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Use Phoenix6 swervedrive for all-CTRE, YAGSL for all else?
modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java new file: src/main/java/frc/robot/generated/TunerConstants.java new file: src/main/java/frc/robot/subsystems/swervedrive_phoenix/CommandSwerveDrivetrain.java renamed: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java -> src/main/java/frc/robot/subsystems/swervedrive_yagsl/SwerveSubsystem.java modified: src/main/java/frc/robot/util/YAGSL_AzRBSI/README modified: src/main/java/frc/robot/util/YAGSL_AzRBSI/SwerveParser_RBSI.java modified: src/main/java/frc/robot/util/YAGSL_AzRBSI/TalonFXSwerve_RBSI.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,187 @@ | ||
| package frc.robot.generated; | ||
|
|
||
| import com.ctre.phoenix6.configs.CANcoderConfiguration; | ||
| import com.ctre.phoenix6.configs.CurrentLimitsConfigs; | ||
| import com.ctre.phoenix6.configs.Pigeon2Configuration; | ||
| import com.ctre.phoenix6.configs.Slot0Configs; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants; | ||
| import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType; | ||
| import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants; | ||
| import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants.SteerFeedbackType; | ||
| import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstantsFactory; | ||
| import edu.wpi.first.math.util.Units; | ||
| import frc.robot.subsystems.swervedrive_phoenix.CommandSwerveDrivetrain; | ||
|
|
||
| // Generated by the Tuner X Swerve Project Generator | ||
| // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html | ||
| public class TunerConstants { | ||
| // Both sets of gains need to be tuned to your individual robot. | ||
|
|
||
| // The steer motor uses any SwerveModule.SteerRequestType control request with the | ||
| // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput | ||
| private static final Slot0Configs steerGains = | ||
| new Slot0Configs().withKP(100).withKI(0).withKD(0.2).withKS(0).withKV(1.5).withKA(0); | ||
| // When using closed-loop control, the drive motor uses the control | ||
| // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput | ||
| private static final Slot0Configs driveGains = | ||
| new Slot0Configs().withKP(3).withKI(0).withKD(0).withKS(0).withKV(0).withKA(0); | ||
|
|
||
| // The closed-loop output type to use for the steer motors; | ||
| // This affects the PID/FF gains for the steer motors | ||
| private static final ClosedLoopOutputType steerClosedLoopOutput = ClosedLoopOutputType.Voltage; | ||
| // The closed-loop output type to use for the drive motors; | ||
| // This affects the PID/FF gains for the drive motors | ||
| private static final ClosedLoopOutputType driveClosedLoopOutput = ClosedLoopOutputType.Voltage; | ||
|
|
||
| // The stator current at which the wheels start to slip; | ||
| // This needs to be tuned to your individual robot | ||
| private static final double kSlipCurrentA = 150.0; | ||
|
|
||
| // Initial configs for the drive and steer motors and the CANcoder; these cannot be null. | ||
| // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. | ||
| private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration(); | ||
| private static final TalonFXConfiguration steerInitialConfigs = | ||
| new TalonFXConfiguration() | ||
| .withCurrentLimits( | ||
| new CurrentLimitsConfigs() | ||
| // Swerve azimuth does not require much torque output, so we can set a relatively | ||
| // low | ||
| // stator current limit to help avoid brownouts without impacting performance. | ||
| .withStatorCurrentLimit(60) | ||
| .withStatorCurrentLimitEnable(true)); | ||
| private static final CANcoderConfiguration cancoderInitialConfigs = new CANcoderConfiguration(); | ||
| // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs | ||
| private static final Pigeon2Configuration pigeonConfigs = null; | ||
|
|
||
| // Theoretical free speed (m/s) at 12v applied output; | ||
| // This needs to be tuned to your individual robot | ||
| public static final double kSpeedAt12VoltsMps = 4.70; | ||
|
|
||
| // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; | ||
| // This may need to be tuned to your individual robot | ||
| private static final double kCoupleRatio = 3.5; | ||
|
|
||
| private static final double kDriveGearRatio = 7.363636364; | ||
| private static final double kSteerGearRatio = 15.42857143; | ||
| private static final double kWheelRadiusInches = | ||
| 2.167; // Estimated at first, then fudge-factored to make odom match record | ||
|
|
||
| private static final boolean kSteerMotorReversed = true; | ||
| private static final boolean kInvertLeftSide = false; | ||
| private static final boolean kInvertRightSide = true; | ||
|
|
||
| private static final String kCANbusName = "rio"; | ||
| private static final int kPigeonId = 1; | ||
|
|
||
| // These are only used for simulation | ||
