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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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84
swervelib/parser/SwerveParser.java
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@@ -2,12 +2,13 @@ package swervelib.parser;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import java.io.File;
import java.io.IOException;
import java.util.HashMap;
import swervelib.SwerveDrive;
import swervelib.SwerveModule;
import swervelib.math.SwerveMath;
import swervelib.parser.json.ControllerPropertiesJson;
import swervelib.parser.json.ModuleJson;
import swervelib.parser.json.PIDFPropertiesJson;
@@ -127,11 +128,78 @@ public class SwerveParser
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param maxSpeed Maximum speed of the robot in meters per second, used for both angular acceleration used in
* {@link swervelib.SwerveController} and drive feedforward in
* {@link SwerveMath#createDriveFeedforward(double, double, double)}.
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive()
public SwerveDrive createSwerveDrive(double maxSpeed)
{
return createSwerveDrive(SwerveMath.createDriveFeedforward(physicalPropertiesJson.optimalVoltage,
maxSpeed,
physicalPropertiesJson.wheelGripCoefficientOfFriction),
maxSpeed);
}
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param maxSpeed Maximum speed of the robot in meters per second, used for both angular
* acceleration used in {@link swervelib.SwerveController} and drive feedforward in
* {@link SwerveMath#createDriveFeedforward(double, double, double)}.
* @param angleMotorConversionFactor Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop
* units to degrees, usually created using
* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
* @param driveMotorConversion Drive motor conversion factor to convert motor controller PID loop units to
* meters per rotation, usually created using
* {@link SwerveMath#calculateMetersPerRotation(double, double, double)}.
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive(double maxSpeed, double angleMotorConversionFactor, double driveMotorConversion)
{
physicalPropertiesJson.conversionFactor.angle = angleMotorConversionFactor;
physicalPropertiesJson.conversionFactor.drive = driveMotorConversion;
return createSwerveDrive(SwerveMath.createDriveFeedforward(physicalPropertiesJson.optimalVoltage,
maxSpeed,
physicalPropertiesJson.wheelGripCoefficientOfFriction),
maxSpeed);
}
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param driveFeedforward Drive feedforward to use for swerve modules, should be created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double,
* double)}.
* @param maxSpeed Maximum speed of the robot in meters per second for normal+angular acceleration
* in {@link swervelib.SwerveController} of the robot.
* @param angleMotorConversionFactor Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop
* units to degrees, usually created using
* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
* @param driveMotorConversion Drive motor conversion factor to convert motor controller PID loop units to
* meters per rotation, usually created using
* {@link SwerveMath#calculateMetersPerRotation(double, double, double)}.
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive(SimpleMotorFeedforward driveFeedforward, double maxSpeed,
double angleMotorConversionFactor, double driveMotorConversion)
{
physicalPropertiesJson.conversionFactor.angle = angleMotorConversionFactor;
physicalPropertiesJson.conversionFactor.drive = driveMotorConversion;
return createSwerveDrive(driveFeedforward, maxSpeed);
}
/**
* Create {@link SwerveDrive} from JSON configuration directory.
*
* @param driveFeedforward Drive feedforward to use for swerve modules, should be created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double, double)}.
* @param maxSpeed Maximum speed of the robot in meters per second for normal+angular acceleration in
* {@link swervelib.SwerveController} of the robot
* @return {@link SwerveDrive} instance.
*/
public SwerveDrive createSwerveDrive(SimpleMotorFeedforward driveFeedforward, double maxSpeed)
{
double maxSpeedMPS = Units.feetToMeters(swerveDriveJson.maxSpeed);
SwerveModuleConfiguration[] moduleConfigurations =
new SwerveModuleConfiguration[moduleJsons.length];
for (int i = 0; i < moduleConfigurations.length; i++)
@@ -141,19 +209,19 @@ public class SwerveParser
module.createModuleConfiguration(
pidfPropertiesJson.angle,
pidfPropertiesJson.drive,
maxSpeedMPS,
physicalPropertiesJson.createPhysicalProperties(swerveDriveJson.optimalVoltage),
physicalPropertiesJson.createPhysicalProperties(),
swerveDriveJson.modules[i]);
}
SwerveDriveConfiguration swerveDriveConfiguration =
new SwerveDriveConfiguration(
moduleConfigurations,
swerveDriveJson.imu.createIMU(),
maxSpeedMPS,
swerveDriveJson.invertedIMU);
swerveDriveJson.invertedIMU,
driveFeedforward,
physicalPropertiesJson.createPhysicalProperties());
return new SwerveDrive(
swerveDriveConfiguration,
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration));
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration, maxSpeed), maxSpeed);
}
}