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naming changes, fix constants
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@naowalrahman
naowalrahman committed Oct 18, 2023
1 parent 5559d1d commit 39246b7
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Showing 4 changed files with 65 additions and 30 deletions.
8 changes: 5 additions & 3 deletions src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
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Expand Up @@ -2,7 +2,9 @@

import java.util.Optional;

import com.stuypulse.robot.constants.Settings.Swerve;
import com.stuypulse.robot.constants.Settings.Driver.Drive;
import com.stuypulse.robot.constants.Settings.Driver.Turn;
import com.stuypulse.robot.constants.Settings.Swerve.Drive.*;
import com.stuypulse.robot.subsystems.SwerveDrive;
import com.stuypulse.stuylib.input.Gamepad;
import com.stuypulse.stuylib.streams.IStream;
Expand Down Expand Up @@ -42,11 +44,11 @@ public void initialize() {
}

private boolean isWithinTurnDeadband() {
return Math.abs(turn.get()) < Swerve.MAX_MODULE_TURN.get();
return Math.abs(turn.get()) < Turn.DEADBAND.get();
}

private boolean isWithinDriveDeadband() {
return Math.abs(speed.get().magnitude()) < Swerve.MAX_MODULE_SPEED.get();
return Math.abs(speed.get().magnitude()) < Drive.DEADBAND.get();
}

@Override
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54 changes: 43 additions & 11 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Expand Up @@ -5,6 +5,7 @@

package com.stuypulse.robot.constants;

import com.stuypulse.stuylib.network.SmartBoolean;
import com.stuypulse.stuylib.network.SmartNumber;

import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -21,12 +22,13 @@ public interface Settings {
double DT = 0.02;

public interface Swerve {
double WIDTH = Units.inchesToMeters(26.504);
double LENGTH = Units.inchesToMeters(20.508);
// TODO: Ask Harry for drivetrain dimensions
double WIDTH = Units.inchesToMeters(0);
double LENGTH = Units.inchesToMeters(0);

SmartNumber MODULE_SPEED_DEADBAND = new SmartNumber("Swerve/Module speed deadband", 0.02);
SmartNumber MAX_MODULE_SPEED = new SmartNumber("Swerve/Maximum module speed", 5);
SmartNumber MAX_MODULE_TURN = new SmartNumber("Swerve/Maximum module turn", 6.28);
SmartNumber MODULE_VELOCITY_DEADBAND = new SmartNumber("Swerve/Module velocity deadband (m per s)", 0.02);
SmartNumber MAX_MODULE_SPEED = new SmartNumber("Swerve/Maximum module speed (rad per s)", 5); // Ask Harry for max theoretical speed
SmartNumber MAX_MODULE_TURN = new SmartNumber("Swerve/Maximum module turn (m per s)", 6.28); // Ask Harry for max theoretical turn

public interface Turn {
SmartNumber kP = new SmartNumber("Swerve/Turn/kP", 3.5);
Expand All @@ -46,34 +48,64 @@ public interface Drive {
SmartNumber kV = new SmartNumber("Swerve/Drive/kV", 2.4899);
SmartNumber kA = new SmartNumber("Swerve/Drive/kA", 0.41763);
}


// measure offsets
public interface FrontRight {
String ID = "Front Right";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(357.213206) // recalibrated 4/21
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(0)
.plus(Rotation2d.fromDegrees(0));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
}

public interface FrontLeft {
String ID = "Front Left";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(249.731491) // recalibrated 3/24
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(0)
.plus(Rotation2d.fromDegrees(270));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * +0.5);
}

public interface BackLeft {
String ID = "Back Left";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(125.371964) // recalibrated 4/6
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(0)
.plus(Rotation2d.fromDegrees(180));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * +0.5);
}

public interface BackRight {
String ID = "Back Right";
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(7.748473) // recalibrated 5/24
Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(0)
.plus(Rotation2d.fromDegrees(90));
Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
}

}

public interface Driver {
public interface Drive {
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.03);

SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.2);
SmartNumber POWER = new SmartNumber("Driver Settings/Drive/Power", 1.5);

SmartNumber MAX_TELEOP_SPEED = new SmartNumber("Driver Settings/Drive/Max Speed", Swerve.MAX_MODULE_SPEED.get());
SmartNumber MAX_TELEOP_ACCEL = new SmartNumber("Driver Settings/Drive/Max Accleration", 15);
}

public interface Turn {
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Turn/Deadband", 0.05);

SmartNumber RC = new SmartNumber("Driver Settings/Turn/RC", 0.15);
SmartNumber POWER = new SmartNumber("Driver Settings/Turn/Power", 2);

SmartNumber MAX_TELEOP_TURNING = new SmartNumber("Driver Settings/Turn/Max Turning", 6.0);

public interface GyroFeedback {
SmartBoolean GYRO_FEEDBACK_ENABLED = new SmartBoolean("Driver Settings/Gyro Feedback/Enabled", true);

