Fixed wildcard imports & changed name of configPID

team4099 · Jul 2, 2024 · b8028c5 · b8028c5
1 parent bfa486c
commit b8028c5
Show file tree

Hide file tree

Showing 26 changed files with 31 additions and 59 deletions.
diff --git a/.gradle/8.4/checksums/checksums.lock b/.gradle/8.4/checksums/checksums.lock
diff --git a/.gradle/8.4/checksums/md5-checksums.bin b/.gradle/8.4/checksums/md5-checksums.bin
diff --git a/.gradle/8.4/checksums/sha1-checksums.bin b/.gradle/8.4/checksums/sha1-checksums.bin
diff --git a/.gradle/8.4/dependencies-accessors/dependencies-accessors.lock b/.gradle/8.4/dependencies-accessors/dependencies-accessors.lock
diff --git a/.gradle/8.4/dependencies-accessors/gc.properties b/.gradle/8.4/dependencies-accessors/gc.properties
diff --git a/.gradle/8.4/executionHistory/executionHistory.bin b/.gradle/8.4/executionHistory/executionHistory.bin
diff --git a/.gradle/8.4/executionHistory/executionHistory.lock b/.gradle/8.4/executionHistory/executionHistory.lock
diff --git a/.gradle/8.4/fileChanges/last-build.bin b/.gradle/8.4/fileChanges/last-build.bin
diff --git a/.gradle/8.4/fileHashes/fileHashes.bin b/.gradle/8.4/fileHashes/fileHashes.bin
diff --git a/.gradle/8.4/fileHashes/fileHashes.lock b/.gradle/8.4/fileHashes/fileHashes.lock
diff --git a/.gradle/8.4/fileHashes/resourceHashesCache.bin b/.gradle/8.4/fileHashes/resourceHashesCache.bin
diff --git a/.gradle/8.4/gc.properties b/.gradle/8.4/gc.properties
diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Wed Jun 19 14:31:53 EDT 2024
+gradle.version=8.4
diff --git a/.gradle/buildOutputCleanup/outputFiles.bin b/.gradle/buildOutputCleanup/outputFiles.bin
diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties
diff --git a/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt b/src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
@@ -240,7 +240,6 @@ object RobotContainer {
     ControlBoard.passingShot.whileTrue(superstructure.passingShotCommand())
     ControlBoard.underStagePassingShot.whileTrue(superstructure.underStageCommand())
     ControlBoard.testWrist.whileTrue(superstructure.testWristCommand())
-    //ControlBoard.testDriveVelocity.whileTrue(superstructure.testDriveVelocityCommand())
 
     /*
     ControlBoard.targetAmp.whileTrue(

diff --git a/src/main/kotlin/com/team4099/robot2023/config/ControlBoard.kt b/src/main/kotlin/com/team4099/robot2023/config/ControlBoard.kt
@@ -70,16 +70,17 @@ object ControlBoard {
   val ejectGamePiece = Trigger { driver.rightTriggerAxis > 0.5 }
 
   val testWrist = Trigger { driver.aButton }
-
-
-
   val characterizeWrist = Trigger { driver.rightShoulderButton }
 
   val climbAlignFar = Trigger { driver.dPadUp }
   val climbAlignLeft = Trigger { driver.dPadLeft }
   val climbAlignRight = Trigger { driver.dPadRight }
 
-  val targetSpeaker = Trigger { driver.xButton } // TODO: switch back to climbAlignLeft
+  // TODO: Check if this variable is necessary
+  // val climbAutoAlign = Trigger { driver.bButton }
+
+  val targetSpeaker = Trigger { driver.xButton }
+  // TODO: switch back to climbAlignLeft
   val lockWheels = Trigger { driver.startButton }
 
   // week0 controls

diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt
@@ -51,10 +51,6 @@ object DrivetrainConstants {
 
   const val GYRO_RATE_COEFFICIENT = 0.0 // TODO: Change this value
 
-  val TEST_X_VELOCITY = 10.0.meters.perSecond
-  val TEST_Y_VELOCITY = 10.0.meters.perSecond
-  val TEST_OMEGA = 5.0.radians.perSecond
-
   val SLOW_AUTO_VEL = 2.meters.perSecond
   val SLOW_AUTO_ACCEL = 2.0.meters.perSecond.perSecond
 

