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swerve abstraction + drive command (no deadbands)
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76 changes: 76 additions & 0 deletions
76
src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| package com.stuypulse.robot.commands.swerve; | ||
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| import java.util.Optional; | ||
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| import com.stuypulse.robot.constants.Settings.Swerve; | ||
| import com.stuypulse.robot.subsystems.SwerveDrive; | ||
| import com.stuypulse.stuylib.input.Gamepad; | ||
| import com.stuypulse.stuylib.streams.IStream; | ||
| import com.stuypulse.stuylib.streams.vectors.VStream; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class SwerveDriveDrive extends CommandBase { | ||
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| private SwerveDrive swerve; | ||
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| private VStream speed; | ||
| private IStream turn; | ||
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| private final Gamepad driver; | ||
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| private Optional<Rotation2d> holdAngle; | ||
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| public SwerveDriveDrive(Gamepad driver) { | ||
| this.driver = driver; | ||
| swerve = SwerveDrive.getInstance(); | ||
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| speed = VStream.create(driver::getLeftStick); | ||
| turn = IStream.create(driver::getRightX); | ||
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| holdAngle = Optional.empty(); | ||
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| addRequirements(swerve); | ||
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| } | ||
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| @Override | ||
| public void initialize() { | ||
| holdAngle = Optional.empty(); | ||
| } | ||
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| private boolean isWithinTurnDeadband() { | ||
| return Math.abs(turn.get()) < Swerve.MAX_MODULE_TURN.get(); | ||
| } | ||
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| private boolean isWithinDriveDeadband() { | ||
| return Math.abs(speed.get().magnitude()) < Swerve.MAX_MODULE_SPEED.get(); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| swerve.drive(speed.get(), turn.get()); | ||
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| if(isWithinTurnDeadband()){ | ||
| if(holdAngle.isEmpty()) { | ||
| holdAngle = Optional.of(swerve.getGyroAngle()); | ||
| } | ||
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| } | ||
| /*if (isWithinDriveDeadband()) { | ||
| if () { | ||
| } | ||
| if () { | ||
| } | ||
| } | ||
| else { | ||
| }*/ | ||
| } | ||
| } |
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98 changes: 98 additions & 0 deletions
98
src/main/java/com/stuypulse/robot/subsystems/SL_SwerveModule.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| package com.stuypulse.robot.subsystems; | ||
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkMaxLowLevel.MotorType; | ||
| import com.revrobotics.RelativeEncoder; | ||
| import com.revrobotics.SparkMaxAbsoluteEncoder; | ||
| import com.revrobotics.SparkMaxAbsoluteEncoder.Type; | ||
| import com.stuypulse.robot.constants.Settings.Swerve.Drive; | ||
| import com.stuypulse.robot.constants.Settings.Swerve.Turn; | ||
| import com.stuypulse.stuylib.control.Controller; | ||
| import com.stuypulse.stuylib.control.angle.AngleController; | ||
| import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController; | ||
| import com.stuypulse.stuylib.control.feedback.PIDController; | ||
| import com.stuypulse.stuylib.control.feedforward.MotorFeedforward; | ||
| import com.stuypulse.stuylib.math.Angle; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.kinematics.SwerveModulePosition; | ||
| import edu.wpi.first.math.kinematics.SwerveModuleState; | ||
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| public class SL_SwerveModule extends SwerveModule { | ||
| // data | ||
| private final String id; | ||
| private SwerveModuleState targetState; | ||
| private Translation2d translationOffset; | ||
| private Rotation2d angleOffset; | ||
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| // turn | ||
| private CANSparkMax turnMotor; | ||
| private SparkMaxAbsoluteEncoder turnEncoder; | ||
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| // drive | ||
| private CANSparkMax driveMotor; | ||
| private RelativeEncoder driveEncoder; | ||
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| // controllers | ||
| private Controller driveController; | ||
| private AngleController turnController; | ||
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| public SL_SwerveModule(String id, Translation2d translationOffset, Rotation2d angleOffset, int turnID, int driveID) { | ||
| this.id = id; | ||
| this.translationOffset = translationOffset; | ||
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| turnMotor = new CANSparkMax(turnID, MotorType.kBrushless); | ||
| driveMotor = new CANSparkMax(turnID, MotorType.kBrushless); | ||
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| turnEncoder = turnMotor.getAbsoluteEncoder(Type.kDutyCycle); | ||
| driveEncoder = driveMotor.getEncoder(); | ||
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| driveController = new PIDController(Drive.kP, Drive.kI, Drive.kP) | ||
| .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity()); | ||
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| turnController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kP); | ||
| } | ||
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| public Translation2d getOffset() { | ||
| return translationOffset; | ||
| } | ||
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| public String getID() { | ||
| return id; | ||
| } | ||
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| public SwerveModuleState getState() { | ||
| return new SwerveModuleState(getVelocity(), getAngle()); | ||
| } | ||
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| public double getVelocity() { | ||
| return driveEncoder.getVelocity(); | ||
| } | ||
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| public Rotation2d getAngle() { | ||
| return Rotation2d.fromRotations(turnEncoder.getPosition()).minus(angleOffset); | ||
| } | ||
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| public SwerveModulePosition getModulePosition() { | ||
| return new SwerveModulePosition(driveEncoder.getPosition(), getAngle()); | ||
| } | ||
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| public void setState(SwerveModuleState state) { | ||
| targetState = SwerveModuleState.optimize(state, getAngle()); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| turnMotor.setVoltage(turnController.update( | ||
| Angle.fromRotation2d(targetState.angle), | ||
| Angle.fromRotation2d(getAngle())) | ||
| ); | ||
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| driveMotor.setVoltage(driveController.update( | ||
| targetState.speedMetersPerSecond, | ||
| getVelocity()) | ||
| ); | ||
| } | ||
| } | ||
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