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4201VitruvianBots · Jan 18, 2025 · 8144a55 · 8144a55
1 parent db078a0
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Showing 3 changed files with 63 additions and 59 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -8,15 +8,10 @@
 
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.path.PathPlannerPath;
-
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 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.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -29,8 +24,8 @@
 import frc.robot.commands.SwerveCharacterization;
 import frc.robot.constants.ROBOT;
 import frc.robot.constants.SWERVE;
-import frc.robot.constants.USB;
 import frc.robot.constants.SWERVE.ROUTINE_TYPE;
+import frc.robot.constants.USB;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.AlgaeIntake;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -102,9 +97,9 @@ private void initializeSubSystems() {
 
   private void initAutoChooser() {
     SmartDashboard.putData("Auto Chooser", m_chooser);
-    
+
     m_chooser.addOption("Do Nothing", new WaitCommand(0));
-    
+
     m_chooser.addOption("DriveForward", new DriveForward(m_swerveDrive));
   }
 
@@ -113,48 +108,56 @@ private void initSmartDashboard() {
     else initAutoChooser();
     SmartDashboard.putData("ResetGyro", new ResetGyro(m_swerveDrive));
   }
-   
-  private void initSysidChooser(){
+
+  private void initSysidChooser() {
     SignalLogger.setPath("/media/sda1/");
 
     SysIdUtils.createSwerveDriveRoutines(m_swerveDrive);
     SysIdUtils.createSwerveTurnRoutines(m_swerveDrive);
 
     SmartDashboard.putData(
-      "Start Logging", new InstantCommand(SignalLogger::start).ignoringDisable(true));
+        "Start Logging", new InstantCommand(SignalLogger::start).ignoringDisable(true));
     SmartDashboard.putData(
-      "Stop Logging", new InstantCommand(SignalLogger::stop).ignoringDisable(true));
+        "Stop Logging", new InstantCommand(SignalLogger::stop).ignoringDisable(true));
     SmartDashboard.putData(
-      "initDriveSettings",
+        "initDriveSettings",
         new InstantCommand(m_swerveDrive::initDriveSysid).ignoringDisable(true));
 
     m_sysidChooser.addOption(
-         "driveQuasistaticForward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.DRIVE_QUASISTATIC));
+        "driveQuasistaticForward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.DRIVE_QUASISTATIC));
     m_sysidChooser.addOption(
-         "driveQuasistaticBackwards",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.DRIVE_QUASISTATIC));
+        "driveQuasistaticBackwards",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.DRIVE_QUASISTATIC));
     m_sysidChooser.addOption(
-         "driveDynamicForward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.DRIVE_DYNAMIC));
+        "driveDynamicForward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.DRIVE_DYNAMIC));
     m_sysidChooser.addOption(
-         "driveDynamicBackward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.DRIVE_DYNAMIC));
+        "driveDynamicBackward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.DRIVE_DYNAMIC));
 
     m_sysidChooser.addOption(
-         "turnQuasistaticForward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.TURN_QUASISTATIC));
+        "turnQuasistaticForward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.TURN_QUASISTATIC));
     m_sysidChooser.addOption(
-         "turnQuasistaticBackwards",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.TURN_QUASISTATIC));
+        "turnQuasistaticBackwards",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.TURN_QUASISTATIC));
     m_sysidChooser.addOption(
-         "turnDynamicForward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.TURN_DYNAMIC));
+        "turnDynamicForward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kForward, ROUTINE_TYPE.TURN_DYNAMIC));
     m_sysidChooser.addOption(
-         "turnDynamicBackward",
-         new SwerveCharacterization(m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.TURN_DYNAMIC));
+        "turnDynamicBackward",
+        new SwerveCharacterization(
+            m_swerveDrive, SysIdRoutine.Direction.kReverse, ROUTINE_TYPE.TURN_DYNAMIC));
+  }
 
-   } 
   /**
    * Use this method to define your trigger->command mappings. Triggers can be created via the
    * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary

diff --git a/src/main/java/frc/robot/commands/DriveForward.java b/src/main/java/frc/robot/commands/DriveForward.java
@@ -21,29 +21,29 @@ public class DriveForward extends SequentialCommandGroup {
   /** Creates a new DriveForward. */
   public DriveForward(CommandSwerveDrivetrain swerveDrive) {
     try {
-        PathPlannerPath path = PathPlannerPath.fromPathFile("DriveForward");
+      PathPlannerPath path = PathPlannerPath.fromPathFile("DriveForward");
 
