleState.java
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -3,7 +3,6 @@
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
 import frc.lib.util.SwerveModuleConstants;
 
@@ -95,7 +94,7 @@ public static final class Mod0 {
             public static final int driveMotorID = 50;
             public static final int angleMotorID = 8;
             public static final int canCoderID = 3;
-            public static final double angleOffset = 138.428;
+            public static final double angleOffset = 138.867;
             public static final SwerveModuleConstants constants =
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
@@ -107,7 +106,7 @@ public static final class Mod1 {
             public static final int driveMotorID = 51;
             public static final int angleMotorID = 52;
             public static final int canCoderID = 2;
-            public static final double angleOffset = 87.891;
+            public static final double angleOffset = 109.775;
             public static final SwerveModuleConstants constants =
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
@@ -131,7 +130,7 @@ public static final class Mod3 {
             public static final int driveMotorID = 3;
             public static final int angleMotorID = 53;
             public static final int canCoderID = 4;
-            public static final double angleOffset = 32.695;
+            public static final double angleOffset = 31.816;
             public static final SwerveModuleConstants constants =
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
@@ -144,18 +143,6 @@ public static final class Mod3 {
      * Autonomous constants for swerve bot.
      */
     public static final class AutoConstants {
-        public static final double kMaxSpeedMetersPerSecond = 1;
-        public static final double kMaxAccelerationMetersPerSecondSquared = 1;
-        public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
-        public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
-
-        public static final double kPXController = 1;
-        public static final double kPYController = 1;
-        public static final double kPThetaController = 1;
-
-        // Constraint for the motion profilied robot angle controller
-        public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-            new TrapezoidProfile.Constraints(kMaxAngularSpeedRadiansPerSecond,
-                kMaxAngularSpeedRadiansPerSecondSquared);
+
     }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -11,7 +11,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.autos.ResnickAuto;
 import frc.robot.commands.TeleopSwerve;
 import frc.robot.subsystems.Swerve;
 
@@ -27,28 +26,14 @@ public class RobotContainer {
 
     private final SendableChooser<Command> autoChooser = new SendableChooser<>();
 
-    private static final String resnickAuto = "Resnick Auto";
-
-
-    /* Drive Controls */
-
-    /* Driver Buttons */
-
-
-    boolean fieldRelative;
-    boolean openLoop;
-
-
     /* Subsystems */
     private final Swerve s_Swerve = new Swerve();
 
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
     public RobotContainer() {
-        this.fieldRelative = Constants.Swerve.isFieldRelative;
-        this.openLoop = Constants.Swerve.isOpenLoop;
         s_Swerve.setDefaultCommand(new TeleopSwerve(s_Swerve, driver,
             Constants.Swerve.isFieldRelative, Constants.Swerve.isOpenLoop));
-        autoChooser.addOption(resnickAuto, new ResnickAuto(s_Swerve));
+        // autoChooser.addOption(resnickAuto, new ResnickAuto(s_Swerve));
         SmartDashboard.putData("Choose Auto: ", autoChooser);
         // Configure the button bindings
         configureButtonBindings();
@@ -72,9 +57,6 @@ private void configureButtonBindings() {
      */
 
     public Command getAutonomousCommand() {
-
-
-
         return autoChooser.getSelected();
 
     }

diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java
@@ -9,6 +9,7 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import frc.lib.math.Conversions;
+import frc.lib.util.CTREModuleState;
 
 /**
  * Base Swerve Module Class. Creates an instance of the swerve module

diff --git a/src/main/java/frc/robot/SwerveModuleConstants.java b/src/main/java/frc/robot/SwerveModuleConstants.java
diff --git a/src/main/java/frc/robot/autos/.keep b/src/main/java/frc/robot/autos/.keep
diff --git a/src/main/java/frc/robot/autos/ExampleAuto.java b/src/main/java/frc/robot/autos/ExampleAuto.java
diff --git a/src/main/java/frc/robot/autos/LimelightAuto.java b/src/main/java/frc/robot/autos/LimelightAuto.java
diff --git a/src/main/java/frc/robot/autos/ResnickAuto.java b/src/main/java/frc/robot/autos/ResnickAuto.java