From 634d71309a09087cfe90999c5c162b21b1f1f46d Mon Sep 17 00:00:00 2001 From: WindowsVistaisCool Date: Sat, 27 Jan 2024 14:48:03 -0500 Subject: [PATCH] [#118] Tested sys tests and modified them --- src/main/java/frc/robot/Constants.java | 3 ++- src/main/java/frc/robot/RobotContainer.java | 7 ++++--- .../robot/command/tests/DrivetrainSystemTest.java | 15 ++++++++++----- 3 files changed, 16 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 64709ecb..e729dec2 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -38,7 +38,8 @@ public class DrivetrainConstants { // TODO Get new for new robot public static final double SLOW_ROT_MULT = 0.007; // TODO Tune for Driver public static final double SLOW_SPEED_MULT = 0.4; // TODO Tune for Driver - public static final double SYS_TEST_SPEED = 0.25; + public static final double SYS_TEST_SPEED_DRIVE = 0.5; + public static final double SYS_TEST_SPEED_TURN = 1d; } public class RobotMap { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5d37a1fa..cddf1867 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -169,12 +169,13 @@ protected void configureFaultMonitors() { @Override protected void configureSystemTests() { - SystemTest.registerTest("Drive All Directions", new DrivetrainSystemTest(drivetrain, Constants.DrivetrainConstants.SYS_TEST_SPEED)); + SystemTest.registerTest("Drive Test", new DrivetrainSystemTest(drivetrain, brake, Constants.DrivetrainConstants.SYS_TEST_SPEED_DRIVE)); SystemTest.registerTest("Azimuth Test", new SequentialCommandGroup( - new TimedCommand(new TurnSystemTest(drivetrain, () -> Constants.DrivetrainConstants.SYS_TEST_SPEED), 2), + new TimedCommand(new TurnSystemTest(drivetrain, () -> Constants.DrivetrainConstants.SYS_TEST_SPEED_TURN), 1), new WaitCommand(0.5), - new TimedCommand(new TurnSystemTest(drivetrain, () -> -Constants.DrivetrainConstants.SYS_TEST_SPEED), 2) + new TimedCommand(new TurnSystemTest(drivetrain, () -> -Constants.DrivetrainConstants.SYS_TEST_SPEED_TURN), 1), + drivetrain.applyRequest(() -> brake) )); } } diff --git a/src/main/java/frc/robot/command/tests/DrivetrainSystemTest.java b/src/main/java/frc/robot/command/tests/DrivetrainSystemTest.java index d89f8122..822a28e7 100644 --- a/src/main/java/frc/robot/command/tests/DrivetrainSystemTest.java +++ b/src/main/java/frc/robot/command/tests/DrivetrainSystemTest.java @@ -4,6 +4,9 @@ package frc.robot.command.tests; +import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest; + +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.subsystems.Swerve; @@ -11,16 +14,18 @@ public class DrivetrainSystemTest extends SequentialCommandGroup { - public DrivetrainSystemTest(Swerve drivetrain, double speed) { + public DrivetrainSystemTest(Swerve drivetrain, SwerveRequest brake, double speed) { addCommands( new WaitCommand(0.5), - new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> speed), 2), // Forward + new TimedCommand(new DriveTest(drivetrain, () -> speed, () -> 0d), 1), // Forward new WaitCommand(1), - new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> -speed), 2), // Backward + new TimedCommand(new DriveTest(drivetrain, () -> -speed, () -> 0d), 1), // Backward new WaitCommand(1), - new TimedCommand(new DriveTest(drivetrain, () -> -speed, () -> 0), 2), // Left + new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> speed), 1), // Left new WaitCommand(1), - new TimedCommand(new DriveTest(drivetrain, () -> speed, () -> 0), 2) // Right + new TimedCommand(new DriveTest(drivetrain, () -> 0d, () -> -speed), 1), // Right + new WaitCommand(0.5), + drivetrain.applyRequest(() -> brake) // Brake ); } }