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Added 16t adapter kit and FOC compatibility #49

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Added 16t adapter kit and FOC compatibility #49

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cb5b1be
Added 16t adapter kit compatability
ninjadrknss Feb 6, 2024
df621a2
Added an FOC toggle to Constants.java
ninjadrknss Feb 18, 2024
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2024.1.1"
id "edu.wpi.first.GradleRIO" version "2024.2.1"
}

java {
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8 changes: 8 additions & 0 deletions src/main/java/frc/lib/util/COTSTalonFXSwerveConstants.java
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Expand Up @@ -303,6 +303,14 @@ public static final class driveRatios{
public static final double L2 = (6.75 / 1.0);
/** SDS MK4i - (6.12 : 1) */
public static final double L3 = (6.12 / 1.0);

/** SDS MK4i (with 16t adapter kit) - (7.13 : 1) */
// TODO: Could rename to L1_5
public static final double L1_16T = (7.13 / 1.0);
/** SDS MK4i (with 16t adapter kit) - (5.90 : 1) */
public static final double L2_16T = (5.90 / 1.0);
/** SDS MK4i (with 16t adapter kit) - (5.36 : 1) */
public static final double L3_16T = (5.36 / 1.0);
}
}
}
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -17,6 +17,7 @@ public final class Constants {

public static final class Swerve {
public static final int pigeonID = 1;
public static final boolean UseFOC = false; //CHANGE IF PRO LICENSED TALONS OR CANIVORE

public static final COTSTalonFXSwerveConstants chosenModule = //TODO: This must be tuned to specific robot
COTSTalonFXSwerveConstants.SDS.MK4i.Falcon500(COTSTalonFXSwerveConstants.SDS.MK4i.driveRatios.L2);
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/SwerveModule.java
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Expand Up @@ -58,11 +58,13 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop){
private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){
if(isOpenLoop){
driveDutyCycle.Output = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed;
driveDutyCycle.EnableFOC = Constants.Swerve.UseFOC;
mDriveMotor.setControl(driveDutyCycle);
}
else {
driveVelocity.Velocity = Conversions.MPSToRPS(desiredState.speedMetersPerSecond, Constants.Swerve.wheelCircumference);
driveVelocity.FeedForward = driveFeedForward.calculate(desiredState.speedMetersPerSecond);
driveVelocity.EnableFOC = Constants.Swerve.UseFOC;
mDriveMotor.setControl(driveVelocity);
}
}
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