clear a bunch of stuff, for nike

Team841 · Nov 6, 2024 · 5dfb102 · 5dfb102
1 parent ae23278
commit 5dfb102
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Showing 6 changed files with 105 additions and 301 deletions.
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2024",
-    "teamNumber": 841
+    "teamNumber": 9998
 }
diff --git a/src/main/java/com/team841/calliope/Robot.java b/src/main/java/com/team841/calliope/Robot.java
@@ -22,7 +22,7 @@
 public class Robot extends LoggedRobot {
     private Command m_autonomousCommand;
 
-    private final DigitalInput intakeSensor = new DigitalInput(RC.robot == RC.Robot.CALLIOPE ? 0 : 2);
+    private final DigitalInput intakeSensor = new DigitalInput(2);
 
     public static RobotContainer m_robotContainer;
 

diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -1,13 +1,11 @@
 package com.team841.calliope;
 
 import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.mechanisms.swerve.SwerveModule;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import com.team841.calliope.constants.RC;
 import com.team841.calliope.constants.Swerve;
-import com.team841.calliope.constants.SwerveNike;
 import com.team841.calliope.drive.BioDrive;
 import com.team841.calliope.drive.Drivetrain;
 import com.team841.calliope.superstructure.Shoot;
@@ -30,12 +28,9 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.*;
-import edu.wpi.first.wpilibj2.command.button.CommandGenericHID;
 import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
-import static com.team841.calliope.constants.Swerve.DrivetrainConstants;
-
 public class RobotContainer {
 
     public final Drivetrain drivetrain;
@@ -96,10 +91,7 @@ public static RobotContainer getInstance() {
     public RobotContainer() {
         switch (RC.robotType) {
             default -> {
-                if (RC.robot == RC.Robot.CALLIOPE)
-                    this.drivetrain = new Drivetrain(Swerve.DrivetrainConstants, Swerve.FrontLeft, Swerve.FrontRight, Swerve.BackLeft, Swerve.BackRight);
-                else
-                    this.drivetrain = new Drivetrain(SwerveNike.DrivetrainConstants, SwerveNike.FrontLeft, SwerveNike.FrontRight, SwerveNike.BackLeft, SwerveNike.BackRight);
+                this.drivetrain = new Drivetrain(Swerve.DrivetrainConstants, Swerve.FrontLeft, Swerve.FrontRight, Swerve.BackLeft, Swerve.BackRight);
 
                 this.shooterIO = new ShooterIOTalonFX();
                 this.shooter = new Shooter(this.shooterIO);
@@ -120,32 +112,16 @@ public RobotContainer() {
 
         registerNamedCommands();
 
+        this.sticksXbox = new CommandXboxController[1];
+        this.sticksPS5 = new CommandPS5Controller[1];
+        this.sticksXbox[0] = new CommandXboxController(RC.Controllers.soloStick);
 
-        if (RC.robot == RC.Robot.NIKE){
-            this.sticksXbox = new CommandXboxController[1];
-            this.sticksPS5 = new CommandPS5Controller[1];
-            this.sticksXbox[0] = new CommandXboxController(RC.Controllers.soloStick);
-
-            this.bioDrive = new BioDrive(
-                    this.drivetrain,
-                    () -> -sticksXbox[0].getLeftY() * Swerve.MaxSpeed,
-                    () -> -sticksXbox[0].getLeftX() * Swerve.MaxSpeed,
-                    () -> -sticksXbox[0].getRightX() * Swerve.MaxAngularRate,
-                    () -> sticksXbox[0].a().getAsBoolean());
-
-        } else {
-            this.sticksPS5 = new CommandPS5Controller[1];
-            this.sticksXbox = new CommandXboxController[1];
-            this.sticksPS5[0] = new CommandPS5Controller(RC.Controllers.duoStickDrive);
-            this.sticksXbox[0] = new CommandXboxController(RC.Controllers.duoStickCoDrive);
-
-            this.bioDrive = new BioDrive(
-                    this.drivetrain,
-                    () -> -sticksPS5[0].getLeftY() * Swerve.MaxSpeed,
-                    () -> -sticksPS5[0].getLeftX() * Swerve.MaxSpeed,
-                    () -> -sticksPS5[0].getRightX() * Swerve.MaxAngularRate,
-                    () -> sticksPS5[0].L2().getAsBoolean());
-        }
+        this.bioDrive = new BioDrive(
+                this.drivetrain,
+                () -> -sticksXbox[0].getLeftY() * Swerve.MaxSpeed,
+                () -> -sticksXbox[0].getLeftX() * Swerve.MaxSpeed,
+                () -> -sticksXbox[0].getRightX() * Swerve.MaxAngularRate,
+                () -> sticksXbox[0].a().getAsBoolean());
 
