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Updated to 2024.4.8.3

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thenetworkgrinch
2024-02-12 18:59:40 -06:00
parent 78349d6f2d
commit 74ac1351ef
117 changed files with 536 additions and 438 deletions
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41
swervelib/SwerveModule.java
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@@ -53,6 +53,26 @@ public class SwerveModule
* An {@link Alert} for if there is no Absolute Encoder on the module.
*/
private final Alert noEncoderWarning;
/**
* NT3 Raw Absolute Angle publisher for the absolute encoder.
*/
private final String rawAbsoluteAngleName;
/**
* NT3 Adjusted Absolute angle publisher for the absolute encoder.
*/
private final String adjAbsoluteAngleName;
/**
* NT3 Absolute encoder read issue.
*/
private final String absoluteEncoderIssueName;
/**
* NT3 raw angle motor.
*/
private final String rawAngleName;
/**
* NT3 Raw drive motor.
*/
private final String rawDriveName;
/**
* Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
*/
@@ -176,6 +196,12 @@ public class SwerveModule
"Pushing the Absolute Encoder offset to the encoder failed on module #" +
moduleNumber,
Alert.AlertType.WARNING);
rawAbsoluteAngleName = "Module[" + configuration.name + "] Raw Absolute Encoder";
adjAbsoluteAngleName = "Module[" + configuration.name + "] Adjusted Absolute Encoder";
absoluteEncoderIssueName = "Module[" + configuration.name + "] Absolute Encoder Read Issue";
rawAngleName = "Module[" + configuration.name + "] Raw Angle Encoder";
rawDriveName = "Module[" + configuration.name + "] Raw Drive Encoder";
}
/**
@@ -293,7 +319,8 @@ public class SwerveModule
/* If error is close to 0 rotations, we're already there, so apply full power */
/* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */
cosineScalar = Rotation2d.fromDegrees(desiredState.angle.getDegrees())
.minus(Rotation2d.fromDegrees(getAbsolutePosition())).getCos(); // TODO: Investigate angle modulus by 180.
.minus(Rotation2d.fromDegrees(getAbsolutePosition()))
.getCos(); // TODO: Investigate angle modulus by 180.
/* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */
if (cosineScalar < 0.0)
{
@@ -526,13 +553,11 @@ public class SwerveModule
{
if (absoluteEncoder != null)
{
SmartDashboard.putNumber("Module[" + configuration.name + "] Raw Absolute Encoder",
absoluteEncoder.getAbsolutePosition());
SmartDashboard.putNumber(rawAbsoluteAngleName, absoluteEncoder.getAbsolutePosition());
}
SmartDashboard.putNumber("Module[" + configuration.name + "] Raw Angle Encoder", angleMotor.getPosition());
SmartDashboard.putNumber("Module[" + configuration.name + "] Raw Drive Encoder", driveMotor.getPosition());
SmartDashboard.putNumber("Module[" + configuration.name + "] Adjusted Absolute Encoder", getAbsolutePosition());
SmartDashboard.putNumber("Module[" + configuration.name + "] Absolute Encoder Read Issue",
getAbsoluteEncoderReadIssue() ? 1 : 0);
SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
}
}