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New name for module locations, some fixes

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This commit is contained in:
thenetworkgrinch
2023-03-09 21:48:47 -06:00
parent ec958aecaa
commit ac920249ac
119 changed files with 344 additions and 267 deletions
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27
swervelib/SwerveModule.java
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@@ -140,8 +140,10 @@ public class SwerveModule
*
* @param desiredState Desired swerve module state.
* @param isOpenLoop Whether to use open loop (direct percent) or direct velocity control.
* @param force Disables optimizations that prevent movement in the angle motor and forces the desired state
* onto the swerve module.
*/
public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop)
public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop, boolean force)
{
SwerveModuleState simpleState =
new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
@@ -173,15 +175,22 @@ public class SwerveModule
lastVelocity = velocity;
}
// Prevents module rotation if speed is less than 1%
double angle =
(Math.abs(desiredState.speedMetersPerSecond) <= (configuration.maxSpeed * 0.01)
? lastAngle
: desiredState.angle.getDegrees());
if (angle != lastAngle)
double angle = desiredState.angle.getDegrees();
// If we are forcing the angle
if (force)
{
angleMotor.setReference(
angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
angleMotor.setReference(angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
} else
{
// Prevents module rotation if speed is less than 1%
angle = Math.abs(desiredState.speedMetersPerSecond) <= (configuration.maxSpeed * 0.01) ? lastAngle : angle;
// Prevent module rotation if angle is the same as the previous angle.
if (angle != lastAngle)
{
angleMotor.setReference(
angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
}
}
lastAngle = angle;