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Upgrading to 2025.1.0

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This commit is contained in:
thenetworkgrinch
2024-12-09 23:26:04 +00:00
parent 9fe6551d88
commit 4bc6978a20
35 changed files with 1902 additions and 1122 deletions
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3
swervelib/parser/Cache.java
View File

@@ -1,5 +1,6 @@
package swervelib.parser;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotController;
import java.util.function.Supplier;
@@ -95,7 +96,7 @@ public class Cache<T>
*/
public T getValue()
{
if (isStale())
if (isStale() || RobotBase.isSimulation())
{
update();
}

2
swervelib/parser/SwerveControllerConfiguration.java
View File

@@ -18,7 +18,7 @@ public class SwerveControllerConfiguration
public final double
angleJoyStickRadiusDeadband; // Deadband for the minimum hypot for the heading joystick.
/**
* Maximum angular velocity in rad/s
* Maximum chassis angular velocity in rad/s
*/
public double maxAngularVelocity;

83
swervelib/parser/SwerveDriveConfiguration.java
View File

@@ -1,9 +1,14 @@
package swervelib.parser;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.system.plant.DCMotor;
import java.util.function.Supplier;
import org.ironmaple.simulation.drivesims.GyroSimulation;
import swervelib.SwerveModule;
import swervelib.imu.NavXSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.SwerveIMU;
import swervelib.math.SwerveMath;
/**
* Swerve drive configurations used during SwerveDrive construction.
@@ -38,20 +43,18 @@ public class SwerveDriveConfiguration
* @param moduleConfigs Module configuration.
* @param swerveIMU Swerve IMU.
* @param invertedIMU Invert the IMU.
* @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}.
* @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} to store in association with self.
*/
public SwerveDriveConfiguration(
SwerveModuleConfiguration[] moduleConfigs,
SwerveIMU swerveIMU,
boolean invertedIMU,
SimpleMotorFeedforward driveFeedforward,
SwerveModulePhysicalCharacteristics physicalCharacteristics)
{
this.moduleCount = moduleConfigs.length;
this.imu = swerveIMU;
swerveIMU.setInverted(invertedIMU);
this.modules = createModules(moduleConfigs, driveFeedforward);
this.modules = createModules(moduleConfigs);
this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
for (SwerveModule module : modules)
{
@@ -63,17 +66,15 @@ public class SwerveDriveConfiguration
/**
* Create modules based off of the SwerveModuleConfiguration.
*
* @param swerves Swerve constants.
* @param driveFeedforward Drive feedforward created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double, double)}.
* @param swerves Swerve constants.
* @return Swerve Modules.
*/
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, SimpleMotorFeedforward driveFeedforward)
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
{
SwerveModule[] modArr = new SwerveModule[swerves.length];
for (int i = 0; i < swerves.length; i++)
{
modArr[i] = new SwerveModule(i, swerves[i], driveFeedforward);
modArr[i] = new SwerveModule(i, swerves[i]);
}
return modArr;
}
@@ -96,4 +97,68 @@ public class SwerveDriveConfiguration
//Return Largest Radius
return centerOfModules.getDistance(moduleLocationsMeters[0]);
}
/**
* Get the trackwidth of the swerve modules.
*
* @return Effective trackwdtih in Meters
*/
public double getTrackwidth()
{
SwerveModuleConfiguration fr = SwerveMath.getSwerveModule(modules, true, false);
SwerveModuleConfiguration fl = SwerveMath.getSwerveModule(modules, true, true);
return fr.moduleLocation.getDistance(fl.moduleLocation);
}
/**
* Get the tracklength of the swerve modules.
*
* @return Effective tracklength in Meters
*/
public double getTracklength()
{
SwerveModuleConfiguration br = SwerveMath.getSwerveModule(modules, false, false);
SwerveModuleConfiguration bl = SwerveMath.getSwerveModule(modules, false, true);
return br.moduleLocation.getDistance(bl.moduleLocation);
}
/**
* Get the {@link DCMotor} corresponding to the first module's configuration.
*
* @return {@link DCMotor} of the drive motor.
*/
public DCMotor getDriveMotorSim()
{
SwerveModuleConfiguration fl = SwerveMath.getSwerveModule(modules, true, true);
return fl.driveMotor.getSimMotor();
}
/**
* Get the {@link DCMotor} corresponding to the first module configuration.
*
* @return {@link DCMotor} of the angle motor.
*/
public DCMotor getAngleMotorSim()
{
SwerveModuleConfiguration fl = SwerveMath.getSwerveModule(modules, true, true);
return fl.angleMotor.getSimMotor();
}
/**
* Get the gyro simulation for the robot.
*
* @return {@link GyroSimulation} gyro simulation.
*/
public Supplier<GyroSimulation> getGyroSim()
{
if (imu instanceof Pigeon2Swerve)
{
return GyroSimulation.getPigeon2();
} else if (imu instanceof NavXSwerve)
{
return GyroSimulation.getNav2X();
}
return GyroSimulation.getGeneric();
}
}