         this.feedback = new Feedback(this.sticksXbox[0]);
 
@@ -163,11 +139,8 @@ public RobotContainer() {
 
         this.drivetrain.setDefaultCommand(bioDrive);
 
-        if (RC.robot == RC.Robot.NIKE){
-            configureSoloStick();
-        } else {
-            configureDuoStick();
-        }
+        configureSoloStick();
+
     }
 
 

diff --git a/src/main/java/com/team841/calliope/constants/RC.java b/src/main/java/com/team841/calliope/constants/RC.java
@@ -17,8 +17,6 @@ public class RC {
 
   public static final RunType robotType = RunType.COMP;
 
-  public static Robot robot = Robot.CALLIOPE;
-
   public static boolean motorsAreWorking = true;
 
   public static class Controllers {
@@ -52,9 +50,4 @@ public enum RunType{
     COMP, // Comp code, real robot code
     REPLAY
   }
-
-  public enum Robot{
-      CALLIOPE,
-        NIKE
-  }
 }
diff --git a/src/main/java/com/team841/calliope/constants/Swerve.java b/src/main/java/com/team841/calliope/constants/Swerve.java
@@ -1,6 +1,6 @@
 package com.team841.calliope.constants;
 
-import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.*;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
@@ -17,56 +17,73 @@ public class Swerve {
 
   // 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);
+  public 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);
+  public 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;
+  public 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;
+  public 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 = 300.0;
-  private static final double kSlipCurrentA = 80.0;
+  public 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.
+  public static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
+  public 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)
+          );
+  public static final CANcoderConfiguration cancoderInitialConfigs = new CANcoderConfiguration();
+  // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
+  public 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 = 5.96;
+  public static final double kSpeedAt12VoltsMps = 5.21;
 
   // 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 = 3.125;
+  public static final double kCoupleRatio = 3.5714285714285716;
 
-  private static final double kDriveGearRatio = 5.357142857142857;
-  private static final double kSteerGearRatio = 21.428571428571427;
-  private static final double kWheelRadiusInches = 2;
+  public static final double kDriveGearRatio = 6.122448979591837;
+  public static final double kSteerGearRatio = 21.428571428571427;
+  public static final double kWheelRadiusInches = 2;
 
-  private static final boolean kSteerMotorReversed = true;
-  private static final boolean kInvertLeftSide = true;
-  private static final boolean kInvertRightSide = false;
+  public static final boolean kInvertLeftSide = true;
+  public static final boolean kInvertRightSide = false;
+
+  public static final String kCANbusName = "canivore2";
+  public static final int kPigeonId = 0;
 
-  private static final String kCANbusName = "canivore2";
-  private static final int kPigeonId = 0;
 
   // These are only used for simulation
-  private static final double kSteerInertia = 0.00001;
-  private static final double kDriveInertia = 0.001;
+  public static final double kSteerInertia = 0.00001;
+  public 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;
+  public static final double kSteerFrictionVoltage = 0.25;
+  public static final double kDriveFrictionVoltage = 0.25;
 
