Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Upgrading to 2025.1.2

Browse Source
This commit is contained in:
thenetworkgrinch
2025-01-06 15:44:15 +00:00
parent 8050f43fa5
commit 62f8236678
27 changed files with 1083 additions and 305 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
swervelib/SwerveModule.java
View File

@@ -237,21 +237,21 @@ public class SwerveModule
moduleNumber,
AlertType.kWarning);
rawAbsoluteAnglePublisher = NetworkTableInstance.getDefault().getDoubleTopic(
rawAbsoluteAnglePublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Raw Absolute Encoder").publish();
adjAbsoluteAnglePublisher = NetworkTableInstance.getDefault().getDoubleTopic(
adjAbsoluteAnglePublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Adjusted Absolute Encoder").publish();
absoluteEncoderIssuePublisher = NetworkTableInstance.getDefault().getBooleanTopic(
absoluteEncoderIssuePublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getBooleanTopic(
"swerve/modules/" + configuration.name + "/Absolute Encoder Read Issue").publish();
rawAnglePublisher = NetworkTableInstance.getDefault().getDoubleTopic(
rawAnglePublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Raw Angle Encoder").publish();
rawDriveEncoderPublisher = NetworkTableInstance.getDefault().getDoubleTopic(
rawDriveEncoderPublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Raw Drive Encoder").publish();
rawDriveVelocityPublisher = NetworkTableInstance.getDefault().getDoubleTopic(
rawDriveVelocityPublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Raw Drive Velocity").publish();
speedSetpointPublisher = NetworkTableInstance.getDefault().getDoubleTopic(
speedSetpointPublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Speed Setpoint").publish();
angleSetpointPublisher = NetworkTableInstance.getDefault().getDoubleTopic(
angleSetpointPublisher = NetworkTableInstance.getDefault().getTable("SmartDashboard").getDoubleTopic(
"swerve/modules/" + configuration.name + "/Angle Setpoint").publish();
}
@@ -423,7 +423,10 @@ public class SwerveModule
LinearVelocity curVelocity = MetersPerSecond.of(lastState.speedMetersPerSecond);
desiredState.speedMetersPerSecond = nextVelocity.magnitude();
setDesiredState(desiredState, isOpenLoop, driveMotorFeedforward.calculate(nextVelocity).magnitude());
setDesiredState(desiredState,
isOpenLoop,
driveMotorFeedforward.calculateWithVelocities(curVelocity.in(MetersPerSecond),
nextVelocity.in(MetersPerSecond)));
}
/**
@@ -441,7 +444,7 @@ public class SwerveModule
if (isOpenLoop)
{
double percentOutput = desiredState.speedMetersPerSecond / maxDriveVelocity.in(MetersPerSecond);
driveMotor.set(percentOutput);
driveMotor.setVoltage(percentOutput * 12);
} else
{
driveMotor.setReference(desiredState.speedMetersPerSecond, driveFeedforwardVoltage);
@@ -823,8 +826,9 @@ public class SwerveModule
* Configure the {@link SwerveModule#simModule} with the MapleSim
* {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation}
*
* @param swerveModuleSimulation MapleSim {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} to
* configure with.
* @param swerveModuleSimulation MapleSim {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} to
* configure with.
* @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} that represent the swerve drive.
*/
public void configureModuleSimulation(
org.ironmaple.simulation.drivesims.SwerveModuleSimulation swerveModuleSimulation,