8
swervelib/parser/SwerveModuleConfiguration.java
View File

@@ -3,7 +3,7 @@ package swervelib.parser;
import edu.wpi.first.math.geometry.Translation2d;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.motors.SwerveMotor;
import swervelib.parser.json.MotorConfigDouble;
import swervelib.parser.json.modules.ConversionFactorsJson;
/**
* Swerve Module configuration class which is used to configure {@link swervelib.SwerveModule}.
@@ -17,7 +17,7 @@ public class SwerveModuleConfiguration
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} respectively to calculate the
* conversion factors.
*/
public final MotorConfigDouble conversionFactors;
public final ConversionFactorsJson conversionFactors;
/**
* Angle offset in degrees for the Swerve Module.
*/
@@ -89,7 +89,7 @@ public class SwerveModuleConfiguration
public SwerveModuleConfiguration(
SwerveMotor driveMotor,
SwerveMotor angleMotor,
MotorConfigDouble conversionFactors,
ConversionFactorsJson conversionFactors,
SwerveAbsoluteEncoder absoluteEncoder,
double angleOffset,
double xMeters,
@@ -139,7 +139,7 @@ public class SwerveModuleConfiguration
public SwerveModuleConfiguration(
SwerveMotor driveMotor,
SwerveMotor angleMotor,
MotorConfigDouble conversionFactors,
ConversionFactorsJson conversionFactors,
SwerveAbsoluteEncoder absoluteEncoder,
double angleOffset,
double xMeters,

