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Added Tuner X reccommendation if compatible config is used. Added QOL improvment functions

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This commit is contained in:
thenetworkgrinch
2024-01-18 12:09:37 -06:00
parent 1f7e20050d
commit 3677d0be86
110 changed files with 704 additions and 435 deletions
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58
swervelib/SwerveDrive.java
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@@ -28,11 +28,16 @@ import java.util.List;
import java.util.Optional;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import swervelib.encoders.CANCoderSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.SwerveIMU;
import swervelib.math.SwerveMath;
import swervelib.motors.TalonFXSwerve;
import swervelib.parser.SwerveControllerConfiguration;
import swervelib.parser.SwerveDriveConfiguration;
import swervelib.simulation.SwerveIMUSimulation;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
import swervelib.telemetry.SwerveDriveTelemetry;
import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
@@ -139,6 +144,13 @@ public class SwerveDrive
* Maximum speed of the robot in meters per second.
*/
private double maxSpeedMPS;
/**
* Alert to recommend Tuner X if the configuration is compatible.
*/
private final Alert tunerXRecommendation = new Alert("Swerve Drive",
"Your Swerve Drive is compatible with Tuner X swerve generator, please consider using that instead of YAGSL. More information here!\n" +
"https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html",
AlertType.WARNING);
/**
* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the
@@ -224,6 +236,29 @@ public class SwerveDrive
odometryThread.startPeriodic(SwerveDriveTelemetry.isSimulation ? 0.01 : 0.02);
}
/**
* Check all components to ensure that Tuner X Swerve Generator is recommended instead.
*/
private void checkIfTunerXCompatible()
{
boolean compatible = imu instanceof Pigeon2Swerve;
for (SwerveModule module : swerveModules)
{
compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve &&
module.getAngleMotor() instanceof TalonFXSwerve &&
module.getAbsoluteEncoder() instanceof CANCoderSwerve;
if (!compatible)
{
break;
}
}
if (compatible)
{
tunerXRecommendation.set(true);
}
}
/**
* Set the odometry update period in seconds.
*
@@ -465,6 +500,29 @@ public class SwerveDrive
setMaximumSpeed(attainableMaxModuleSpeedMetersPerSecond);
this.attainableMaxTranslationalSpeedMetersPerSecond = attainableMaxTranslationalSpeedMetersPerSecond;
this.attainableMaxRotationalVelocityRadiansPerSecond = attainableMaxRotationalVelocityRadiansPerSecond;
this.swerveController.config.maxAngularVelocity = attainableMaxRotationalVelocityRadiansPerSecond;
}
/**
* Get the maximum velocity from {@link SwerveDrive#attainableMaxTranslationalSpeedMetersPerSecond} or
* {@link SwerveDrive#maxSpeedMPS} whichever is higher.
*
* @return Maximum speed in meters/second.
*/
public double getMaximumVelocity()
{
return Math.max(this.attainableMaxTranslationalSpeedMetersPerSecond, maxSpeedMPS);
}
/**
* Get the maximum angular velocity, either {@link SwerveDrive#attainableMaxRotationalVelocityRadiansPerSecond} or
* {@link SwerveControllerConfiguration#maxAngularVelocity}.
*
* @return Maximum angular velocity in radians per second.
*/
public double getMaximumAngularVelocity()
{
return Math.max(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity);
}
/**