adapted to newest version of maple-sim

Shenzhen-Robotics-Alliance · Nov 19, 2024 · f3c63f9 · f3c63f9
1 parent 62e1c1c
commit f3c63f9
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Showing 5 changed files with 36 additions and 34 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -5,8 +5,6 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.*;
-
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -120,14 +118,16 @@ public RobotContainer() {
                                 .withSwerveModule(() -> new SwerveModuleSimulation(
                                         DriveTrainConstants.DRIVE_MOTOR,
                                         DriveTrainConstants.STEER_MOTOR,
-                                        DriveTrainConstants.DRIVE_CURRENT_LIMIT.in(Amps),
                                         DriveTrainConstants.DRIVE_GEAR_RATIO,
                                         DriveTrainConstants.STEER_GEAR_RATIO,
-                                        DriveTrainConstants.DRIVE_FRICTION_VOLTAGE.in(Volts),
-                                        DriveTrainConstants.STEER_FRICTION_VOLTAGE.in(Volts),
-                                        DriveTrainConstants.WHEEL_COEFFICIENT_OF_FRICTION,
-                                        DriveTrainConstants.WHEEL_RADIUS.in(Meters),
-                                        DriveTrainConstants.STEER_INERTIA.in(KilogramSquareMeters))),
+                                        DriveTrainConstants.DRIVE_CURRENT_LIMIT,
+                                        DriveTrainConstants.STEER_CURRENT_LIMIT,
+                                        DriveTrainConstants.DRIVE_FRICTION_VOLTAGE,
+                                        DriveTrainConstants.STEER_FRICTION_VOLTAGE,
+                                        DriveTrainConstants.WHEEL_RADIUS,
+                                        DriveTrainConstants.STEER_INERTIA,
+                                        DriveTrainConstants.WHEEL_COEFFICIENT_OF_FRICTION))
+                                .withGyro(DriveTrainConstants.gyroSimulationFactory),
                         new Pose2d(3, 3, new Rotation2d()));
                 SimulatedArena.getInstance().addDriveTrainSimulation(driveSimulation);
 

diff --git a/src/main/java/frc/robot/constants/DriveTrainConstants.java b/src/main/java/frc/robot/constants/DriveTrainConstants.java
@@ -17,7 +17,7 @@
  */
 public class DriveTrainConstants {
     /** numbers that needs to be changed to fit each robot TODO: change these numbers to match your robot */
-    public static final double WHEEL_COEFFICIENT_OF_FRICTION = 1.2;
+    public static final double WHEEL_COEFFICIENT_OF_FRICTION = 1.05;
 
     public static final Mass ROBOT_MASS = Kilograms.of(45); // robot weight with bumpers
 
@@ -37,7 +37,7 @@ public class DriveTrainConstants {
     public static final MomentOfInertia STEER_INERTIA = KilogramSquareMeters.of(0.025);
 
     /* adjust current limit */
-    public static final Current DRIVE_CURRENT_LIMIT = Amps.of(60);
+    public static final Current DRIVE_CURRENT_LIMIT = Amps.of(80);
     public static final Current STEER_CURRENT_LIMIT = Amps.of(20);
 
     /** translations of the modules to the robot center, in FL, FR, BL, BR */
@@ -95,11 +95,6 @@ public class DriveTrainConstants {
             * (BUMPER_WIDTH.in(Meters) * BUMPER_WIDTH.in(Meters) + BUMPER_LENGTH.in(Meters) * BUMPER_LENGTH.in(Meters))
             / 12.0);
 
-    /* https://en.wikipedia.org/wiki/Friction#Coefficient_of_friction */
-    public static final double BUMPER_COEFFICIENT_OF_FRICTION = 0.65;
-    /* https://simple.wikipedia.org/wiki/Coefficient_of_restitution */
-    public static final double BUMPER_COEFFICIENT_OF_RESTITUTION = 0.08;
-
     public static final Supplier<GyroSimulation> gyroSimulationFactory = GyroSimulation.getPigeon2();
 
     /* dead configs, don't change them */

diff --git a/src/main/java/frc/robot/subsystems/drive/IO/GyroIOSim.java b/src/main/java/frc/robot/subsystems/drive/IO/GyroIOSim.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems.drive.IO;
 
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+
 import org.ironmaple.simulation.drivesims.GyroSimulation;
 
 public class GyroIOSim implements GyroIO {
@@ -14,6 +16,7 @@ public void updateInputs(GyroIOInputs inputs) {
         inputs.connected = true;
         inputs.odometryYawPositions = gyroSimulation.getCachedGyroReadings();
         inputs.yawPosition = gyroSimulation.getGyroReading();
-        inputs.yawVelocityRadPerSec = gyroSimulation.getMeasuredAngularVelocityRadPerSec();
+        inputs.yawVelocityRadPerSec =
+                gyroSimulation.getMeasuredAngularVelocity().in(RadiansPerSecond);
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
@@ -5,9 +5,8 @@
 
 package frc.robot.subsystems.drive.IO;
 
-import static edu.wpi.first.units.Units.Volts;
+import static edu.wpi.first.units.Units.*;
 