46
swervelib/parser/SwerveModulePhysicalCharacteristics.java
View File

@@ -1,6 +1,6 @@
package swervelib.parser;
import swervelib.parser.json.MotorConfigDouble;
import swervelib.parser.json.modules.ConversionFactorsJson;
/**
* Configuration class which stores physical characteristics shared between every swerve module.
@@ -16,20 +16,32 @@ public class SwerveModulePhysicalCharacteristics
* The time it takes for the motor to go from 0 to full throttle in seconds.
*/
public final double driveMotorRampRate, angleMotorRampRate;
/**
* The minimum voltage to spin the module or wheel.
*/
public final double driveFrictionVoltage, angleFrictionVoltage;
/**
* Wheel grip tape coefficient of friction on carpet, as described by the vendor.
*/
public final double wheelGripCoefficientOfFriction;
public final double wheelGripCoefficientOfFriction;
/**
* Steer rotational inertia in (KilogramSquareMeters) kg/m_sq.
*/
public final double steerRotationalInertia;
/**
* Robot mass in Kilograms.
*/
public final double robotMassKg;
/**
* The voltage to use for the smart motor voltage compensation.
*/
public double optimalVoltage;
public double optimalVoltage;
/**
* The conversion factors for the drive and angle motors, created by
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} and
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
*/
public MotorConfigDouble conversionFactor;
public ConversionFactorsJson conversionFactor;
/**
* Construct the swerve module physical characteristics.
@@ -47,15 +59,23 @@ public class SwerveModulePhysicalCharacteristics
* over drawing power from battery)
* @param angleMotorRampRate The time in seconds to go from 0 to full throttle on the motor. (Prevents
* overdrawing power and power loss).
* @param angleFrictionVoltage Angle motor minimum voltage.
* @param driveFrictionVoltage Drive motor minimum voltage.
* @param steerRotationalInertia Steering rotational inertia in KilogramSquareMeters.
* @param robotMassKg Robot mass in kG.
*/
public SwerveModulePhysicalCharacteristics(
MotorConfigDouble conversionFactors,
ConversionFactorsJson conversionFactors,
double wheelGripCoefficientOfFriction,
double optimalVoltage,
int driveMotorCurrentLimit,
int angleMotorCurrentLimit,
double driveMotorRampRate,
double angleMotorRampRate)
double angleMotorRampRate,
double driveFrictionVoltage,
double angleFrictionVoltage,
double steerRotationalInertia,
double robotMassKg)
{
this.wheelGripCoefficientOfFriction = wheelGripCoefficientOfFriction;
this.optimalVoltage = optimalVoltage;
@@ -64,7 +84,7 @@ public class SwerveModulePhysicalCharacteristics
// Set the conversion factors to null if they are both 0.
if (conversionFactors != null)
{
if (conversionFactors.angle == 0 && conversionFactors.drive == 0)
if (conversionFactors.isAngleEmpty() && conversionFactors.isDriveEmpty())
{
this.conversionFactor = null;
}
@@ -74,6 +94,10 @@ public class SwerveModulePhysicalCharacteristics
this.angleMotorCurrentLimit = angleMotorCurrentLimit;
this.driveMotorRampRate = driveMotorRampRate;
this.angleMotorRampRate = angleMotorRampRate;
this.driveFrictionVoltage = driveFrictionVoltage;
this.angleFrictionVoltage = angleFrictionVoltage;
this.steerRotationalInertia = steerRotationalInertia;
this.robotMassKg = robotMassKg;
}
/**
@@ -90,7 +114,7 @@ public class SwerveModulePhysicalCharacteristics
* power and power loss).
*/
public SwerveModulePhysicalCharacteristics(
MotorConfigDouble conversionFactors,
ConversionFactorsJson conversionFactors,
double driveMotorRampRate,
double angleMotorRampRate)
{
@@ -101,6 +125,10 @@ public class SwerveModulePhysicalCharacteristics
40,
20,
driveMotorRampRate,
angleMotorRampRate);
angleMotorRampRate,
0.2,
0.3,
0.03,
50);
}
}

