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Saiawe2024saiawe2021
Saiawe2024
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saiawe2021
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Add Drive base Preferences
Co-Authored-By: pranavdasan
1 parent 8400252 commit a3c0f0e

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4 files changed

+44
-28
lines changed

4 files changed

+44
-28
lines changed

‎.gitignore

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@@ -178,4 +178,5 @@ logs/
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ctre_sim/
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networktables.json
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networktables.json.bck
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simgui*.json

‎src/main/java/frc/robot/Robot.java

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@@ -4,6 +4,8 @@
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package frc.robot;
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import com.nrg948.preferences.RobotPreferences;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -25,6 +27,8 @@ public class Robot extends TimedRobot {
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*/
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@Override
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public void robotInit() {
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RobotPreferences.init("frc.robot");
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// Instantiate our RobotContainer. This will perform all our button bindings, and put our
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// autonomous chooser on the dashboard.
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m_robotContainer = new RobotContainer();

‎src/main/java/frc/robot/RobotContainer.java

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@@ -4,6 +4,9 @@
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package frc.robot;
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import com.nrg948.preferences.RobotPreferences;
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import com.nrg948.preferences.RobotPreferencesLayout;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.Command;
@@ -23,6 +26,7 @@
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* the robot (including
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* subsystems, commands, and trigger mappings) should be declared here.
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*/
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@RobotPreferencesLayout(groupName = "Preferences", column = 0, row = 0, width = 2, height = 1)
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public class RobotContainer {
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// The robot's subsystems and commands are defined here...
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private final Subsystems m_subsystems = new Subsystems();
@@ -82,6 +86,8 @@ public void initShuffleboard(){
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m_autonomous.addShuffleboardLayout(operatorTab);
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89+
RobotPreferences.addShuffleBoardTab();
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m_subsystems.drivetrain.addShuffleboardTab();
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}
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}

