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Updated swerve module optimizations and moved math to SwerveMath.

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This commit is contained in:
thenetworkgrinch
2023-03-29 07:24:24 -05:00
parent 8d83836a8a
commit d160c01364
121 changed files with 813 additions and 597 deletions
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53
swervelib/SwerveDrive.java
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@@ -272,18 +272,18 @@ public class SwerveDrive
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
{
SwerveDriveTelemetry.desiredStates[module.moduleNumber *
2] = desiredStates[module.moduleNumber].angle.getDegrees();
2] = module.lastState.angle.getDegrees();
SwerveDriveTelemetry.desiredStates[(module.moduleNumber * 2) +
1] = desiredStates[module.moduleNumber].speedMetersPerSecond;
1] = module.lastState.speedMetersPerSecond;
}
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber(
"Module " + module.moduleNumber + " Speed Setpoint: ",
desiredStates[module.moduleNumber].speedMetersPerSecond);
"Module[" + module.moduleNumber + "] Speed Setpoint: ",
module.lastState.speedMetersPerSecond);
SmartDashboard.putNumber(
"Module " + module.moduleNumber + " Angle Setpoint: ",
desiredStates[module.moduleNumber].angle.getDegrees());
"Module[" + module.moduleNumber + "] Angle Setpoint: ",
module.lastState.angle.getDegrees());
}
}
}
@@ -533,6 +533,47 @@ public class SwerveDrive
}
}
/**
* Set the maximum speed of the drive motors, modified {@link SwerveControllerConfiguration#maxSpeed} and
* {@link SwerveDriveConfiguration#maxSpeed} which is used for the
* {@link SwerveDrive#setRawModuleStates(SwerveModuleState2[], boolean)} function and
* {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
* what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
*
* @param maximumSpeed Maximum speed for the drive motors in meters / second.
* @param updateModuleFeedforward Update the swerve module feedforward to account for the new maximum speed. This
* should be true unless you have replaced the drive motor feedforward with
* {@link SwerveDrive#replaceSwerveModuleFeedforward(SimpleMotorFeedforward)}
*/
public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward)
{
swerveDriveConfiguration.maxSpeed = maximumSpeed;
swerveController.config.maxSpeed = maximumSpeed;
for (SwerveModule module : swerveModules)
{
module.configuration.maxSpeed = maximumSpeed;
if (updateModuleFeedforward)
{
module.feedforward = module.configuration.createDriveFeedforward();
}
}
}
/**
* Set the maximum speed of the drive motors, modified {@link SwerveControllerConfiguration#maxSpeed} and
* {@link SwerveDriveConfiguration#maxSpeed} which is used for the
* {@link SwerveDrive#setRawModuleStates(SwerveModuleState2[], boolean)} function and
* {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
* what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
* {@link SwerveModule#feedforward}.
*
* @param maximumSpeed Maximum speed for the drive motors in meters / second.
*/
public void setMaximumSpeed(double maximumSpeed)
{
setMaximumSpeed(maximumSpeed, true);
}
/**
* Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep
* the current pose.