54
swervelib/parser/SwerveParser.java
View File

@@ -2,7 +2,7 @@ package swervelib.parser;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import java.io.File;
import java.io.IOException;
import java.util.HashMap;
@@ -135,10 +135,7 @@ public class SwerveParser
*/
public SwerveDrive createSwerveDrive(double maxSpeed)
{
return createSwerveDrive(SwerveMath.createDriveFeedforward(physicalPropertiesJson.optimalVoltage,
maxSpeed,
physicalPropertiesJson.wheelGripCoefficientOfFriction),
maxSpeed);
return createSwerveDrive(maxSpeed, Pose2d.kZero);
}
/**
@@ -157,48 +154,20 @@ public class SwerveParser
*/
public SwerveDrive createSwerveDrive(double maxSpeed, double angleMotorConversionFactor, double driveMotorConversion)
{
physicalPropertiesJson.conversionFactor.angle = angleMotorConversionFactor;
physicalPropertiesJson.conversionFactor.drive = driveMotorConversion;
return createSwerveDrive(SwerveMath.createDriveFeedforward(physicalPropertiesJson.optimalVoltage,
maxSpeed,
physicalPropertiesJson.wheelGripCoefficientOfFriction),
maxSpeed);
physicalPropertiesJson.conversionFactors.angle.factor = angleMotorConversionFactor;
physicalPropertiesJson.conversionFactors.drive.factor = driveMotorConversion;
return createSwerveDrive(maxSpeed, Pose2d.kZero);
}
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param driveFeedforward Drive feedforward to use for swerve modules, should be created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double,
* double)}.
* @param maxSpeed Maximum speed of the robot in meters per second for normal+angular acceleration
* in {@link swervelib.SwerveController} of the robot.
* @param angleMotorConversionFactor Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop
* units to degrees, usually created using
* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
* @param driveMotorConversion Drive motor conversion factor to convert motor controller PID loop units to
* meters per rotation, usually created using
* {@link SwerveMath#calculateMetersPerRotation(double, double, double)}.
* @param maxSpeed Maximum speed of the robot in meters per second for normal+angular acceleration in
* {@link swervelib.SwerveController} of the robot
* @param initialPose {@link Pose2d} initial pose.
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive(SimpleMotorFeedforward driveFeedforward, double maxSpeed,
double angleMotorConversionFactor, double driveMotorConversion)
{
physicalPropertiesJson.conversionFactor.angle = angleMotorConversionFactor;
physicalPropertiesJson.conversionFactor.drive = driveMotorConversion;
return createSwerveDrive(driveFeedforward, maxSpeed);
}
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param driveFeedforward Drive feedforward to use for swerve modules, should be created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double, double)}.
* @param maxSpeed Maximum speed of the robot in meters per second for normal+angular acceleration in
* {@link swervelib.SwerveController} of the robot
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive(SimpleMotorFeedforward driveFeedforward, double maxSpeed)
public SwerveDrive createSwerveDrive(double maxSpeed, Pose2d initialPose)
{
SwerveModuleConfiguration[] moduleConfigurations =
new SwerveModuleConfiguration[moduleJsons.length];
@@ -217,11 +186,12 @@ public class SwerveParser
moduleConfigurations,
swerveDriveJson.imu.createIMU(),
swerveDriveJson.invertedIMU,
driveFeedforward,
physicalPropertiesJson.createPhysicalProperties());
return new SwerveDrive(
swerveDriveConfiguration,
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration, maxSpeed), maxSpeed);
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration, maxSpeed),
maxSpeed,
initialPose);
}
}