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt
@@ -31,38 +31,27 @@ import org.team4099.lib.geometry.Rotation3d
 import org.team4099.lib.geometry.Transform2d
 import org.team4099.lib.geometry.Translation2d
 import org.team4099.lib.kinematics.ChassisSpeeds
-import org.team4099.lib.units.*
 import org.team4099.lib.units.base.inMeters
 import org.team4099.lib.units.base.inMilliseconds
 import org.team4099.lib.units.base.inSeconds
 import org.team4099.lib.units.base.meters
-import org.team4099.lib.units.derived.*
+import org.team4099.lib.units.inMetersPerSecond
+import org.team4099.lib.units.inRadiansPerSecond
+import org.team4099.lib.units.perSecond
+import org.team4099.lib.units.inDegreesPerSecond
+import org.team4099.lib.units.AngularVelocity
+import org.team4099.lib.units.derived.radians
+import org.team4099.lib.units.derived.degrees
+import org.team4099.lib.units.derived.volts
+import org.team4099.lib.units.derived.inDegrees
+import org.team4099.lib.units.derived.inRotation2ds
+import org.team4099.lib.units.derived.Angle
+import org.team4099.lib.units.derived.inRadians
 import java.util.concurrent.locks.Lock
 import java.util.concurrent.locks.ReentrantLock
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
 class Drivetrain(private val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : SubsystemBase() {
-  object TunableDriveStates {
-    val testXVelocity =
-      LoggedTunableValue(
-        "Drivetrain/testXVelocity",
-        DrivetrainConstants.TEST_X_VELOCITY,
-        Pair( { it.inMetersPerSecond }, { it.meters.perSecond })
-      )
-    val testYVelocity =
-      LoggedTunableValue(
-        "Drivetrain/testYVelocity",
-        DrivetrainConstants.TEST_Y_VELOCITY,
-        Pair( { it.inMetersPerSecond }, { it.meters.perSecond })
-      )
-    val testOmega =
-      LoggedTunableValue(
-        "Drivetrain/testOmega",
-        DrivetrainConstants.TEST_OMEGA,
-        Pair( { it.inRadiansPerSecond }, { it.radians.perSecond })
-      )
-  }
-
   private val gyroNotConnectedAlert =
     Alert(
       "Gyro is not connected, field relative driving will be significantly worse.",
@@ -92,8 +81,10 @@ class Drivetrain(private val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : Su
   var targetPose: Pose2d = Pose2d(0.0.meters, 0.0.meters, 0.0.radians)
 
   var fieldVelocity = Velocity2d()
+    private set
 
   var robotVelocity = Velocity2d()
+    private set
 
   private var omegaVelocity = 0.0.radians.perSecond
 
@@ -300,7 +291,7 @@ class Drivetrain(private val gyroIO: GyroIO, swerveModuleIOs: DrivetrainIO) : Su
       VisionConstants.POSE_TOPIC_NAME,
       doubleArrayOf(odomTRobot.x.inMeters, odomTRobot.y.inMeters, odomTRobot.rotation.inRadians)
     )
-    CustomLogger.recordOutput("FieldRelativePose/robotPose", fieldTRobot.pose2d)
+    CustomLogger.recordOutput("FieldFrameEstimator/robotPose", fieldTRobot.pose2d)
 
     CustomLogger.recordOutput("Drivetrain/ModuleStates", *measuredStates.toTypedArray())
     CustomLogger.recordOutput("Drivetrain/setPointStates", *setPointStates.toTypedArray())

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModule.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModule.kt
@@ -166,7 +166,7 @@ class SwerveModule(val io: SwerveModuleIO) {
     modulePosition.angle = inputs.steerPosition.inRotation2ds
 
     if (steerkD.hasChanged() || steerkP.hasChanged() || steerkI.hasChanged()) {
-      io.configSteerPID(steerkP.get(), steerkI.get(), steerkD.get())
+      io.configureSteerPID(steerkP.get(), steerkI.get(), steerkD.get())
     }
 
     if (drivekD.hasChanged() ||
@@ -175,7 +175,7 @@ class SwerveModule(val io: SwerveModuleIO) {
       drivekA.hasChanged() ||
       drivekV.hasChanged()
     ) {
-      io.configDrivePID(drivekP.get(), drivekI.get(), drivekD.get(), drivekV.get(), drivekA.get())
+      io.configureDrivePID(drivekP.get(), drivekI.get(), drivekD.get(), drivekV.get(), drivekA.get())
     }
     if (steerMaxVelo.hasChanged() || steerMaxAccel.hasChanged()) {
       io.configSteerMotionMagic(steerMaxVelo.get(), steerMaxAccel.get())

