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Updated to 2024

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This commit is contained in:
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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44
swervelib/motors/SparkMaxSwerve.java
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@@ -1,20 +1,21 @@
package swervelib.motors;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkBase.ControlType;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;
import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
import com.revrobotics.MotorFeedbackSensor;
import com.revrobotics.REVLibError;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxAnalogSensor;
import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.SparkAnalogSensor;
import com.revrobotics.SparkPIDController;
import edu.wpi.first.wpilibj.DriverStation;
import java.util.function.Supplier;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
import swervelib.telemetry.SwerveDriveTelemetry;
/**
* An implementation of {@link CANSparkMax} as a {@link SwerveMotor}.
@@ -37,7 +38,7 @@ public class SparkMaxSwerve extends SwerveMotor
/**
* Closed-loop PID controller.
*/
public SparkMaxPIDController pid;
public SparkPIDController pid;
/**
* Factory default already occurred.
*/
@@ -208,7 +209,7 @@ public class SparkMaxSwerve extends SwerveMotor
// Taken from
// https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
configureCANStatusFrames(10, 20, 20, 500, 500);
configureCANStatusFrames(10, 20, 20, 500, 500, 200, 200);
} else
{
configureSparkMax(() -> {
@@ -218,7 +219,7 @@ public class SparkMaxSwerve extends SwerveMotor
positionConversionFactor);
} else
{
return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(
return ((SparkAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(
positionConversionFactor);
}
});
@@ -229,7 +230,7 @@ public class SparkMaxSwerve extends SwerveMotor
positionConversionFactor / 60);
} else
{
return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(
return ((SparkAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(
positionConversionFactor / 60);
}
});
@@ -247,12 +248,12 @@ public class SparkMaxSwerve extends SwerveMotor
// int pidSlot =
// isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
int pidSlot = 0;
configureSparkMax(() -> pid.setP(config.p, pidSlot));
configureSparkMax(() -> pid.setI(config.i, pidSlot));
configureSparkMax(() -> pid.setD(config.d, pidSlot));
configureSparkMax(() -> pid.setFF(config.f, pidSlot));
configureSparkMax(() -> pid.setIZone(config.iz, pidSlot));
configureSparkMax(() -> pid.setOutputRange(config.output.min, config.output.max, pidSlot));
configureSparkMax(() -> pid.setP(config.p));
configureSparkMax(() -> pid.setI(config.i));
configureSparkMax(() -> pid.setD(config.d));
configureSparkMax(() -> pid.setFF(config.f));
configureSparkMax(() -> pid.setIZone(config.iz));
configureSparkMax(() -> pid.setOutputRange(config.output.min, config.output.max));
}
/**
@@ -277,16 +278,19 @@ public class SparkMaxSwerve extends SwerveMotor
* @param CANStatus2 Motor Position
* @param CANStatus3 Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
* @param CANStatus4 Alternate Encoder Velocity, Alternate Encoder Position
* @param CANStatus5 Duty Cycle Absolute Encoder Position, Duty Cycle Absolute Encoder Absolute Angle
* @param CANStatus6 Duty Cycle Absolute Encoder Velocity, Duty Cycle Absolute Encoder Frequency
*/
public void configureCANStatusFrames(
int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)
int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4, int CANStatus5, int CANStatus6)
{
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0));
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1));
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2));
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3));
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4));
// TODO: Configure Status Frame 5 and 6 if necessary
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, CANStatus5));
configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus6, CANStatus6));
// https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
}
@@ -368,6 +372,10 @@ public class SparkMaxSwerve extends SwerveMotor
ControlType.kPosition,
pidSlot,
feedforward));
if (SwerveDriveTelemetry.isSimulation)
{
encoder.setPosition(setpoint);
}
}
}