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Added setVoltage function to swerve motors, made SwervePoseEstimator public, and changed setting targetVelocity to inside setState

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This commit is contained in:
thenetworkgrinch
2023-01-31 10:42:02 -06:00
parent b1a4d0e370
commit c3d6df94d0
5 changed files with 66 additions and 29 deletions
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8
swervelib/SwerveModule.java
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@@ -2,7 +2,7 @@ package frc.robot.subsystems.swervedrive.swerve;
import static java.util.Objects.requireNonNull;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.MagnetFieldStrength;
import com.revrobotics.AbsoluteEncoder;
@@ -166,8 +166,8 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
this.wheelBase = wheelBaseMeters;
this.driveTrainWidth = driveTrainWidthMeters;
assert mainMotor instanceof CANSparkMax || mainMotor instanceof TalonFX;
assert angleMotor instanceof CANSparkMax || angleMotor instanceof TalonFX;
assert mainMotor instanceof CANSparkMax || mainMotor instanceof WPI_TalonFX;
assert angleMotor instanceof CANSparkMax || angleMotor instanceof WPI_TalonFX;
assert encoder instanceof DutyCycleEncoder || encoder instanceof AnalogEncoder || encoder instanceof CANCoder ||
encoder instanceof AbsoluteEncoder;
@@ -413,7 +413,6 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
*/
public void setVelocity(double velocity)
{
targetVelocity = velocity;
driveMotor.setTarget(velocity, driveFeedforward.calculate(velocity));
}
@@ -463,6 +462,7 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
setAngle(angle, optimizedState.angularVelocityRadPerSecond * steeringKV);
setVelocity(velocity);
targetAngle = angle;
targetVelocity = velocity;
targetAngularVelocityRPS = optimizedState.angularVelocityRadPerSecond;
}