SmartNumber P = new SmartNumber("Driver Settings/Gyro Feedback/kP", 0.5);
SmartNumber I = new SmartNumber("Driver Settings/Gyro Feedback/kI", 0.0);
SmartNumber D = new SmartNumber("Driver Settings/Gyro Feedback/kD", 0.1);
}
}

}
}
12 changes: 6 additions & 6 deletions src/main/java/com/stuypulse/robot/subsystems/SwerveDrive.java
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Expand Up @@ -28,23 +28,23 @@ public class SwerveDrive extends SubsystemBase {

static {
instance = new SwerveDrive(
new SL_SwerveModule(FrontRight.ID, FrontRight.MODULE_OFFSET, FrontRight.ABSOLUTE_OFFSET, Ports.Swerve.FrontRight.TURN, Ports.Swerve.FrontRight.DRIVE),
new SL_SwerveModule(FrontLeft.ID, FrontLeft.MODULE_OFFSET, FrontLeft.ABSOLUTE_OFFSET, Ports.Swerve.FrontLeft.TURN, Ports.Swerve.FrontLeft.DRIVE),
new SL_SwerveModule(BackLeft.ID, BackLeft.MODULE_OFFSET, BackLeft.ABSOLUTE_OFFSET, Ports.Swerve.BackLeft.TURN, Ports.Swerve.BackLeft.DRIVE),
new SL_SwerveModule(BackRight.ID, BackRight.MODULE_OFFSET, BackRight.ABSOLUTE_OFFSET, Ports.Swerve.BackRight.TURN, Ports.Swerve.BackRight.DRIVE)
new SwerveModuleImpl(FrontRight.ID, FrontRight.MODULE_OFFSET, FrontRight.ABSOLUTE_OFFSET, Ports.Swerve.FrontRight.TURN, Ports.Swerve.FrontRight.DRIVE),
new SwerveModuleImpl(FrontLeft.ID, FrontLeft.MODULE_OFFSET, FrontLeft.ABSOLUTE_OFFSET, Ports.Swerve.FrontLeft.TURN, Ports.Swerve.FrontLeft.DRIVE),
new SwerveModuleImpl(BackLeft.ID, BackLeft.MODULE_OFFSET, BackLeft.ABSOLUTE_OFFSET, Ports.Swerve.BackLeft.TURN, Ports.Swerve.BackLeft.DRIVE),
new SwerveModuleImpl(BackRight.ID, BackRight.MODULE_OFFSET, BackRight.ABSOLUTE_OFFSET, Ports.Swerve.BackRight.TURN, Ports.Swerve.BackRight.DRIVE)
);
}

public static SwerveDrive getInstance() {
return instance;
}

private final SL_SwerveModule[] modules;
private final SwerveModuleImpl[] modules;
private final FieldObject2d[] moduleObjects;
private final SwerveDriveKinematics kinematics;
private final AHRS gyro;

public SwerveDrive(SL_SwerveModule... modules) {
public SwerveDrive(SwerveModuleImpl... modules) {
this.modules = modules;
kinematics = new SwerveDriveKinematics(getModuleOffsets());
gyro = new AHRS(SPI.Port.kMXP);
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21 changes: 11 additions & 10 deletions ...lse/robot/subsystems/SL_SwerveModule.java → ...se/robot/subsystems/SwerveModuleImpl.java
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Expand Up @@ -19,28 +19,29 @@
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;

public class SL_SwerveModule extends SwerveModule {
public class SwerveModuleImpl extends SwerveModule {
// data
private final String id;
private final Translation2d translationOffset;
private final Rotation2d angleOffset;
private SwerveModuleState targetState;
private Translation2d translationOffset;
private Rotation2d angleOffset;

// turn
private CANSparkMax turnMotor;
private SparkMaxAbsoluteEncoder turnEncoder;
private final CANSparkMax turnMotor;
private final SparkMaxAbsoluteEncoder turnEncoder;

// drive
private CANSparkMax driveMotor;
private RelativeEncoder driveEncoder;
private final CANSparkMax driveMotor;
private final RelativeEncoder driveEncoder;

// controllers
private Controller driveController;
private AngleController turnController;
private final Controller driveController;
private final AngleController turnController;

public SL_SwerveModule(String id, Translation2d translationOffset, Rotation2d angleOffset, int turnID, int driveID) {
public SwerveModuleImpl(String id, Translation2d translationOffset, Rotation2d angleOffset, int turnID, int driveID) {
this.id = id;
this.translationOffset = translationOffset;
this.angleOffset = angleOffset;

turnMotor = new CANSparkMax(turnID, MotorType.kBrushless);
driveMotor = new CANSparkMax(turnID, MotorType.kBrushless);
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