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Updated YAGSL to next-gen

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This commit is contained in:
thenetworkgrinch
2023-11-09 17:32:48 -06:00
parent 0b02b3c504
commit 6aaf512b38
21 changed files with 573 additions and 517 deletions
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64
swervelib/SwerveModule.java
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@@ -43,6 +43,10 @@ public class SwerveModule
* Feedforward for drive motor during closed loop control.
*/
public SimpleMotorFeedforward feedforward;
/**
* Maximum speed of the drive motors in meters per second.
*/
public double maxSpeed;
/**
* Last swerve module state applied.
*/
@@ -66,8 +70,11 @@ public class SwerveModule
*
* @param moduleNumber Module number for kinematics.
* @param moduleConfiguration Module constants containing CAN ID's and offsets.
* @param driveFeedforward Drive motor feedforward created by
* {@link SwerveMath#createDriveFeedforward(double, double, double)}.
*/
public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfiguration)
public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfiguration,
SimpleMotorFeedforward driveFeedforward)
{
// angle = 0;
// speed = 0;
@@ -78,7 +85,7 @@ public class SwerveModule
angleOffset = moduleConfiguration.angleOffset;
// Initialize Feedforward for drive motor.
feedforward = configuration.createDriveFeedforward();
feedforward = driveFeedforward;
// Create motors from configuration and reset them to defaults.
angleMotor = moduleConfiguration.angleMotor;
@@ -104,14 +111,14 @@ public class SwerveModule
}
// Config angle motor/controller
angleMotor.configureIntegratedEncoder(moduleConfiguration.getPositionEncoderConversion(false));
angleMotor.configureIntegratedEncoder(moduleConfiguration.conversionFactors.angle);
angleMotor.configurePIDF(moduleConfiguration.anglePIDF);
angleMotor.configurePIDWrapping(-180, 180);
angleMotor.setInverted(moduleConfiguration.angleMotorInverted);
angleMotor.setMotorBrake(false);
// Config drive motor/controller
driveMotor.configureIntegratedEncoder(moduleConfiguration.getPositionEncoderConversion(true));
driveMotor.configureIntegratedEncoder(moduleConfiguration.conversionFactors.drive);
driveMotor.configurePIDF(moduleConfiguration.velocityPIDF);
driveMotor.setInverted(moduleConfiguration.driveMotorInverted);
driveMotor.setMotorBrake(true);
@@ -127,6 +134,27 @@ public class SwerveModule
lastState = getState();
}
/**
* Set the voltage compensation for the swerve module motor.
*
* @param optimalVoltage Nominal voltage for operation to output to.
*/
public void setAngleMotorVoltageCompensation(double optimalVoltage)
{
angleMotor.setVoltageCompensation(optimalVoltage);
}
/**
* Set the voltage compensation for the swerve module motor.
*
* @param optimalVoltage Nominal voltage for operation to output to.
*/
public void setDriveMotorVoltageCompensation(double optimalVoltage)
{
driveMotor.setVoltageCompensation(optimalVoltage);
}
/**
* Queue synchronization of the integrated angle encoder with the absolute encoder.
*/
@@ -157,7 +185,7 @@ public class SwerveModule
if (isOpenLoop)
{
double percentOutput = desiredState.speedMetersPerSecond / configuration.maxSpeed;
double percentOutput = desiredState.speedMetersPerSecond / maxSpeed;
driveMotor.set(percentOutput);
} else
{
@@ -172,7 +200,7 @@ public class SwerveModule
if (!force)
{
// Prevents module rotation if speed is less than 1%
SwerveMath.antiJitter(desiredState, lastState, Math.min(configuration.maxSpeed, 4));
SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4));
}
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
@@ -225,12 +253,10 @@ public class SwerveModule
{
double velocity;
Rotation2d azimuth;
double omega;
if (!SwerveDriveTelemetry.isSimulation)
{
velocity = driveMotor.getVelocity();
azimuth = Rotation2d.fromDegrees(angleMotor.getPosition());
omega = Math.toRadians(angleMotor.getVelocity());
} else
{
return simModule.getState();
@@ -310,6 +336,28 @@ public class SwerveModule
driveMotor.setMotorBrake(brake);
}
/**
* Set the conversion factor for the angle/azimuth motor controller.
*
* @param conversionFactor Angle motor conversion factor for PID, should be generated from
* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)} or calculated.
*/
public void setAngleMotorConversionFactor(double conversionFactor)
{
angleMotor.configureIntegratedEncoder(conversionFactor);
}
/**
* Set the conversion factor for the drive motor controller.
*
* @param conversionFactor Drive motor conversion factor for PID, should be generated from
* {@link SwerveMath#calculateMetersPerRotation(double, double, double)} or calculated.
*/
public void setDriveMotorConversionFactor(double conversionFactor)
{
driveMotor.configureIntegratedEncoder(conversionFactor);
}
/**
* Get the angle {@link SwerveMotor} for the {@link SwerveModule}.
*