| private static final double kSteerInertia = 0.00001; | ||
| private static final double kDriveInertia = 0.001; | ||
| // Simulated voltage necessary to overcome friction | ||
| private static final double kSteerFrictionVoltage = 0.25; | ||
| private static final double kDriveFrictionVoltage = 0.25; | ||
|
|
||
| private static final SwerveDrivetrainConstants DrivetrainConstants = | ||
| new SwerveDrivetrainConstants() | ||
| .withCANbusName(kCANbusName) | ||
| .withPigeon2Id(kPigeonId) | ||
| .withPigeon2Configs(pigeonConfigs); | ||
|
|
||
| private static final SwerveModuleConstantsFactory ConstantCreator = | ||
| new SwerveModuleConstantsFactory() | ||
| .withDriveMotorGearRatio(kDriveGearRatio) | ||
| .withSteerMotorGearRatio(kSteerGearRatio) | ||
| .withWheelRadius(kWheelRadiusInches) | ||
| .withSlipCurrent(kSlipCurrentA) | ||
| .withSteerMotorGains(steerGains) | ||
| .withDriveMotorGains(driveGains) | ||
| .withSteerMotorClosedLoopOutput(steerClosedLoopOutput) | ||
| .withDriveMotorClosedLoopOutput(driveClosedLoopOutput) | ||
| .withSpeedAt12VoltsMps(kSpeedAt12VoltsMps) | ||
| .withSteerInertia(kSteerInertia) | ||
| .withDriveInertia(kDriveInertia) | ||
| .withSteerFrictionVoltage(kSteerFrictionVoltage) | ||
| .withDriveFrictionVoltage(kDriveFrictionVoltage) | ||
| .withFeedbackSource(SteerFeedbackType.FusedCANcoder) | ||
| .withCouplingGearRatio(kCoupleRatio) | ||
| .withSteerMotorInverted(kSteerMotorReversed) | ||
| .withDriveMotorInitialConfigs(driveInitialConfigs) | ||
| .withSteerMotorInitialConfigs(steerInitialConfigs) | ||
| .withCANcoderInitialConfigs(cancoderInitialConfigs); | ||
|
|
||
| // Front Left | ||
| private static final int kFrontLeftDriveMotorId = 5; | ||
| private static final int kFrontLeftSteerMotorId = 4; | ||
| private static final int kFrontLeftEncoderId = 2; | ||
| private static final double kFrontLeftEncoderOffset = -0.83544921875; | ||
|
|
||
| private static final double kFrontLeftXPosInches = 10.5; | ||
| private static final double kFrontLeftYPosInches = 10.5; | ||
|
|
||
| // Front Right | ||
| private static final int kFrontRightDriveMotorId = 7; | ||
| private static final int kFrontRightSteerMotorId = 6; | ||
| private static final int kFrontRightEncoderId = 3; | ||
| private static final double kFrontRightEncoderOffset = -0.15234375; | ||
|
|
||
| private static final double kFrontRightXPosInches = 10.5; | ||
| private static final double kFrontRightYPosInches = -10.5; | ||
|
|
||
| // Back Left | ||
| private static final int kBackLeftDriveMotorId = 1; | ||
| private static final int kBackLeftSteerMotorId = 0; | ||
| private static final int kBackLeftEncoderId = 0; | ||
| private static final double kBackLeftEncoderOffset = -0.4794921875; | ||
|
|
||
| private static final double kBackLeftXPosInches = -10.5; | ||
| private static final double kBackLeftYPosInches = 10.5; | ||
|
|
||
| // Back Right | ||
| private static final int kBackRightDriveMotorId = 3; | ||
| private static final int kBackRightSteerMotorId = 2; | ||
| private static final int kBackRightEncoderId = 1; | ||
| private static final double kBackRightEncoderOffset = -0.84130859375; | ||
|
|
||
| private static final double kBackRightXPosInches = -10.5; | ||
| private static final double kBackRightYPosInches = -10.5; | ||
|
|
||
| private static final SwerveModuleConstants FrontLeft = | ||
| ConstantCreator.createModuleConstants( | ||
| kFrontLeftSteerMotorId, | ||
| kFrontLeftDriveMotorId, | ||
| kFrontLeftEncoderId, | ||
| kFrontLeftEncoderOffset, | ||
| Units.inchesToMeters(kFrontLeftXPosInches), | ||
| Units.inchesToMeters(kFrontLeftYPosInches), | ||
| kInvertLeftSide); | ||
| private static final SwerveModuleConstants FrontRight = | ||
| ConstantCreator.createModuleConstants( | ||
| kFrontRightSteerMotorId, | ||
| kFrontRightDriveMotorId, | ||
| kFrontRightEncoderId, | ||
| kFrontRightEncoderOffset, | ||
| Units.inchesToMeters(kFrontRightXPosInches), | ||
| Units.inchesToMeters(kFrontRightYPosInches), | ||
| kInvertRightSide); | ||
| private static final SwerveModuleConstants BackLeft = | ||
| ConstantCreator.createModuleConstants( | ||
| kBackLeftSteerMotorId, | ||
| kBackLeftDriveMotorId, | ||
| kBackLeftEncoderId, | ||
| kBackLeftEncoderOffset, | ||
| Units.inchesToMeters(kBackLeftXPosInches), | ||
| Units.inchesToMeters(kBackLeftYPosInches), | ||
| kInvertLeftSide); | ||
| private static final SwerveModuleConstants BackRight = | ||
| ConstantCreator.createModuleConstants( | ||
| kBackRightSteerMotorId, | ||
| kBackRightDriveMotorId, | ||
| kBackRightEncoderId, | ||
| kBackRightEncoderOffset, | ||
| Units.inchesToMeters(kBackRightXPosInches), | ||
| Units.inchesToMeters(kBackRightYPosInches), | ||
| kInvertRightSide); | ||
|
|
||
| public static final CommandSwerveDrivetrain DriveTrain = | ||
| new CommandSwerveDrivetrain(DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight); | ||
| } |
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