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Refactored Swerve Modules #2

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Refactored Swerve Modules #2

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08e7925
TFW you realize you need to modify GosLib a bit more
GearBoxFox Jan 20, 2024
bbf9253
fix sim gui
GearBoxFox Jan 20, 2024
96d2c5b
Fixed some sonarlint stuff while I'm working
GearBoxFox Jan 20, 2024
93c8e9a
restructured ModuleConstants as record data class
GearBoxFox Jan 20, 2024
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7 changes: 6 additions & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,12 @@ sonar {
}

// Simulation configuration (e.g. environment variables).
wpi.sim.addGui()
//
// The sim GUI is *disabled* by default to support running
// AdvantageKit log replay from the command line. Set the
// value to "true" to enable the sim GUI by default (this
// is the standard WPILib behavior).
wpi.sim.addGui().defaultEnabled = true
wpi.sim.addDriverstation()

// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
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131 changes: 130 additions & 1 deletion networktables.json
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@@ -1 +1,130 @@
[]
[
{
"name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module3/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module3/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module3/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
}
]
98 changes: 98 additions & 0 deletions networktables.json.bck
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@@ -0,0 +1,98 @@
[
{
"name": "/Preferences/Drive/Module0/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module0/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module1/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Drive Pid Property.mm.kp",
"type": "double",
"value": 0.05,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kp",
"type": "double",
"value": 7.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.ki",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
},
{
"name": "/Preferences/Drive/Module2/Turn Pid Property.mm.kd",
"type": "double",
"value": 0.0,
"properties": {
"persistent": true
}
}
]
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Expand Up @@ -24,7 +24,7 @@
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final Mode currentMode = Mode.REAL;
public static final Mode currentMode = Mode.SIM;

public static enum Mode {
/** Running on a real robot. */
Expand Down
83 changes: 37 additions & 46 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -20,7 +20,6 @@
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.commands.DriveCommands;
import frc.robot.commands.FeedForwardCharacterization;
Expand All @@ -34,7 +33,6 @@
import frc.robot.subsystems.shooter.ShooterIOPrototype;
import frc.robot.subsystems.shooter.ShooterSubsystem;
import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;

/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
Expand All @@ -52,52 +50,43 @@ public class RobotContainer {

// Dashboard inputs
private final LoggedDashboardChooser<Command> autoChooser;
private final LoggedDashboardNumber flywheelSpeedInput =
new LoggedDashboardNumber("Flywheel Speed", 1500.0);

/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
switch (Constants.currentMode) {
case REAL -> {
// Real robot, instantiate hardware IO implementations
m_driveSubsystem = new DriveSubsystem(
new GyroIOPigeon1(12, true),
new ModuleIOTalonFX(Constants.DriveConstants.FL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS));
m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
}
case SIM -> {
// Sim robot, instantiate physics sim IO implementations
m_driveSubsystem =
new DriveSubsystem(
new GyroIO() {
},
new ModuleIOSim(),
new ModuleIOSim(),
new ModuleIOSim(),
new ModuleIOSim());
m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
}
default -> {
// Replayed robot, disable IO implementations
m_driveSubsystem =
new DriveSubsystem(
new GyroIO() {
},
new ModuleIO() {
},
new ModuleIO() {
},
new ModuleIO() {
},
new ModuleIO() {
});
m_shooter = new ShooterSubsystem(new ShooterIO() {
});
}
switch (Constants.currentMode) {
case REAL -> {
// Real robot, instantiate hardware IO implementations
m_driveSubsystem = new DriveSubsystem(
new GyroIOPigeon1(12, true),
new ModuleIOTalonFX(Constants.DriveConstants.FL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS));
m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
}
case SIM -> {
// Sim robot, instantiate physics sim IO implementations
m_driveSubsystem =
new DriveSubsystem(
new GyroIO() {},
new ModuleIOSim(Constants.DriveConstants.FL_MOD_CONSTANTS),
new ModuleIOSim(Constants.DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOSim(Constants.DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOSim(Constants.DriveConstants.BR_MOD_CONSTANTS));
m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
}
default -> {
// Replayed robot, disable IO implementations
m_driveSubsystem =
new DriveSubsystem(
new GyroIO() {},
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
m_shooter = new ShooterSubsystem(new ShooterIO() {});
}
}

// Set up auto routines
autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
Expand All @@ -106,7 +95,9 @@ public RobotContainer() {
autoChooser.addOption(
"Drive FF Characterization",
new FeedForwardCharacterization(
m_driveSubsystem, m_driveSubsystem::runCharacterizationVolts, m_driveSubsystem::getCharacterizationVelocity));
m_driveSubsystem,
m_driveSubsystem::runCharacterizationVolts,
m_driveSubsystem::getCharacterizationVelocity));

// Configure the button bindings
configureButtonBindings();
Expand Down Expand Up @@ -146,6 +137,6 @@ private void configureButtonBindings() {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return new InstantCommand();//autoChooser.get();
return autoChooser.get();
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/drive/module/Module.java
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Expand Up @@ -45,7 +45,7 @@ public class Module {
public Module(ModuleIO io) {
this.m_io = io;
this.m_moduleConstants = m_io.getModuleConstants();
this.m_index = m_moduleConstants.MODULE_INDEX;
this.m_index = m_moduleConstants.MODULE_INDEX();
// delay to initialize all hardware
Timer.delay(0.5);

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