Updated swervelib

deploy/example.txt

@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.

deploy/modules/back/left.json

@@ -1,19 +0,0 @@
-{
-  "IntegratedAbsoluteEncoder": false,
-  "AbsoluteEncoder": {
-    "Type": "CANCoder",
-    "ID": 12,
-    "Offset": 72.070
-  },
-  "Motor": {
-    "Drive": {
-      "Type": "Neo",
-      "ID": 7
-    },
-    "Steer": {
-      "Type": "Neo",
-      "ID": 8,
-      "FreeSpeedRPM": 5676
-    }
-  }
-}

deploy/modules/back/right.json

@@ -1,19 +0,0 @@
-{
-  "IntegratedAbsoluteEncoder": false,
-  "AbsoluteEncoder": {
-    "Type": "CANCoder",
-    "ID": 11,
-    "Offset": 39.551
-  },
-  "Motor": {
-    "Drive": {
-      "Type": "Neo",
-      "ID": 5
-    },
-    "Steer": {
-      "Type": "Neo",
-      "ID": 6,
-      "FreeSpeedRPM": 5676
-    }
-  }
-}

deploy/modules/front/left.json

@@ -1,19 +0,0 @@
-{
-  "IntegratedAbsoluteEncoder": false,
-  "AbsoluteEncoder": {
-    "Type": "CANCoder",
-    "ID": 9,
-    "Offset": -115.576
-  },
-  "Motor": {
-    "Drive": {
-      "Type": "Neo",
-      "ID": 4
-    },
-    "Steer": {
-      "Type": "Neo",
-      "ID": 3,
-      "FreeSpeedRPM": 5676
-    }
-  }
-}

deploy/modules/front/right.json

@@ -1,19 +0,0 @@
-{
-  "IntegratedAbsoluteEncoder": false,
-  "AbsoluteEncoder": {
-    "Type": "CANCoder",
-    "ID": 10,
-    "Offset": -173.320
-  },
-  "Motor": {
-    "Drive": {
-      "Type": "Neo",
-      "ID": 2
-    },
-    "Steer": {
-      "Type": "Neo",
-      "ID": 1,
-      "FreeSpeedRPM": 5676
-    }
-  }
-}

deploy/swerve.json

@@ -1,37 +0,0 @@
-{
-  "WheelBase": 23.75,
-  "TrackWidth": 23.75,
-  "WheelDiameter": 4,
-  "Speed": {
-    "MetersPerSecond": 1.25,
-    "PhysicalMetersPerSecond": 5,
-    "RadianPerSecond": 1
-  },
-  "Acceleration": {
-    "MetersPerSecond": 1,
-    "RadianPerSecond": 1
-  },
-  "Drive": {
-    "Inverted": true,
-    "GearRatio": 6.75,
-    "MaxPower": 0.6,
-    "CurrentLimit": 40
-  },
-  "Steer": {
-    "Inverted": false,
-    "GearRatio": 12.8,
-    "MaxPower": 0.4,
-    "CurrentLimit": 20
-  },
-  "Gyro": {
-    "Inverted": false,
-    "Type": "Pigeon2",
-    "ID": 13,
-    "CANBus": "canivore"
-  },
-  "Initial Pose": {
-    "X": 0,
-    "Y": 0,
-    "Rotation": 0
-  }
-}

deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

deploy/swerve/modules/backleft.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 7,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 8,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": 6.504,
+  "location": {
+    "x": -12,
+    "y": 12
+  }
+}

deploy/swerve/modules/backright.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 5,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 6,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 11,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -18.281,
+  "location": {
+    "x": -12,
+    "y": -12
+  }
+}

deploy/swerve/modules/frontleft.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 4,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 3,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 9,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -114.609,
+  "location": {
+    "x": 12,
+    "y": 12
+  }
+}

deploy/swerve/modules/frontright.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 2,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 10,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -50.977,
+  "location": {
+    "x": 12,
+    "y": -12
+  }
+}

deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,17 @@
+{
+  "wheelDiameter": 4,
+  "gearRatio": {
+    "drive": 6.75,
+    "angle": 12.8
+  },
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  },
+  "wheelGripCoefficientOfFriction": 1.19,
+  "angleMotorFreeSpeedRPM": 5676
+}

deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.01,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}

deploy/swerve/swervedrive.json

@@ -0,0 +1,16 @@
+{
+  "maxSpeed": 14.5,
+  "optimalVoltage": 12,
+  "imu": {
+    "type": "pigeon2",
+    "id": 13,
+    "canbus": "canivore"
+  },
+  "invertedIMU": true,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}