‎src/main/java/frc/robot/subsystems/SwerveSubsystem.java

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@@ -14,6 +14,9 @@
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import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import com.kauailabs.navx.frc.AHRS;
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import com.nrg948.preferences.RobotPreferences;
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import com.nrg948.preferences.RobotPreferencesLayout;
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import com.nrg948.preferences.RobotPreferencesValue;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkBase.IdleMode;
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import com.revrobotics.CANSparkLowLevel.MotorType;
@@ -54,9 +57,11 @@
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import frc.robot.util.SwerveModuleVelocities;
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import frc.robot.util.SwerveModuleVoltages;
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60+
@RobotPreferencesLayout(groupName = "Drive", column = 0, row = 1, width = 2, height = 3)
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public class SwerveSubsystem extends SubsystemBase {
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public static SwerveDriveParameters PARAMETERS = SwerveDriveParameters.RookieBase2023;
62+
@RobotPreferencesValue
63+
public static RobotPreferences.EnumValue<SwerveDriveParameters> PARAMETERS =
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new RobotPreferences.EnumValue<SwerveDriveParameters>("Drive", "Robot Base", SwerveDriveParameters.PracticeBase2024);
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public static boolean ENABLE_DRIVE_TAB = true;
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@@ -68,49 +73,49 @@ public class SwerveSubsystem extends SubsystemBase {
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// 4 pairs of motors for drive & steering.
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private final TalonFX frontLeftDriveMotor = new TalonFX(
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PARAMETERS.getMotorId(SwerveMotors.FrontLeftDrive));
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PARAMETERS.getValue().getMotorId(SwerveMotors.FrontLeftDrive));
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private final CANSparkMax frontLeftSteeringMotor = new CANSparkMax(
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PARAMETERS.getMotorId(SwerveMotors.FrontLeftSteering), MotorType.kBrushless);
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PARAMETERS.getValue().getMotorId(SwerveMotors.FrontLeftSteering), MotorType.kBrushless);
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private final TalonFX frontRightDriveMotor = new TalonFX(
76-
PARAMETERS.getMotorId(SwerveMotors.FrontRightDrive));
81+
PARAMETERS.getValue().getMotorId(SwerveMotors.FrontRightDrive));
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private final CANSparkMax frontRightSteeringMotor = new CANSparkMax(
78-
PARAMETERS.getMotorId(SwerveMotors.FrontRightSteering), MotorType.kBrushless);
83+
PARAMETERS.getValue().getMotorId(SwerveMotors.FrontRightSteering), MotorType.kBrushless);
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private final TalonFX backLeftDriveMotor = new TalonFX(
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PARAMETERS.getMotorId(SwerveMotors.BackLeftDrive));
86+
PARAMETERS.getValue().getMotorId(SwerveMotors.BackLeftDrive));
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private final CANSparkMax backLeftSteeringMotor = new CANSparkMax(
83-
PARAMETERS.getMotorId(SwerveMotors.BackLeftSteering), MotorType.kBrushless);
88+
PARAMETERS.getValue().getMotorId(SwerveMotors.BackLeftSteering), MotorType.kBrushless);
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private final TalonFX backRightDriveMotor = new TalonFX(
86-
PARAMETERS.getMotorId(SwerveMotors.BackRightDrive));
91+
PARAMETERS.getValue().getMotorId(SwerveMotors.BackRightDrive));
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private final CANSparkMax backRightSteeringMotor = new CANSparkMax(
88-
PARAMETERS.getMotorId(SwerveMotors.BackRightSteering), MotorType.kBrushless);
93+
PARAMETERS.getValue().getMotorId(SwerveMotors.BackRightSteering), MotorType.kBrushless);
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// 4 CANcoders for the steering angle.
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private final CANcoder frontLeftAngle = new CANcoder(
92-
PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.FrontLeft));
97+
PARAMETERS.getValue().getAngleEncoderId(SwerveAngleEncoder.FrontLeft));
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private final CANcoder frontRightAngle = new CANcoder(
94-
PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.FrontRight));
99+
PARAMETERS.getValue().getAngleEncoderId(SwerveAngleEncoder.FrontRight));
95100
private final CANcoder backLeftAngle = new CANcoder(
96-
PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.BackLeft));
101+
PARAMETERS.getValue().getAngleEncoderId(SwerveAngleEncoder.BackLeft));
97102
private final CANcoder backRightAngle = new CANcoder(
98-
PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.BackRight));
103+
PARAMETERS.getValue().getAngleEncoderId(SwerveAngleEncoder.BackRight));
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100105
private final SwerveModule frontLeftModule = createSwerveModule(
101-
frontLeftDriveMotor, frontLeftSteeringMotor, frontLeftAngle, PARAMETERS.getAngleOffset(SwerveAngleEncoder.FrontLeft), "Front Left");
106+
frontLeftDriveMotor, frontLeftSteeringMotor, frontLeftAngle, PARAMETERS.getValue().getAngleOffset(SwerveAngleEncoder.FrontLeft), "Front Left");
