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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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20
swervelib/parser/SwerveModulePhysicalCharacteristics.java
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@@ -42,16 +42,12 @@ public class SwerveModulePhysicalCharacteristics
* Wheel grip tape coefficient of friction on carpet, as described by the vendor.
*/
public final double wheelGripCoefficientOfFriction;
/**
* Free speed rotations per minute of the motor, as described by the vendor.
*/
public final double angleMotorFreeSpeedRPM;
/**
* Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
* your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
* calculated kV will be used.
*/
public final double angleMotorKV;
public final double moduleSteerFFCL;
/**
* Construct the swerve module physical characteristics.
@@ -59,7 +55,6 @@ public class SwerveModulePhysicalCharacteristics
* @param driveGearRatio Gear ratio of the drive motor. Number of motor rotations to rotate the
* wheel.
* @param angleGearRatio Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
* @param angleMotorFreeSpeedRPM Motor free speed rotation per minute.
* @param wheelDiameter Wheel diameter in meters.
* @param wheelGripCoefficientOfFriction Wheel grip coefficient of friction on carpet given by manufacturer.
* @param optimalVoltage Optimal robot voltage.
@@ -71,13 +66,12 @@ public class SwerveModulePhysicalCharacteristics
* overdrawing power and power loss).
* @param driveEncoderPulsePerRotation The number of encoder pulses per motor rotation, 1 for integrated encoders.
* @param angleEncoderPulsePerRotation The number of encoder pulses per motor rotation, 1 for integrated encoders.
* @param angleMotorKV The kV applied to the steering motor to ensure your drivetrain does not drift
* @param moduleSteerFFCL The kV applied to the steering motor to ensure your drivetrain does not drift
* towards a direction when rotating while translating.
*/
public SwerveModulePhysicalCharacteristics(
double driveGearRatio,
double angleGearRatio,
double angleMotorFreeSpeedRPM,
double wheelDiameter,
double wheelGripCoefficientOfFriction,
double optimalVoltage,
@@ -87,12 +81,11 @@ public class SwerveModulePhysicalCharacteristics
double angleMotorRampRate,
int driveEncoderPulsePerRotation,
int angleEncoderPulsePerRotation,
double angleMotorKV)
double moduleSteerFFCL)
{
this.wheelGripCoefficientOfFriction = wheelGripCoefficientOfFriction;
this.optimalVoltage = optimalVoltage;
this.angleMotorFreeSpeedRPM = angleMotorFreeSpeedRPM;
this.angleGearRatio = angleGearRatio;
this.driveGearRatio = driveGearRatio;
this.angleEncoderPulsePerRotation = angleEncoderPulsePerRotation;
@@ -103,7 +96,7 @@ public class SwerveModulePhysicalCharacteristics
this.angleMotorCurrentLimit = angleMotorCurrentLimit;
this.driveMotorRampRate = driveMotorRampRate;
this.angleMotorRampRate = angleMotorRampRate;
this.angleMotorKV = angleMotorKV;
this.moduleSteerFFCL = moduleSteerFFCL;
}
/**
@@ -113,7 +106,6 @@ public class SwerveModulePhysicalCharacteristics
*
* @param driveGearRatio Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
* @param angleGearRatio Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
* @param angleMotorFreeSpeedRPM Motor free speed rotation per minute.
* @param wheelDiameter Wheel diameter in meters.
* @param driveMotorRampRate The time in seconds to go from 0 to full throttle on the motor. (Prevents over
* drawing power from battery)
@@ -125,7 +117,6 @@ public class SwerveModulePhysicalCharacteristics
public SwerveModulePhysicalCharacteristics(
double driveGearRatio,
double angleGearRatio,
double angleMotorFreeSpeedRPM,
double wheelDiameter,
double driveMotorRampRate,
double angleMotorRampRate,
@@ -135,7 +126,6 @@ public class SwerveModulePhysicalCharacteristics
this(
driveGearRatio,
angleGearRatio,
angleMotorFreeSpeedRPM,
wheelDiameter,
1.19,
12,
@@ -144,6 +134,6 @@ public class SwerveModulePhysicalCharacteristics
driveMotorRampRate,
angleMotorRampRate,
driveEncoderPulsePerRotation,
angleEncoderPulsePerRotation, 0);
angleEncoderPulsePerRotation, -0.30);
}
}