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Fixed NetworkAlerts

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This commit is contained in:
thenetworkgrinch
2024-01-17 09:17:39 -06:00
parent f16ca43981
commit 1ca3db242c
19 changed files with 510 additions and 108 deletions
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23
swervelib/SwerveDrive.java
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@@ -11,7 +11,6 @@ import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -67,6 +66,10 @@ public class SwerveDrive
* Odometry lock to ensure thread safety.
*/
private final Lock odometryLock = new ReentrantLock();
/**
* Deadband for speeds in heading correction.
*/
private final double HEADING_CORRECTION_DEADBAND = 0.01;
/**
* Field object.
*/
@@ -100,14 +103,14 @@ public class SwerveDrive
* correction.
*/
public boolean chassisVelocityCorrection = true;
/**
* Whether heading correction PID is currently active.
*/
private boolean correctionEnabled = false;
/**
* Whether to correct heading when driving translationally. Set to true to enable.
*/
public boolean headingCorrection = false;
/**
* Whether heading correction PID is currently active.
*/
private boolean correctionEnabled = false;
/**
* Swerve IMU device for sensing the heading of the robot.
*/
@@ -120,10 +123,6 @@ public class SwerveDrive
* Counter to synchronize the modules relative encoder with absolute encoder when not moving.
*/
private int moduleSynchronizationCounter = 0;
/**
* Deadband for speeds in heading correction.
*/
private final double HEADING_CORRECTION_DEADBAND = 0.01;
/**
* The last heading set in radians.
*/
@@ -413,10 +412,10 @@ public class SwerveDrive
if (headingCorrection)
{
if (Math.abs(velocity.omegaRadiansPerSecond) < HEADING_CORRECTION_DEADBAND
&& (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
|| Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
&& (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
|| Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
{
if (!correctionEnabled)
if (!correctionEnabled)
{
lastHeadingRadians = getYaw().getRadians();
correctionEnabled = true;