-  public static final SwerveDrivetrainConstants DrivetrainConstants =
-      new SwerveDrivetrainConstants().withPigeon2Id(kPigeonId).withCANbusName(kCANbusName);
+  public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+          .withCANbusName(kCANbusName)
+          .withPigeon2Id(kPigeonId)
+          .withPigeon2Configs(pigeonConfigs);
 
-  public static final SwerveModuleConstantsFactory ConstantCreator =
-      new SwerveModuleConstantsFactory()
+  public static final SwerveModuleConstantsFactory ConstantCreator = new SwerveModuleConstantsFactory()
           .withDriveMotorGearRatio(kDriveGearRatio)
           .withSteerMotorGearRatio(kSteerGearRatio)
           .withWheelRadius(kWheelRadiusInches)
@@ -82,80 +99,64 @@ public class Swerve {
           .withDriveFrictionVoltage(kDriveFrictionVoltage)
           .withFeedbackSource(SteerFeedbackType.FusedCANcoder)
           .withCouplingGearRatio(kCoupleRatio)
-          .withSteerMotorInverted(kSteerMotorReversed);
+          .withDriveMotorInitialConfigs(driveInitialConfigs)
+          .withSteerMotorInitialConfigs(steerInitialConfigs)
+          .withCANcoderInitialConfigs(cancoderInitialConfigs);
+
 
   // Front Left
-  private static final int kFrontLeftDriveMotorId = 3;
-  private static final int kFrontLeftSteerMotorId = 4;
-  private static final int kFrontLeftEncoderId = 2;
-  private static final double kFrontLeftEncoderOffset = -0.421875;
+  public static final int kFrontLeftDriveMotorId = 3;
+  public static final int kFrontLeftSteerMotorId = 4;
+  public static final int kFrontLeftEncoderId = 2;
+  public static final double kFrontLeftEncoderOffset = -0.107666015625;
+  public static final boolean kFrontLeftSteerInvert = true;
 
-  private static final double kFrontLeftXPosInches = 10.375;
-  private static final double kFrontLeftYPosInches = 10.375;
+  public static final double kFrontLeftXPosInches = 10.375;
+  public static final double kFrontLeftYPosInches = 10.375;
 
   // Front Right
-  private static final int kFrontRightDriveMotorId = 1;
-  private static final int kFrontRightSteerMotorId = 2;
-  private static final int kFrontRightEncoderId = 1;
-  private static final double kFrontRightEncoderOffset = -0.472412109375;
+  public static final int kFrontRightDriveMotorId = 1;
+  public static final int kFrontRightSteerMotorId = 2;
+  public static final int kFrontRightEncoderId = 1;
+  public static final double kFrontRightEncoderOffset = -0.296875;
+  public static final boolean kFrontRightSteerInvert = true;
 
-  private static final double kFrontRightXPosInches = 10.375;
-  private static final double kFrontRightYPosInches = -10.375;
+  public static final double kFrontRightXPosInches = 10.375;
+  public static final double kFrontRightYPosInches = -10.375;
 
   // Back Left
-  private static final int kBackLeftDriveMotorId = 5;
-  private static final int kBackLeftSteerMotorId = 6;
-  private static final int kBackLeftEncoderId = 3;
-  private static final double kBackLeftEncoderOffset = 0.435302734375;
+  public static final int kBackLeftDriveMotorId = 5;
+  public static final int kBackLeftSteerMotorId = 6;
+  public static final int kBackLeftEncoderId = 3;
+  public static final double kBackLeftEncoderOffset = 0.2412109375;
+  public static final boolean kBackLeftSteerInvert = true;
 
-  private static final double kBackLeftXPosInches = -10.375;
-  private static final double kBackLeftYPosInches = 10.375;
+  public static final double kBackLeftXPosInches = -10.375;
+  public static final double kBackLeftYPosInches = 10.375;
 