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIO.kt
@@ -152,13 +152,13 @@ interface SwerveModuleIO {
 
   fun setSteeringSetpoint(angle: Angle) {}
 
-  fun configSteerPID(
+  fun configureSteerPID(
     kP: ProportionalGain<Radian, Volt>,
     kI: IntegralGain<Radian, Volt>,
     kD: DerivativeGain<Radian, Volt>
   ) {}
 
-  fun configDrivePID(
+  fun configureDrivePID(
     kP: ProportionalGain<Velocity<Meter>, Volt>,
     kI: IntegralGain<Velocity<Meter>, Volt>,
     kD: DerivativeGain<Velocity<Meter>, Volt>,

diff --git a/...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOSim.kt b/...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOSim.kt
@@ -254,7 +254,7 @@ class SwerveModuleIOSim(override val label: String) : SwerveModuleIO {
     turnAbsolutePosition = 0.0.radians
   }
 
-  override fun configDrivePID(
+  override fun configureDrivePID(
     kP: ProportionalGain<Velocity<Meter>, Volt>,
     kI: IntegralGain<Velocity<Meter>, Volt>,
     kD: DerivativeGain<Velocity<Meter>, Volt>,
@@ -264,7 +264,7 @@ class SwerveModuleIOSim(override val label: String) : SwerveModuleIO {
     driveFeedback.setPID(kP, kI, kD)
   }
 
-  override fun configSteerPID(
+  override fun configureSteerPID(
     kP: ProportionalGain<Radian, Volt>,
     kI: IntegralGain<Radian, Volt>,
     kD: DerivativeGain<Radian, Volt>

diff --git a/...n/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt b/...n/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt
@@ -261,6 +261,7 @@ class SwerveModuleIOTalon(
     //      }
     //      .toList() as
     //      List<Angle>
+
     drivePositionQueue.clear()
     steeringPositionQueue.clear()
 
@@ -358,7 +359,7 @@ class SwerveModuleIOTalon(
     steeringPositionQueue.clear()
   }
 
-  override fun configDrivePID(
+  override fun configureDrivePID(
     kP: ProportionalGain<Velocity<Meter>, Volt>,
     kI: IntegralGain<Velocity<Meter>, Volt>,
     kD: DerivativeGain<Velocity<Meter>, Volt>,
@@ -376,7 +377,7 @@ class SwerveModuleIOTalon(
     driveFalcon.configurator.apply(PIDConfig)
   }
 
-  override fun configSteerPID(
+  override fun configureSteerPID(
     kP: ProportionalGain<Radian, Volt>,
     kI: IntegralGain<Radian, Volt>,
     kD: DerivativeGain<Radian, Volt>

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt
@@ -1168,24 +1168,6 @@ class Superstructure(
     return returnCommand
   }
 
-  fun testDriveVelocityCommand(): Command {
-    val returnCommand = runOnce {
-      currentRequest= Request.SuperstructureRequest.Tuning()
-      drivetrain.currentRequest =
-        Request.DrivetrainRequest.OpenLoop(
-          Drivetrain.TunableDriveStates.testOmega.get(),
-          Velocity2d(
-            Drivetrain.TunableDriveStates.testXVelocity.get(),
-            Drivetrain.TunableDriveStates.testYVelocity.get()
-          )
-        )
-    }
-    returnCommand.name = "TestDriveVelocityCommand"
-    return returnCommand
-  }
-
-  // TODO: Test Drivetrain Steer Command
-
   companion object {
     enum class SuperstructureStates {
       UNINITIALIZED,
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		#Wed Jun 19 14:31:53 EDT 2024
		gradle.version=8.4