-        var m_ppCommand = AutoBuilder.followPath(path);
-        
-        var point = new SwerveRequest.PointWheelsAt();
-        var stopRequest = new SwerveRequest.ApplyRobotSpeeds();
-        
-        // Will throw an exception if the starting pose is not present
-        var starting_pose = path.getStartingHolonomicPose().orElseThrow();
-        
-        // Add your commands in the addCommands() call, e.g.
-        // addCommands(new FooCommand(), new BarCommand());
-        addCommands(
-            new InstantCommand( // Reset the pose of the robot to the starting pose of the path
-                () -> swerveDrive.resetPose(starting_pose)),
-            new InstantCommand(
-                    () -> swerveDrive.applyRequest(() -> point.withModuleDirection(new Rotation2d())),
-                    swerveDrive)
-                .alongWith(new WaitCommand(1)),
-            m_ppCommand.andThen(() -> swerveDrive.setControl(stopRequest)));
+      var m_ppCommand = AutoBuilder.followPath(path);
+
+      var point = new SwerveRequest.PointWheelsAt();
+      var stopRequest = new SwerveRequest.ApplyRobotSpeeds();
+
+      // Will throw an exception if the starting pose is not present
+      var starting_pose = path.getStartingHolonomicPose().orElseThrow();
+
+      // Add your commands in the addCommands() call, e.g.
+      // addCommands(new FooCommand(), new BarCommand());
+      addCommands(
+          new InstantCommand( // Reset the pose of the robot to the starting pose of the path
+              () -> swerveDrive.resetPose(starting_pose)),
+          new InstantCommand(
+                  () -> swerveDrive.applyRequest(() -> point.withModuleDirection(new Rotation2d())),
+                  swerveDrive)
+              .alongWith(new WaitCommand(1)),
+          m_ppCommand.andThen(() -> swerveDrive.setControl(stopRequest)));
     } catch (Exception e) {
-        DriverStation.reportError("Failed to load path for DriveForward", e.getStackTrace());
-        addCommands(new WaitCommand(0));
+      DriverStation.reportError("Failed to load path for DriveForward", e.getStackTrace());
+      addCommands(new WaitCommand(0));
     }
   }
-}
+}
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -28,11 +28,9 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.robot.generated.TunerConstants;
 import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
 import frc.robot.utils.CtreUtils;
 import frc.robot.utils.ModuleMap;
-
 import java.util.function.Supplier;
 
 /**
@@ -143,14 +141,17 @@ public void initDriveSysid() {
       var driveMotor = getModule(i.ordinal()).getDriveMotor();
       var turnMotor = getModule(i.ordinal()).getSteerMotor();
       CtreUtils.configureTalonFx(driveMotor, new TalonFXConfiguration());
-      CtreUtils.configureTalonFx(turnMotor, new TalonFXConfiguration() /* was previously CtreUtils.generateTurnMotorConfig() TODO: get that method working again*/);
+      CtreUtils.configureTalonFx(
+          turnMotor,
+          new TalonFXConfiguration() /* was previously CtreUtils.generateTurnMotorConfig() TODO: get that method working again*/);
       driveMotor.setNeutralMode(NeutralModeValue.Brake);
       BaseStatusSignal.setUpdateFrequencyForAll(
           250, driveMotor.getPosition(), driveMotor.getVelocity(), driveMotor.getMotorVoltage());
 
       driveMotor.optimizeBusUtilization();
     }
-  } 
+  }
+
   /**
    * Constructs a CTRE SwerveDrivetrain using the specified constants.
    *
@@ -207,9 +208,9 @@ public CommandSwerveDrivetrain(
   }
 
   // TODO: Re-implement
-//   public Command applyChassisSpeeds(Supplier<ChassisSpeeds> chassisSpeeds) {
-//      return applyChassisSpeeds(chassisSpeeds, 0.02, 1.0, false);
-//   }
+  //   public Command applyChassisSpeeds(Supplier<ChassisSpeeds> chassisSpeeds) {
+  //      return applyChassisSpeeds(chassisSpeeds, 0.02, 1.0, false);
+  //   }
 
   /**
    * Second-Order Kinematics <a