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Update YAGSL to handle controls better

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This commit is contained in:
thenetworkgrinch
2023-04-08 12:31:07 -05:00
parent d37a38bb7b
commit 5b38929c48
123 changed files with 871 additions and 805 deletions
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24
swervelib/parser/SwerveModuleConfiguration.java
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@@ -1,9 +1,9 @@
package swervelib.parser;
import static swervelib.math.SwerveMath.calculateAngleKV;
import static swervelib.math.SwerveMath.calculateDegreesPerSteeringRotation;
import static swervelib.math.SwerveMath.calculateMaxAcceleration;
import static swervelib.math.SwerveMath.calculateMetersPerRotation;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import swervelib.encoders.SwerveAbsoluteEncoder;
@@ -46,7 +46,7 @@ public class SwerveModuleConfiguration
/**
* Angle volt-meter-per-second.
*/
public double angleKV;
public double moduleSteerFFCL;
/**
* The integrated encoder pulse per revolution.
*/
@@ -67,6 +67,10 @@ public class SwerveModuleConfiguration
* The Absolute Encoder for the swerve module.
*/
public SwerveAbsoluteEncoder absoluteEncoder;
/**
* Name for the swerve module for telemetry.
*/
public String name;
/**
* Construct a configuration object for swerve modules.
@@ -85,7 +89,6 @@ public class SwerveModuleConfiguration
* @param maxSpeed Maximum speed in meters per second.
* @param physicalCharacteristics Physical characteristics of the swerve module.
* @param angleMotorEncoderPulsePerRevolution The encoder pulse per revolution for the angle motor encoder.
* @param angleMotorFreeSpeedRPM The free speed RPM of the angle motor.
*/
public SwerveModuleConfiguration(
SwerveMotor driveMotor,
@@ -102,7 +105,7 @@ public class SwerveModuleConfiguration
boolean driveMotorInverted,
boolean angleMotorInverted,
double angleMotorEncoderPulsePerRevolution,
double angleMotorFreeSpeedRPM)
String name)
{
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
@@ -115,13 +118,10 @@ public class SwerveModuleConfiguration
this.anglePIDF = anglePIDF;
this.velocityPIDF = velocityPIDF;
this.maxSpeed = maxSpeed;
this.angleKV = physicalCharacteristics.angleMotorKV == 0 ?
calculateAngleKV(
physicalCharacteristics.optimalVoltage,
angleMotorFreeSpeedRPM,
physicalCharacteristics.angleGearRatio) : physicalCharacteristics.angleMotorKV;
this.moduleSteerFFCL = physicalCharacteristics.moduleSteerFFCL;
this.physicalCharacteristics = physicalCharacteristics;
this.angleMotorEncoderPulsePerRevolution = angleMotorEncoderPulsePerRevolution;
this.name = name;
}
/**
@@ -138,6 +138,7 @@ public class SwerveModuleConfiguration
* @param velocityPIDF Velocity PIDF configuration.
* @param maxSpeed Maximum robot speed in meters per second.
* @param physicalCharacteristics Physical characteristics of the swerve module.
* @param name Name for the module.
*/
public SwerveModuleConfiguration(
SwerveMotor driveMotor,
@@ -149,7 +150,8 @@ public class SwerveModuleConfiguration
PIDFConfig anglePIDF,
PIDFConfig velocityPIDF,
double maxSpeed,
SwerveModulePhysicalCharacteristics physicalCharacteristics)
SwerveModulePhysicalCharacteristics physicalCharacteristics,
String name)
{
this(
driveMotor,
@@ -166,7 +168,7 @@ public class SwerveModuleConfiguration
false,
false,
physicalCharacteristics.angleEncoderPulsePerRotation,
physicalCharacteristics.angleMotorFreeSpeedRPM);
name);
}
/**