72
swervelib/parser/json/DeviceJson.java
View File

@@ -4,11 +4,10 @@ import static swervelib.telemetry.SwerveDriveTelemetry.canIdWarning;
import static swervelib.telemetry.SwerveDriveTelemetry.i2cLockupWarning;
import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning;
import com.revrobotics.SparkRelativeEncoder.Type;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.studica.frc.AHRS.NavXComType;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.SerialPort.Port;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.CanAndMagSwerve;
@@ -16,6 +15,7 @@ import swervelib.encoders.PWMDutyCycleEncoderSwerve;
import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.encoders.TalonSRXEncoderSwerve;
import swervelib.imu.ADIS16448Swerve;
import swervelib.imu.ADIS16470Swerve;
import swervelib.imu.ADXRS450Swerve;
@@ -27,6 +27,7 @@ import swervelib.imu.PigeonSwerve;
import swervelib.imu.SwerveIMU;
import swervelib.motors.SparkFlexSwerve;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
import swervelib.motors.SparkMaxBrushedMotorSwerve.Type;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSwerve;
@@ -92,6 +93,10 @@ public class DeviceJson
return new AnalogAbsoluteEncoderSwerve(id);
case "cancoder":
return new CANCoderSwerve(id, canbus != null ? canbus : "");
case "talonsrx_pwm":
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition);
case "talonsrx_analog":
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.Analog);
default:
throw new RuntimeException(type + " is not a recognized absolute encoder type.");
}
@@ -122,7 +127,7 @@ public class DeviceJson
return new CanandgyroSwerve(id);
case "navx":
case "navx_spi":
return new NavXSwerve(SPI.Port.kMXP);
return new NavXSwerve(NavXComType.kMXP_SPI);
case "navx_i2c":
DriverStation.reportWarning(
"WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " +
@@ -130,15 +135,15 @@ public class DeviceJson
".html#onboard-i2c-causing-system-lockups",
false);
i2cLockupWarning.set(true);
return new NavXSwerve(I2C.Port.kMXP);
return new NavXSwerve(NavXComType.kI2C);
case "navx_usb":
DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" +
"https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false);
serialCommsIssueWarning.set(true);
return new NavXSwerve(Port.kUSB);
return new NavXSwerve(NavXComType.kUSB1);
case "navx_mxp_serial":
serialCommsIssueWarning.set(true);
return new NavXSwerve(Port.kMXP);
return new NavXSwerve(NavXComType.kMXP_UART);
case "pigeon":
return new PigeonSwerve(id);
case "pigeon2":
@@ -162,39 +167,56 @@ public class DeviceJson
}
switch (type)
{
case "sparkmax_neo":
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkmax_neo550":
case "neo550":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "sparkflex_vortex":
case "vortex":
case "sparkflex":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1));
case "sparkflex_neo":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkflex_neo550":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "falcon500":
case "falcon":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1));
case "falcon500foc":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500Foc(1));
case "krakenx60":
case "talonfx":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60(1));
case "krakenx60foc":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60Foc(1));
case "talonsrx":
return new TalonSRXSwerve(id, isDriveMotor, DCMotor.getCIM(1));
case "sparkmax_brushed":
switch (canbus)
{
case "greyhill_63r256":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, false, DCMotor.getCIM(1));
case "srx_mag_encoder":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, false, DCMotor.getCIM(1));
case "throughbore":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 8192, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 8192, false, DCMotor.getCIM(1));
case "throughbore_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 8192, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 8192, true, DCMotor.getCIM(1));
case "greyhill_63r256_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, true, DCMotor.getCIM(1));
case "srx_mag_encoder_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, true, DCMotor.getCIM(1));
default:
if (isDriveMotor)
{
throw new RuntimeException("Spark MAX " + id + " MUST have a encoder attached to the motor controller.");
}
// We are creating a motor for an angle motor which will use the absolute encoder attached to the data port.
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 0, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 0, false, DCMotor.getCIM(1));
}
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor);
case "sparkflex":
return new SparkFlexSwerve(id, isDriveMotor);
case "falcon":
case "talonfx":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor);
case "talonsrx":
return new TalonSRXSwerve(id, isDriveMotor);
default:
throw new RuntimeException(type + " is not a recognized motor type.");
}

