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Merge pull request #20 from Team612/comp1edits
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Comp1edits
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@noahtylee
noahtylee authored Mar 5, 2024
2 parents 67d58e1 + 4987a8a commit 48565f7
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Showing 29 changed files with 961 additions and 115 deletions.
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/Leave Zone Subwoofer.path
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@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 15.0,
"y": 5.5
},
"prevControl": null,
"nextControl": {
"x": 14.0,
"y": 5.5
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 13.0,
"y": 5.5
},
"prevControl": {
"x": 14.0,
"y": 5.5
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -178.40270550402877,
"velocity": 0
},
"useDefaultConstraints": true
}
70 changes: 43 additions & 27 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;

import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
Expand All @@ -29,7 +31,8 @@ public static final class SwerveConstants {
public static final double stickDeadband = 0.1;

public static final COTSTalonFXSwerveConstants chosenModule =
COTSTalonFXSwerveConstants.WCP.SwerveXStandard.KrakenX60(COTSTalonFXSwerveConstants.SDS.MK4i.driveRatios.L2);
COTSTalonFXSwerveConstants.SDS.MK4i.KrakenX60(COTSTalonFXSwerveConstants.SDS.MK4i.driveRatios.L2);


/* Drivetrain Constants */
public static final double trackWidth = Units.inchesToMeters(18.596);
Expand All @@ -39,7 +42,7 @@ public static final class SwerveConstants {

public static final double driveGearRatio = chosenModule.driveGearRatio; // 6.75:1
//NOTE: the angle gear ratio provided by the manufactor is different than the one we had down previously... might need to change it
public static final double angleGearRatio = 150.0 /7.0; // 12.8:1 (150.0 / 7.0);
public static final double angleGearRatio = chosenModule.angleGearRatio; // 12.8:1 (150.0 / 7.0);

public static final SwerveDriveKinematics swerveKinematics =
new SwerveDriveKinematics(
Expand All @@ -52,7 +55,7 @@ public static final class SwerveConstants {
public static final double voltageComp = 12.0;

/* Swerve Current Limiting */
public static final int angleContinuousCurrentLimit = 20;
public static final int angleContinuousCurrentLimit = 35;
public static final int angleCurrentThreshold = 40;
public static final double angleCurrentThresholdTime = 0.1;
public static final boolean angleEnableCurrentLimit = true;
Expand All @@ -63,9 +66,9 @@ public static final class SwerveConstants {
public static final boolean driveEnableCurrentLimit = true;

/* Angle Motor PID Values */
public static final double angleKP = 10;
public static final double angleKI = 0.0;
public static final double angleKD = 0.0;
public static final double angleKP = chosenModule.angleKP;
public static final double angleKI = chosenModule.angleKI;
public static final double angleKD = chosenModule.angleKD;
public static final double angleKFF = 0.0;

/* Drive Motor PID Values */
Expand All @@ -75,8 +78,8 @@ public static final class SwerveConstants {
public static final double driveKFF = 0.0;

/* Drive Motor Characterization Values */
public static final double driveKS = 0.22005;
public static final double driveKV = 2.74490;
public static final double driveKS = 0.17972;
public static final double driveKV = 7.50715; //2.74490
public static final double driveKA = 0;

//have to tune manually
Expand All @@ -92,20 +95,23 @@ public static final class SwerveConstants {

/* Swerve Profiling Values */
public static final double maxSpeed = 4.5; // meters per second
public static final double maxAngularVelocity = Math.PI;
public static final double maxAngularVelocity = 11.5;
public static final double maxAcceleration = 1;
public static final double maxAngularAcceleration = Math.PI/6;
public static final double maxAngularAcceleration = Math.PI;

public static final double openLoopRamp = 0.25;
public static final double closedLoopRamp = 0.0;

/* Neutral Modes */
public static final NeutralModeValue angleNeutralMode = NeutralModeValue.Coast;
public static final NeutralModeValue angleNeutralMode = NeutralModeValue.Brake;
public static final NeutralModeValue driveNeutralMode = NeutralModeValue.Brake;

