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Updated to 2024

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thenetworkgrinch
2024-01-15 14:37:13 -06:00
parent 3fd8493ccb
commit a71d7a0b4e
185 changed files with 6910 additions and 10987 deletions
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16
swervelib/math/SwerveMath.java
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@@ -8,7 +8,6 @@ import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.List;
import swervelib.SwerveController;
import swervelib.SwerveModule;
@@ -214,12 +213,7 @@ public class SwerveMath
}
double horizontalDistance = projectedHorizontalCg.plus(projectedWheelbaseEdge).getNorm();
double maxAccel = 9.81 * horizontalDistance / robotCG.getZ();
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber("calcMaxAccel", maxAccel);
}
return maxAccel;
return 9.81 * horizontalDistance / robotCG.getZ();
}
/**
@@ -275,18 +269,10 @@ public class SwerveMath
{
// Get the robot's current field-relative velocity
Translation2d currentVelocity = SwerveController.getTranslation2d(fieldVelocity);
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber("currentVelocity", currentVelocity.getX());
}
// Calculate the commanded change in velocity by subtracting current velocity
// from commanded velocity
Translation2d deltaV = commandedVelocity.minus(currentVelocity);
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber("deltaV", deltaV.getX());
}
// Creates an acceleration vector with the direction of delta V and a magnitude
// of the maximum allowed acceleration in that direction