   // Back Right
-  private static final int kBackRightDriveMotorId = 7;
-  private static final int kBackRightSteerMotorId = 8;
-  private static final int kBackRightEncoderId = 4;
-  private static final double kBackRightEncoderOffset = -0.0185546875;
-
-  private static final double kBackRightXPosInches = -10.375;
-  private static final double kBackRightYPosInches = -10.375;
-
-  public static final SwerveModuleConstants FrontLeft =
-      ConstantCreator.createModuleConstants(
-          kFrontLeftSteerMotorId,
-          kFrontLeftDriveMotorId,
-          kFrontLeftEncoderId,
-          kFrontLeftEncoderOffset,
-          Units.inchesToMeters(kFrontLeftXPosInches),
-          Units.inchesToMeters(kFrontLeftYPosInches),
-          kInvertLeftSide);
-  public static final SwerveModuleConstants FrontRight =
-      ConstantCreator.createModuleConstants(
-          kFrontRightSteerMotorId,
-          kFrontRightDriveMotorId,
-          kFrontRightEncoderId,
-          kFrontRightEncoderOffset,
-          Units.inchesToMeters(kFrontRightXPosInches),
-          Units.inchesToMeters(kFrontRightYPosInches),
-          kInvertRightSide);
-  public static final SwerveModuleConstants BackLeft =
-      ConstantCreator.createModuleConstants(
-          kBackLeftSteerMotorId,
-          kBackLeftDriveMotorId,
-          kBackLeftEncoderId,
-          kBackLeftEncoderOffset,
-          Units.inchesToMeters(kBackLeftXPosInches),
-          Units.inchesToMeters(kBackLeftYPosInches),
-          kInvertLeftSide);
-    public static final SwerveModuleConstants BackRight =
-      ConstantCreator.createModuleConstants(
-          kBackRightSteerMotorId,
-          kBackRightDriveMotorId,
-          kBackRightEncoderId,
-          kBackRightEncoderOffset,
-          Units.inchesToMeters(kBackRightXPosInches),
-          Units.inchesToMeters(kBackRightYPosInches),
-          kInvertRightSide);
+  public static final int kBackRightDriveMotorId = 7;
+  public static final int kBackRightSteerMotorId = 8;
+  public static final int kBackRightEncoderId = 4;
+  public static final double kBackRightEncoderOffset = -0.186279296875;
+  public static final boolean kBackRightSteerInvert = true;
+
+  public static final double kBackRightXPosInches = -10.375;
+  public static final double kBackRightYPosInches = -10.375;
+
+
+  public static final SwerveModuleConstants FrontLeft = ConstantCreator.createModuleConstants(
+                  kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset, Units.inchesToMeters(kFrontLeftXPosInches), Units.inchesToMeters(kFrontLeftYPosInches), kInvertLeftSide)
+          .withSteerMotorInverted(kFrontLeftSteerInvert);
+  public static final SwerveModuleConstants FrontRight = ConstantCreator.createModuleConstants(
+                  kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset, Units.inchesToMeters(kFrontRightXPosInches), Units.inchesToMeters(kFrontRightYPosInches), kInvertRightSide)
+          .withSteerMotorInverted(kFrontRightSteerInvert);
+  public static final SwerveModuleConstants BackLeft = ConstantCreator.createModuleConstants(
+                  kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, Units.inchesToMeters(kBackLeftXPosInches), Units.inchesToMeters(kBackLeftYPosInches), kInvertLeftSide)
+          .withSteerMotorInverted(kBackLeftSteerInvert);
+  public static final SwerveModuleConstants BackRight = ConstantCreator.createModuleConstants(
+                  kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset, Units.inchesToMeters(kBackRightXPosInches), Units.inchesToMeters(kBackRightYPosInches), kInvertRightSide)
+          .withSteerMotorInverted(kBackRightSteerInvert);
 
   public static double MaxAngularRate = 4 * Math.PI; // 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity
   public static double MaxSpeed = kSpeedAt12VoltsMps;