/* Motor Inverts */
public static final InvertedValue driveInvert = chosenModule.driveMotorInvert;
public static final InvertedValue angleInvert = chosenModule.angleMotorInvert;
public static final InvertedValue driveInvert = chosenModule.driveMotorInvert; //counterclockwise
public static final InvertedValue angleInvert = chosenModule.angleMotorInvert; //counterclockwise

/* Angle Encoder Invert */
public static final boolean canCoderInvert = false;
public static final SensorDirectionValue cancoderInvert = chosenModule.cancoderInvert; //counterclockwise

/* Module Specific Constants */
/*
Expand All @@ -120,7 +126,7 @@ public static final class Mod0 {
public static final int driveMotorID = 2;
public static final int angleMotorID = 3;
public static final int canCoderID = 0;
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(96); //43
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(143 - 45); //43
public static final SwerveModuleConstants constants =
new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
}
Expand All @@ -140,7 +146,7 @@ public static final class Mod2 {
public static final int driveMotorID = 4;
public static final int angleMotorID = 5;
public static final int canCoderID = 2;
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(326);
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(324); //282
public static final SwerveModuleConstants constants =
new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
}
Expand All @@ -150,7 +156,7 @@ public static final class Mod3 {
public static final int driveMotorID = 6;
public static final int angleMotorID = 7;
public static final int canCoderID = 3;
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(299);
public static final Rotation2d desiredAngle = Rotation2d.fromDegrees(298);
public static final SwerveModuleConstants constants =
new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, desiredAngle);
}
Expand All @@ -159,8 +165,8 @@ public static final class Mod3 {


public static class VisionConstants{
public static String cameraNameAprilTag = "Apriltag";
public static String cameraNameObject = "Object";
public static String cameraNameAprilTag = "Back";
public static String cameraNameObject = "Front";

//constraints
public static final TrapezoidProfile.Constraints ThetaControllerConstraints =
Expand Down Expand Up @@ -196,20 +202,30 @@ public static class OperatorConstants {
public static class IntakeConstants{
public static final int pivotID = 9;
public static final int rollerID = 10;
public static final double intakeUpSpeed = 0.3;
public static final double intakeDownSpeed = -0.3;
public static final double intakeUpSpeed = 0.5;
public static final double intakeDownSpeed = -0.5;
public static final double rollerSpeedIntake = 0.5;
public static final double rollerSpeedOuttake = 1;
public static final int IRport = 1;
public static double rollerSpeedOuttake = 0.4;
public static final int IRport = 0;
}

// Shooter constants
public static class ShooterConstants{
public static final String leftSpeedKey = "Left Speed";
public static final String rightSpeedKey = "Right Speed";

public static final int shooterLeftID = 11;
public static final int shooterRightID = 12;
public static final double shooterLeftSpeedSpeaker = -0.5;
public static final double shooterRightSpeedSpeaker = 0.5;
public static final double shooterLeftSpeedAmp = -0.3;
public static final double shooterRightSpeedAmp = 0.3;
public static double shooterLeftSpeedSpeaker = -.65;
public static double shooterRightSpeedSpeaker = .70; //0.9
public static double shooterLeftSpeedAmp = -0.3;
public static double shooterRightSpeedAmp = 0.3;
}

public static class ClimbConstants {
public static final int climbLeftID = 13;
public static final int climbRightID = 14;
public static final double climbLeftSpeed = -0.6;
public static final double climbRightSpeed = 0.6;
}
}
7 changes: 7 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package frc.robot;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Preferences;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
Expand Down Expand Up @@ -44,6 +45,12 @@ public void robotInit() {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
if (!Preferences.containsKey(Constants.ShooterConstants.leftSpeedKey)){
Preferences.setDouble(Constants.ShooterConstants.leftSpeedKey, Constants.ShooterConstants.shooterLeftSpeedSpeaker);
}
if (!Preferences.containsKey(Constants.ShooterConstants.rightSpeedKey)){
Preferences.setDouble(Constants.ShooterConstants.rightSpeedKey, Constants.ShooterConstants.shooterRightSpeedSpeaker);
}
}

/**
Expand Down
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