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private final SwerveModule frontRightModule = createSwerveModule(
103-
frontRightDriveMotor, frontRightSteeringMotor, frontRightAngle,PARAMETERS.getAngleOffset(SwerveAngleEncoder.FrontRight), "Front Right");
108+
frontRightDriveMotor, frontRightSteeringMotor, frontRightAngle,PARAMETERS.getValue().getAngleOffset(SwerveAngleEncoder.FrontRight), "Front Right");
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private final SwerveModule backLeftModule = createSwerveModule(
105-
backLeftDriveMotor, backLeftSteeringMotor, backLeftAngle, PARAMETERS.getAngleOffset(SwerveAngleEncoder.BackLeft), "Back Left");
110+
backLeftDriveMotor, backLeftSteeringMotor, backLeftAngle, PARAMETERS.getValue().getAngleOffset(SwerveAngleEncoder.BackLeft), "Back Left");
106111
private final SwerveModule backRightModule = createSwerveModule(
107-
backRightDriveMotor, backRightSteeringMotor, backRightAngle, PARAMETERS.getAngleOffset(SwerveAngleEncoder.BackRight), "Back Right");
112+
backRightDriveMotor, backRightSteeringMotor, backRightAngle, PARAMETERS.getValue().getAngleOffset(SwerveAngleEncoder.BackRight), "Back Right");
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109114
private final SwerveModule[] modules = { frontLeftModule, frontRightModule, backLeftModule, backRightModule };
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private final AHRS ahrs = new AHRS(SPI.Port.kMXP, NAVX_UPDATE_FREQUENCY_HZ);
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113-
private final SwerveDriveKinematics kinematics = PARAMETERS.getKinematics();
118+
private final SwerveDriveKinematics kinematics = PARAMETERS.getValue().getKinematics();
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115120
private final SwerveDrive drivetrain;
116121
private final SwerveDrivePoseEstimator odometry;
@@ -166,10 +171,10 @@ private static SwerveModule createSwerveModule(
166171
wheelAngleConfig.MagnetSensor.MagnetOffset = angleOffset/360.0;
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wheelAngleConfigurator.apply(wheelAngleConfig);
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169-
final double metersPerRotation = (PARAMETERS.getWheelDiameter() * Math.PI) / PARAMETERS.getDriveGearRatio();
174+
final double metersPerRotation = (PARAMETERS.getValue().getWheelDiameter() * Math.PI) / PARAMETERS.getValue().getDriveGearRatio();
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171176
return new SwerveModule(
172-
PARAMETERS,
177+
PARAMETERS.getValue(),
173178
driveMotor,
174179
() -> driveMotor.getPosition().refresh().getValueAsDouble() * metersPerRotation,
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// The TalonFX reports the velocity in pulses per 100ms, so we need to
@@ -187,7 +192,7 @@ public SwerveSubsystem() {
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188193
initializeSensorState();
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190-
drivetrain = new SwerveDrive(PARAMETERS, modules, () -> getOrientation());
195+
drivetrain = new SwerveDrive(PARAMETERS.getValue(), modules, () -> getOrientation());
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odometry = new SwerveDrivePoseEstimator(
192197
kinematics, getOrientation(), drivetrain.getModulesPositions(), new Pose2d());
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}
@@ -234,7 +239,7 @@ private void updateSensorState() {
234239
* @return The maximum drive speed.
235240
*/
236241
public double getMaxSpeed() {
237-
return PARAMETERS.getMaxDriveSpeed();
242+
return PARAMETERS.getValue().getMaxDriveSpeed();
238243
}
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240245
/**
@@ -243,7 +248,7 @@ public double getMaxSpeed() {
243248
* @return The maximum drive acceleration.
244249
*/
245250
public double getMaxAcceleration() {
246-
return PARAMETERS.getMaxDriveAcceleration();
251+
return PARAMETERS.getValue().getMaxDriveAcceleration();
247252
}
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249254
/**
@@ -263,7 +268,7 @@ public SwerveDriveKinematics getKinematics() {
263268
* swerve drive kinematics constraints when following a trajectory.
264269
*/
265270
public SwerveDriveKinematicsConstraint getKinematicsConstraint() {
266-
return PARAMETERS.getKinematicsConstraint();
271+
return PARAMETERS.getValue().getKinematicsConstraint();
267272
}
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269274
/**
@@ -285,7 +290,7 @@ public TrapezoidProfile.Constraints getDriveConstraints() {
285290
* the goal robot orientation.
286291
*/
287292
public TrapezoidProfile.Constraints getRotationalConstraints() {
288-
return PARAMETERS.getRotationalConstraints();
293+
return PARAMETERS.getValue().getRotationalConstraints();
289294
}
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/**
@@ -294,7 +299,7 @@ public TrapezoidProfile.Constraints getRotationalConstraints() {
294299
* @return The wheel base radius in meters.
295300
*/
296301
public double getWheelBaseRadius(){
297-
return PARAMETERS.getWheelBaseRadius();
302+
return PARAMETERS.getValue().getWheelBaseRadius();
298303
}
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300305
/**
@@ -504,7 +509,7 @@ public void periodic() {
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505510
ArrayList<Pose2d> modulePoses = new ArrayList<Pose2d>(4);
506511

507-
for (Translation2d wheelPosition : PARAMETERS.getWheelPositions()) {
512+
for (Translation2d wheelPosition : PARAMETERS.getValue().getWheelPositions()) {
508513
modulePoses.add(
509514
new Pose2d(
510515
wheelPosition.rotateBy(robotPose.getRotation())

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