-import edu.wpi.first.math.util.Units;
 import java.util.Arrays;
 import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
 import org.ironmaple.simulation.motorsims.ControlRequest;
@@ -27,21 +26,26 @@ public ModuleIOSim(SwerveModuleSimulation moduleSimulation) {
 
     @Override
     public void updateInputs(ModuleIOInputs inputs) {
-        inputs.driveWheelFinalRevolutions = Units.radiansToRotations(moduleSimulation.getDriveWheelFinalPositionRad());
+        inputs.driveWheelFinalRevolutions =
+                moduleSimulation.getDriveWheelFinalPosition().in(Revolutions);
         inputs.driveWheelFinalVelocityRevolutionsPerSec =
-                Units.radiansToRotations(moduleSimulation.getDriveWheelFinalSpeedRadPerSec());
-        inputs.driveMotorAppliedVolts = moduleSimulation.getDriveMotorAppliedVolts();
-        inputs.driveMotorCurrentAmps = moduleSimulation.getDriveMotorSupplyCurrentAmps();
+                moduleSimulation.getDriveWheelFinalSpeed().in(RevolutionsPerSecond);
+        inputs.driveMotorAppliedVolts =
+                moduleSimulation.getDriveMotorAppliedVoltage().in(Volts);
+        inputs.driveMotorCurrentAmps =
+                moduleSimulation.getDriveMotorStatorCurrent().in(Amps);
 
         inputs.steerFacing = moduleSimulation.getSteerAbsoluteFacing();
-        inputs.steerVelocityRadPerSec = moduleSimulation.getSteerAbsoluteEncoderSpeedRadPerSec();
-        inputs.steerMotorAppliedVolts = moduleSimulation.getSteerMotorAppliedVolts();
-        inputs.steerMotorCurrentAmps = moduleSimulation.getSteerMotorSupplyCurrentAmps();
+        inputs.steerVelocityRadPerSec =
+                moduleSimulation.getSteerAbsoluteEncoderSpeed().in(RadiansPerSecond);
+        inputs.steerMotorAppliedVolts =
+                moduleSimulation.getSteerMotorAppliedVoltage().in(Volts);
+        inputs.steerMotorCurrentAmps =
+                moduleSimulation.getSteerMotorStatorCurrent().in(Amps);
 
-        inputs.odometryDriveWheelRevolutions = Arrays.stream(moduleSimulation.getCachedDriveWheelFinalPositionsRad())
-                .map(Units::radiansToRotations)
+        inputs.odometryDriveWheelRevolutions = Arrays.stream(moduleSimulation.getCachedDriveWheelFinalPositions())
+                .mapToDouble(angle -> angle.in(Revolutions))
                 .toArray();
-
         inputs.odometrySteerPositions = moduleSimulation.getCachedSteerAbsolutePositions();
 
         inputs.hardwareConnected = true;

diff --git a/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOTalon.java b/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOTalon.java
@@ -49,15 +49,15 @@ public ModuleIOTalon(
         cancoder = new CANcoder(moduleConstants.CANcoderId, drivetrainConstants.CANbusName);
 
         var driveConfig = moduleConstants.DriveMotorInitialConfigs;
-        driveConfig.CurrentLimits.SupplyCurrentLimit = DRIVE_CURRENT_LIMIT.in(Amps);
-        driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
+        driveConfig.CurrentLimits.StatorCurrentLimit = DRIVE_CURRENT_LIMIT.in(Amps);
+        driveConfig.CurrentLimits.StatorCurrentLimitEnable = true;
         driveTalon.getConfigurator().apply(driveConfig);
         driveTalon.setInverted(moduleConstants.DriveMotorInverted);
         setDriveBrake(true);
 
         var steerConfig = moduleConstants.SteerMotorInitialConfigs;
-        steerConfig.CurrentLimits.SupplyCurrentLimit = STEER_CURRENT_LIMIT.in(Amps);
-        steerConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
+        steerConfig.CurrentLimits.StatorCurrentLimit = STEER_CURRENT_LIMIT.in(Amps);
+        steerConfig.CurrentLimits.StatorCurrentLimitEnable = true;
         steerTalon.getConfigurator().apply(steerConfig);
         steerTalon.setInverted(moduleConstants.SteerMotorInverted);
         setSteerBrake(true);
@@ -69,12 +69,12 @@ public ModuleIOTalon(
         driveEncoderUngearedRevolutions = OdometryThread.registerSignalInput(driveTalon.getPosition());
         driveEncoderUngearedRevolutionsPerSecond = driveTalon.getVelocity();
         driveMotorAppliedVoltage = driveTalon.getMotorVoltage();
-        driveMotorCurrent = driveTalon.getSupplyCurrent();
+        driveMotorCurrent = driveTalon.getStatorCurrent();
 
         steerEncoderAbsolutePositionRevolutions = OdometryThread.registerSignalInput(cancoder.getAbsolutePosition());
         steerEncoderVelocityRevolutionsPerSecond = cancoder.getVelocity();
         steerMotorAppliedVolts = steerTalon.getMotorVoltage();
-        steerMotorCurrent = steerTalon.getSupplyCurrent();
+        steerMotorCurrent = steerTalon.getStatorCurrent();
 
         periodicallyRefreshedSignals = new BaseStatusSignal[] {
             driveEncoderUngearedRevolutionsPerSecond,