Use of SparkFlex

Team-501-The-PowerKnights · Feb 16, 2024 · 70dc256 · 70dc256
1 parent db5a46f
commit 70dc256
Showing 1 changed file with 21 additions and 21 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -15,6 +15,7 @@
 
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
 import com.revrobotics.CANSparkMax;
@@ -44,7 +45,7 @@ public class ModuleIOSparkMax implements ModuleIO {
   private static final double DRIVE_GEAR_RATIO = (45.0 * 22) / (SWERVE_PINION_TEETH * 15);
   private static final double TURN_GEAR_RATIO = (9424.0 / 203); // Rev Steering
 
-  private final CANSparkMax driveSparkMax;
+  private final CANSparkFlex driveSparkMax;
   private final CANSparkMax turnSparkMax;
 
   private final RelativeEncoder driveEncoder;
@@ -65,28 +66,29 @@ public ModuleIOSparkMax(int index) {
     m_index = index;
     switch (index) {
       case 0: // FL
-        driveSparkMax = new CANSparkMax(1, MotorType.kBrushless);
+        driveSparkMax = new CANSparkFlex(1, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(2, MotorType.kBrushless);
         turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
-        absoluteEncoderOffset = new Rotation2d(-1.57); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(Units.degreesToRadians(-90.0)); // MUST BE CALIBRATED
         break;
       case 1: // FR
-        driveSparkMax = new CANSparkMax(5, MotorType.kBrushless);
+        driveSparkMax = new CANSparkFlex(5, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(6, MotorType.kBrushless);
         turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
-        absoluteEncoderOffset = new Rotation2d(3.14); // MUST BE CALIBRATED
+        absoluteEncoderOffset =
+            new Rotation2d(Units.degreesToRadians(-180.0)); // MUST BE CALIBRATED
         break;
       case 2: // BL
-        driveSparkMax = new CANSparkMax(3, MotorType.kBrushless);
+        driveSparkMax = new CANSparkFlex(3, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(4, MotorType.kBrushless);
         turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
-        absoluteEncoderOffset = new Rotation2d(0); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(Units.degreesToRadians(0.0)); // MUST BE CALIBRATED
         break;
       case 3: // BR
-        driveSparkMax = new CANSparkMax(7, MotorType.kBrushless);
+        driveSparkMax = new CANSparkFlex(7, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(8, MotorType.kBrushless);
         turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
-        absoluteEncoderOffset = new Rotation2d(1.57); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(Units.degreesToRadians(90.0)); // MUST BE CALIBRATED
         break;
       default:
         throw new RuntimeException("Invalid module index");
@@ -108,7 +110,7 @@ public ModuleIOSparkMax(int index) {
     turnSparkMax.enableVoltageCompensation(12.0);
 
     driveEncoder.setPosition(0.0);
-    driveEncoder.setMeasurementPeriod(10);
+    driveEncoder.setMeasurementPeriod(15);
     driveEncoder.setAverageDepth(2);
 
     turnRelativeEncoder.setPosition(0.0);
@@ -143,30 +145,28 @@ public void updateInputs(ModuleIOInputs inputs) {
 
     /* Original */
     // inputs.turnAbsolutePosition =
-    //     new Rotation2d(
-    //             turnAbsoluteEncoder.getVoltage() / RobotController.getVoltage5V() * 2.0 *
+    // new Rotation2d(
+    // turnAbsoluteEncoder.getVoltage() / RobotController.getVoltage5V() * 2.0 *
     // Math.PI)
-    //         .minus(absoluteEncoderOffset);
+    // .minus(absoluteEncoderOffset);
 
     /* For Calibration of Offsets */
-    // inputs.turnAbsolutePosition = new Rotation2d(turnAbsoluteEncoder.getPosition() * 2.0 *
+    // inputs.turnAbsolutePosition = new
+    // Rotation2d(turnAbsoluteEncoder.getPosition() * 2.0 *
     // Math.PI);
     // SmartDashboard.putNumber(
-    //     "turnAbsolutePosition[" + m_index + "]", inputs.turnAbsolutePosition.getDegrees());
+    // "turnAbsolutePosition[" + m_index + "]",
+    // inputs.turnAbsolutePosition.getDegrees());
 
     /* Our Version */
-    /*
-    inputs.turnAbsolutePosition =
-        new Rotation2d(turnAbsoluteEncoder.getPosition() * 2.0 * Math.PI)
-            .minus(absoluteEncoderOffset); */
-
     inputs.turnAbsolutePosition =
         Rotation2d.fromRotations(turnAbsoluteEncoder.getPosition()).minus(absoluteEncoderOffset);
-
     SmartDashboard.putNumber(
         "turnAbsolutePosition[" + m_index + "]", inputs.turnAbsolutePosition.getDegrees());
     inputs.turnPosition =
         Rotation2d.fromRotations(turnRelativeEncoder.getPosition() / TURN_GEAR_RATIO);
+    SmartDashboard.putNumber(
+        "turnRelativePosition[" + m_index + "]", inputs.turnPosition.getDegrees());
     inputs.turnVelocityRadPerSec =
         Units.rotationsPerMinuteToRadiansPerSecond(turnRelativeEncoder.getVelocity())
             / TURN_GEAR_RATIO;