67
swervelib/parser/json/ModuleJson.java
View File

@@ -1,8 +1,8 @@
package swervelib.parser.json;
import com.revrobotics.CANSparkMax;
import com.revrobotics.MotorFeedbackSensor;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.util.Units;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.motors.SwerveMotor;
import swervelib.parser.PIDFConfig;
@@ -26,14 +26,6 @@ public class ModuleJson
* Angle motor device configuration.
*/
public DeviceJson angle;
/**
* Conversion factor for the module, if different from the one in swervedrive.json
* <p>
* Conversion factor applied to the motor controllers PID loops. Can be calculated with
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
*/
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
/**
* Conversion Factors composition. Auto-calculates the conversion factors.
*/
@@ -81,37 +73,8 @@ public class ModuleJson
SwerveMotor angleMotor = angle.createMotor(false);
SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
// Setup deprecation notice.
// if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
// {
// new Alert("Configuration",
// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
// "} \nis deprecated, please use\n" +
// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
// conversionFactor.angle + "} }",
// AlertType.WARNING).set(true);
// }
// Override with composite conversion factor.
if (!conversionFactors.isAngleEmpty())
{
conversionFactor.angle = conversionFactors.angle.calculate();
}
if (!conversionFactors.isDriveEmpty())
{
conversionFactor.drive = conversionFactors.drive.calculate();
}
// Set the conversion factors to null if they are both 0.
if (this.conversionFactor != null)
{
if (this.conversionFactor.angle == 0 && this.conversionFactor.drive == 0)
{
this.conversionFactor = null;
}
}
if (this.conversionFactor == null && physicalCharacteristics.conversionFactor == null)
if (!conversionFactors.works() && physicalCharacteristics.conversionFactor == null)
{
throw new RuntimeException("No Conversion Factor configured! Please create SwerveDrive using \n" +
"SwerveParser.createSwerveDrive(driveFeedforward, maxSpeed, angleMotorConversionFactor, driveMotorConversion)\n" +
@@ -120,27 +83,27 @@ public class ModuleJson
"OR\n" +
"Set the conversion factor in physicalproperties.json OR the module JSON file." +
"REMEMBER: You can calculate the conversion factors using SwerveMath.calculateMetersPerRotation AND SwerveMath.calculateDegreesPerSteeringRotation\n");
} else if (physicalCharacteristics.conversionFactor != null && this.conversionFactor == null)
} else if (physicalCharacteristics.conversionFactor.works() && !conversionFactors.works())
{
this.conversionFactor = physicalCharacteristics.conversionFactor;
} else if (physicalCharacteristics.conversionFactor !=
null) // If both are defined, override 0 with the physical characterstics input.
conversionFactors = physicalCharacteristics.conversionFactor;
} else if (physicalCharacteristics.conversionFactor.works())
// If both are defined, override 0 with the physical characterstics input.
{
this.conversionFactor.angle = this.conversionFactor.angle == 0 ? physicalCharacteristics.conversionFactor.angle
: this.conversionFactor.angle;
this.conversionFactor.drive = this.conversionFactor.drive == 0 ? physicalCharacteristics.conversionFactor.drive
: this.conversionFactor.drive;
conversionFactors.angle = conversionFactors.isAngleEmpty() ? physicalCharacteristics.conversionFactor.angle
: conversionFactors.angle;
conversionFactors.drive = conversionFactors.isDriveEmpty() ? physicalCharacteristics.conversionFactor.drive
: conversionFactors.drive;
}
if (this.conversionFactor.drive == 0 || this.conversionFactor.angle == 0)
if (conversionFactors.isDriveEmpty() || conversionFactors.isAngleEmpty())
{
throw new RuntimeException(
"Conversion factors cannot be 0, please configure conversion factors in physicalproperties.json or the module JSON files.");
}
// Backwards compatibility, auto-optimization.
if (conversionFactor.angle == 360 && absEncoder != null &&
absEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor && angleMotor.getMotor() instanceof CANSparkMax)
if (conversionFactors.angle.factor == 360 && absEncoder != null &&
absEncoder instanceof SparkMaxEncoderSwerve && angleMotor.getMotor() instanceof SparkMax)
{
angleMotor.setAbsoluteEncoder(absEncoder);
}
@@ -148,7 +111,7 @@ public class ModuleJson
return new SwerveModuleConfiguration(
drive.createMotor(true),
angleMotor,
conversionFactor,
conversionFactors,
absEncoder,
absoluteEncoderOffset,
Units.inchesToMeters(Math.round(location.x) == 0 ? location.front : location.x),

57
swervelib/parser/json/PhysicalPropertiesJson.java
View File

@@ -1,5 +1,8 @@
package swervelib.parser.json;
import edu.wpi.first.units.Units;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
import swervelib.parser.json.modules.ConversionFactorsJson;
@@ -9,13 +12,23 @@ import swervelib.parser.json.modules.ConversionFactorsJson;
public class PhysicalPropertiesJson
{
/**
* Conversion factor applied to the motor controllers PID loops. Can be calculated with
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
* DEPRECATED! Use {@link PhysicalPropertiesJson#conversionFactors} instead.
*/
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
@Deprecated(since = "2025", forRemoval = true)
public MotorConfigDouble conversionFactor = new MotorConfigDouble();
/**
* Minimum voltage to spin the module or wheel.
*/
public MotorConfigDouble friction = new MotorConfigDouble(0.3, 0.2);
/**
* Steer rotational inertia in KilogramMetersSquare.
*/
public double steerRotationalInertia = 0.03;
/**
* Robot mass in lb (pounds)
*/
public double robotMass = 110.2311;
/**
* Conversion Factors composition. Auto-calculates the conversion factors.
*/
@@ -45,35 +58,29 @@ public class PhysicalPropertiesJson
public SwerveModulePhysicalCharacteristics createPhysicalProperties()
{
// Setup deprecation notice.
// if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
// conversionFactors.isAngleEmpty())
// {
// new Alert("Configuration",
// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
// "} \nis deprecated, please use\n" +
// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
// conversionFactor.angle + "} }",
// AlertType.ERROR_TRACE).set(true);
// }
if (!conversionFactors.isAngleEmpty())
if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
conversionFactors.isAngleEmpty())
{
conversionFactor.angle = conversionFactors.angle.calculate();
}
if (!conversionFactors.isDriveEmpty())
{
conversionFactor.drive = conversionFactors.drive.calculate();
new Alert("Configuration",
"\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
"} \nis deprecated, please use\n" +
"'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
conversionFactor.angle + "} }",
AlertType.kError).set(true);
}
return new SwerveModulePhysicalCharacteristics(
conversionFactor,
conversionFactors,
wheelGripCoefficientOfFriction,
optimalVoltage,
currentLimit.drive,
currentLimit.angle,
rampRate.drive,
rampRate.angle);
rampRate.angle,
friction.drive,
friction.angle,
steerRotationalInertia,
Units.Pounds.of(robotMass).in(Units.Kilogram));
}
}

