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Swerve actually works this time (#2)
* fix: module offsets * refactor: rename Drivetrain, remove usage of var keyword * feat: put drive command into SwerveDriveCommand * chore: remove debug print * fix: swerve motor current is no longer logged as an array * fix: use gear ratio from constants in sim * refactor: less verbose constants
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49 changes: 0 additions & 49 deletions
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src/main/java/org/team1540/robot2024/commands/DriveCommands.java
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src/main/java/org/team1540/robot2024/commands/SwerveDriveCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package org.team1540.robot2024.commands; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.filter.SlewRateLimiter; | ||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Transform2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.kinematics.ChassisSpeeds; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.button.CommandXboxController; | ||
| import org.team1540.robot2024.subsystems.drive.Drivetrain; | ||
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| public class SwerveDriveCommand extends Command { | ||
| private final Drivetrain drivetrain; | ||
| private final CommandXboxController controller; | ||
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| private final SlewRateLimiter xLimiter = new SlewRateLimiter(2); | ||
| private final SlewRateLimiter yLimiter = new SlewRateLimiter(2); | ||
| private final SlewRateLimiter rotLimiter = new SlewRateLimiter(3); | ||
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| public SwerveDriveCommand(Drivetrain drivetrain, CommandXboxController controller) { | ||
| this.drivetrain = drivetrain; | ||
| this.controller = controller; | ||
| addRequirements(drivetrain); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| xLimiter.reset(0); | ||
| yLimiter.reset(0); | ||
| rotLimiter.reset(0); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| double xPercent = xLimiter.calculate(-controller.getLeftY()); | ||
| double yPercent = yLimiter.calculate(-controller.getLeftX()); | ||
| double rotPercent = rotLimiter.calculate(-controller.getRightX()); | ||
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| // Apply deadband | ||
| double linearMagnitude = MathUtil.applyDeadband(Math.hypot(xPercent, yPercent), 0.1); | ||
| Rotation2d linearDirection = new Rotation2d(xPercent, yPercent); | ||
| double omega = MathUtil.applyDeadband(rotPercent, 0.1); | ||
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| // Calculate new linear velocity | ||
| Translation2d linearVelocity = | ||
| new Pose2d(new Translation2d(), linearDirection) | ||
| .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())).getTranslation(); | ||
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| // Convert to field relative speeds & send command | ||
| drivetrain.runVelocity( | ||
| ChassisSpeeds.fromFieldRelativeSpeeds( | ||
| linearVelocity.getX() * drivetrain.getMaxLinearSpeedMetersPerSec(), | ||
| linearVelocity.getY() * drivetrain.getMaxLinearSpeedMetersPerSec(), | ||
| omega * drivetrain.getMaxAngularSpeedRadPerSec(), | ||
| drivetrain.getRotation() | ||
| ) | ||
| ); | ||
| } | ||
|
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||
| @Override | ||
| public void end(boolean interrupted) { | ||
| drivetrain.stop(); | ||
| } | ||
| } |
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