Additional Changes before first meeting

I made a few additional changes/removed some stuff before the first meeting that's coming up in a few days.
FRC2706 · Jun 26, 2021 · 9fa697d · 9fa697d
1 parent 0ac2669
commit 9fa697d
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 24 deletions.
diff --git a/src/main/java/frc/robot/commands/RamseteControllerLogging.java b/src/main/java/frc/robot/commands/RamseteControllerLogging.java
@@ -12,8 +12,8 @@ public class RamseteControllerLogging extends RamseteController {
 
     NetworkTableEntry xError, yError, rotError;
 
-    public RamseteControllerLogging() {
-        super(Config.kRamseteB, Config.kRamseteZeta);
+    public RamseteControllerLogging(double b, double zeta) {
+        super(b, zeta);
 
         var table = NetworkTableInstance.getDefault().getTable("DrivetrainData");
         xError = table.getEntry("xError");

diff --git a/src/main/java/frc/robot/config/Config.java b/src/main/java/frc/robot/config/Config.java
@@ -33,25 +33,7 @@ public final class Config {
     public static final boolean DRIVETRAIN_LEFT_SENSORPHASE = true;
     public static final boolean DRIVETRAIN_RIGHT_SENSORPHASE = true;
 
-    public static final double kTrackwidthMeters = 0.69;
-    public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(
-            kTrackwidthMeters);
-
-    public static final double drivetrainWheelDiameter = 0.1524;
-    public static final double ticksPerRevolution = 4096;
-
-    public static final double kMaxSpeedMetersPerSecond = 1;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 0.5;
-
-    public static final double RAMSETE_KF = 0.5; // Rough/quick tuning.
-    public static final double RAMSETE_KP = 0.15;
-    public static final double RAMSETE_KI = 0;
-    public static final double RAMSETE_KD = 0;
-    public static final double RAMSETE_ALLOWABLE_PID_ERROR = 0;
-
-    // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
-    public static final double kRamseteB = 2;
-    public static final double kRamseteZeta = 0.7;
+    public static final double RAMSETE_KF = 0;
 
     /** Setup for ArcadeDrive */
     public static int LEFT_CONTROL_STICK_Y = 1;

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -69,7 +69,7 @@ private void setTalonConfigurations() {
         TalonSRXConfiguration talonConfig = new TalonSRXConfiguration(); 
 
         /** Put any settings in TalonSRXConfiguration here. */
-
+        talonConfig.slot1.kF = Config.RAMSETE_KF;
 
 
         // Error Code check all TalonSRXConfiguration settings
@@ -93,6 +93,10 @@ private void setTalonConfigurations() {
         leftLeader.setSensorPhase(Config.DRIVETRAIN_LEFT_SENSORPHASE);
         rightLeader.setSensorPhase(Config.DRIVETRAIN_RIGHT_SENSORPHASE);
 
+        // Ramsete set to slot 1 so any future Driver controls can be slot 1
+        leftLeader.selectProfileSlot(1, 0);
+        rightLeader.selectProfileSlot(1, 0);
+
         // Set brake mode for testing so it immediatly stops moving if something goes wrong
         leftLeader.setNeutralMode(NeutralMode.Brake);
         rightLeader.setNeutralMode(NeutralMode.Brake); 
@@ -120,8 +124,8 @@ private Rotation2d getCurrentAngle() {
 
 
     /**
-     * Sets the velocity of the left and right side of the drivetrain.
-     * Used for ramsete. 
+     * Sets the velocity of the left and right side of the drivetrain in meters per second.
+     * Called by RamseteCommand
      */
     public void tankDriveVelocity(double leftVel, double rightVel) {