12
swervelib/parser/json/modules/AngleConversionFactorsJson.java
View File

@@ -1,8 +1,6 @@
package swervelib.parser.json.modules;
import swervelib.math.SwerveMath;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
/**
* Angle motor conversion factors composite JSON parse class.
@@ -13,11 +11,11 @@ public class AngleConversionFactorsJson
/**
* Gear ratio for the angle/steering/azimuth motor on the Swerve Module. Motor rotations to 1 wheel rotation.
*/
public double gearRatio = 0;
public double gearRatio;
/**
* Calculated or given conversion factor.
*/
public double factor = 0;
public double factor = 0;
/**
* Calculate the drive conversion factor.
@@ -26,12 +24,6 @@ public class AngleConversionFactorsJson
*/
public double calculate()
{
if (factor != 0 && gearRatio != 0)
{
new Alert("Configuration",
"The given angle conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
AlertType.WARNING).set(true);
}
if (factor == 0)
{
factor = SwerveMath.calculateDegreesPerSteeringRotation(gearRatio);

17
swervelib/parser/json/modules/ConversionFactorsJson.java
View File

@@ -22,7 +22,8 @@ public class ConversionFactorsJson
*/
public boolean isDriveEmpty()
{
return drive.factor == 0 && drive.diameter == 0 && drive.gearRatio == 0;
drive.calculate();
return drive.factor == 0;
}
/**
@@ -32,6 +33,18 @@ public class ConversionFactorsJson
*/
public boolean isAngleEmpty()
{
return angle.factor == 0 && angle.gearRatio == 0;
angle.calculate();
return angle.factor == 0;
}
/**
* Check if the conversion factor can be found.
*
* @return If the conversion factors can be found.
*/
public boolean works()
{
return (angle.factor != 0 && drive.factor != 0) ||
((drive.gearRatio != 0 && drive.diameter != 0)) && (angle.gearRatio != 0);
}
}

14
swervelib/parser/json/modules/DriveConversionFactorsJson.java
View File

@@ -2,8 +2,6 @@ package swervelib.parser.json.modules;
import edu.wpi.first.math.util.Units;
import swervelib.math.SwerveMath;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
/**
* Drive motor composite JSON parse class.
@@ -14,15 +12,15 @@ public class DriveConversionFactorsJson
/**
* Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
*/
public double gearRatio = 0;
public double gearRatio;
/**
* Diameter of the wheel in inches.
*/
public double diameter = 0;
public double diameter;
/**
* Calculated conversion factor.
*/
public double factor = 0;
public double factor = 0;
/**
* Calculate the drive conversion factor.
@@ -31,12 +29,6 @@ public class DriveConversionFactorsJson
*/
public double calculate()
{
if (factor != 0 && (diameter != 0 || gearRatio != 0))
{
new Alert("Configuration",
"The given drive conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
AlertType.WARNING).set(true);
}
if (factor == 0)
{
factor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(this.diameter), this.gearRatio);