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| Original file line number | Diff line number | Diff line change |
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| package frc.lib.util.swerve; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
| import com.ctre.phoenix6.StatusSignal; | ||
| import com.ctre.phoenix6.controls.ControlRequest; | ||
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| /** IO Class for SwerveModule */ | ||
| public interface SwerveModuleIO { | ||
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| /** Inputs Class for SwerveModule */ | ||
| @AutoLog | ||
| public static class SwerveModuleInputs { | ||
| public double angleEncoderValue; | ||
| public double driveMotorSelectedPosition; | ||
| public double driveMotorSelectedSensorVelocity; | ||
| public double angleMotorSelectedPosition; | ||
| public double driveMotorTemperature; | ||
| public double angleMotorTemperature; | ||
| } | ||
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| public default void updateInputs(SwerveModuleInputs inputs) {} | ||
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| public default void setDriveMotor(ControlRequest request) {} | ||
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| public default void setAngleMotor(ControlRequest request) {} | ||
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| public default void setAngleSelectedSensorPosition(double angle) {} | ||
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| public default StatusSignal<Double> getAbsolutePositionAngleEncoder() { | ||
| return null; | ||
| } | ||
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| public default void setPositionAngleMotor(double absolutePosition) {} | ||
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| public default StatusSignal<Double> getVelocityDriveMotor() { | ||
| return null; | ||
| } | ||
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| public default StatusSignal<Double> getPositionAngleMotor() { | ||
| return null; | ||
| } | ||
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| public default StatusSignal<Double> getPositionDriveMotor() { | ||
| return null; | ||
| } | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,131 @@ | ||
| package frc.lib.util.swerve; | ||
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| import com.ctre.phoenix6.StatusSignal; | ||
| import com.ctre.phoenix6.configs.CANcoderConfiguration; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.controls.ControlRequest; | ||
| import com.ctre.phoenix6.hardware.CANcoder; | ||
| import com.ctre.phoenix6.hardware.TalonFX; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import frc.robot.Constants; | ||
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| public class SwerveModuleReal implements SwerveModuleIO { | ||
|
Check warning on line 12 in src/main/java/frc/lib/util/swerve/SwerveModuleReal.java
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| private TalonFX mAngleMotor; | ||
| private TalonFX mDriveMotor; | ||
| private CANcoder angleEncoder; | ||
| private TalonFXConfiguration swerveAngleFXConfig = new TalonFXConfiguration(); | ||
| private TalonFXConfiguration swerveDriveFXConfig = new TalonFXConfiguration(); | ||
| private CANcoderConfiguration swerveCANcoderConfig = new CANcoderConfiguration(); | ||
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| public SwerveModuleReal(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID, | ||
|
Check warning on line 20 in src/main/java/frc/lib/util/swerve/SwerveModuleReal.java
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| Rotation2d angleOffset, SwerveModuleIO io) { | ||
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| angleEncoder = new CANcoder(cancoderID); | ||
| mDriveMotor = new TalonFX(driveMotorID); | ||
| mAngleMotor = new TalonFX(angleMotorID); | ||
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| configAngleEncoder(); | ||
| configAngleMotor(); | ||
| configDriveMotor(); | ||
| } | ||
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| private void configAngleMotor() { | ||
| /* Angle Motor Config */ | ||
| /* 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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| mAngleMotor.getConfigurator().apply(swerveAngleFXConfig); | ||
| } | ||
|
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| private void configDriveMotor() { | ||
| /* Drive Motor Config */ | ||
| /* 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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| mDriveMotor.getConfigurator().apply(swerveDriveFXConfig); | ||
| mDriveMotor.getConfigurator().setPosition(0.0); | ||
| } | ||
|
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| private void configAngleEncoder() { | ||
| /* Angle Encoder Config */ | ||
| swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.cancoderInvert; | ||
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| angleEncoder.getConfigurator().apply(swerveCANcoderConfig); | ||
| } | ||
|
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| public void setAngleMotor(ControlRequest request) { | ||
| mAngleMotor.setControl(request); | ||
| } | ||
|
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| public void setDriveMotor(ControlRequest request) { | ||
| mDriveMotor.setControl(request); | ||
| } | ||
|
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| public StatusSignal<Double> getAbsolutePositionAngleEncoder() { | ||
| return angleEncoder.getAbsolutePosition(); | ||
| } | ||
|
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| public void setPositionAngleMotor(double absolutePosition) { | ||
| mAngleMotor.setPosition(absolutePosition); | ||
| } | ||
|
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| public StatusSignal<Double> getVelocityDriveMotor() { | ||
| return mDriveMotor.getVelocity(); | ||
| } | ||
|
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| public StatusSignal<Double> getPositionAngleMotor() { | ||
| return mAngleMotor.getPosition(); | ||
| } | ||
|
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| public StatusSignal<Double> getPositionDriveMotor() { | ||
| return mDriveMotor.getPosition(); | ||
| } | ||
|
|
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| } | ||
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