mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
442 lines
13 KiB
Java
442 lines
13 KiB
Java
package swervelib.motors;
|
|
|
|
import com.revrobotics.AbsoluteEncoder;
|
|
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 edu.wpi.first.wpilibj.DriverStation;
|
|
import java.util.function.Supplier;
|
|
import swervelib.encoders.SwerveAbsoluteEncoder;
|
|
import swervelib.parser.PIDFConfig;
|
|
|
|
/**
|
|
* An implementation of {@link CANSparkMax} as a {@link SwerveMotor}.
|
|
*/
|
|
public class SparkMaxSwerve extends SwerveMotor
|
|
{
|
|
|
|
/**
|
|
* SparkMAX Instance.
|
|
*/
|
|
public CANSparkMax motor;
|
|
/**
|
|
* Integrated encoder.
|
|
*/
|
|
public RelativeEncoder encoder;
|
|
/**
|
|
* Absolute encoder attached to the SparkMax (if exists)
|
|
*/
|
|
public SwerveAbsoluteEncoder absoluteEncoder;
|
|
/**
|
|
* Closed-loop PID controller.
|
|
*/
|
|
public SparkMaxPIDController pid;
|
|
/**
|
|
* Factory default already occurred.
|
|
*/
|
|
private boolean factoryDefaultOccurred = false;
|
|
|
|
/**
|
|
* Initialize the swerve motor.
|
|
*
|
|
* @param motor The SwerveMotor as a SparkMax object.
|
|
* @param isDriveMotor Is the motor being initialized a drive motor?
|
|
*/
|
|
public SparkMaxSwerve(CANSparkMax motor, boolean isDriveMotor)
|
|
{
|
|
this.motor = motor;
|
|
this.isDriveMotor = isDriveMotor;
|
|
factoryDefaults();
|
|
clearStickyFaults();
|
|
|
|
encoder = motor.getEncoder();
|
|
pid = motor.getPIDController();
|
|
pid.setFeedbackDevice(
|
|
encoder); // Configure feedback of the PID controller as the integrated encoder.
|
|
|
|
// Spin off configurations in a different thread.
|
|
configureSparkMax(() -> motor.setCANTimeout(0));
|
|
}
|
|
|
|
/**
|
|
* Initialize the {@link SwerveMotor} as a {@link CANSparkMax} connected to a Brushless Motor.
|
|
*
|
|
* @param id CAN ID of the SparkMax.
|
|
* @param isDriveMotor Is the motor being initialized a drive motor?
|
|
*/
|
|
public SparkMaxSwerve(int id, boolean isDriveMotor)
|
|
{
|
|
this(new CANSparkMax(id, MotorType.kBrushless), isDriveMotor);
|
|
}
|
|
|
|
/**
|
|
* Run the configuration until it succeeds or times out.
|
|
*
|
|
* @param config Lambda supplier returning the error state.
|
|
*/
|
|
private void configureSparkMax(Supplier<REVLibError> config)
|
|
{
|
|
for (int i = 0; i < maximumRetries; i++)
|
|
{
|
|
if (config.get() == REVLibError.kOk)
|
|
{
|
|
return;
|
|
}
|
|
}
|
|
DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
|
|
}
|
|
|
|
/**
|
|
* Set the voltage compensation for the swerve module motor.
|
|
*
|
|
* @param nominalVoltage Nominal voltage for operation to output to.
|
|
*/
|
|
@Override
|
|
public void setVoltageCompensation(double nominalVoltage)
|
|
{
|
|
configureSparkMax(() -> motor.enableVoltageCompensation(nominalVoltage));
|
|
}
|
|
|
|
/**
|
|
* Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
|
* voltage compensation. This is useful to protect the motor from current spikes.
|
|
*
|
|
* @param currentLimit Current limit in AMPS at free speed.
|
|
*/
|
|
@Override
|
|
public void setCurrentLimit(int currentLimit)
|
|
{
|
|
configureSparkMax(() -> motor.setSmartCurrentLimit(currentLimit));
|
|
}
|
|
|
|
/**
|
|
* Set the maximum rate the open/closed loop output can change by.
|
|
*
|
|
* @param rampRate Time in seconds to go from 0 to full throttle.
|
|
*/
|
|
@Override
|
|
public void setLoopRampRate(double rampRate)
|
|
{
|
|
configureSparkMax(() -> motor.setOpenLoopRampRate(rampRate));
|
|
configureSparkMax(() -> motor.setClosedLoopRampRate(rampRate));
|
|
}
|
|
|
|
/**
|
|
* Get the motor object from the module.
|
|
*
|
|
* @return Motor object.
|
|
*/
|
|
@Override
|
|
public Object getMotor()
|
|
{
|
|
return motor;
|
|
}
|
|
|
|
/**
|
|
* Queries whether the absolute encoder is directly attached to the motor controller.
|
|
*
|
|
* @return connected absolute encoder state.
|
|
*/
|
|
@Override
|
|
public boolean isAttachedAbsoluteEncoder()
|
|
{
|
|
return absoluteEncoder != null;
|
|
}
|
|
|
|
/**
|
|
* Configure the factory defaults.
|
|
*/
|
|
@Override
|
|
public void factoryDefaults()
|
|
{
|
|
if (!factoryDefaultOccurred)
|
|
{
|
|
configureSparkMax(motor::restoreFactoryDefaults);
|
|
factoryDefaultOccurred = true;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Clear the sticky faults on the motor controller.
|
|
*/
|
|
@Override
|
|
public void clearStickyFaults()
|
|
{
|
|
configureSparkMax(motor::clearFaults);
|
|
}
|
|
|
|
/**
|
|
* Set the absolute encoder to be a compatible absolute encoder.
|
|
*
|
|
* @param encoder The encoder to use.
|
|
* @return The {@link SwerveMotor} for easy instantiation.
|
|
*/
|
|
@Override
|
|
public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
|
|
{
|
|
if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
|
|
{
|
|
DriverStation.reportWarning(
|
|
"IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the" +
|
|
" absoluteEncoderOffset in the Swerve Module JSON!",
|
|
false);
|
|
absoluteEncoder = encoder;
|
|
configureSparkMax(() -> pid.setFeedbackDevice((MotorFeedbackSensor) absoluteEncoder.getAbsoluteEncoder()));
|
|
}
|
|
return this;
|
|
}
|
|
|
|
/**
|
|
* Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
|
|
*
|
|
* @param positionConversionFactor The conversion factor to apply.
|
|
*/
|
|
@Override
|
|
public void configureIntegratedEncoder(double positionConversionFactor)
|
|
{
|
|
if (absoluteEncoder == null)
|
|
{
|
|
configureSparkMax(() -> encoder.setPositionConversionFactor(positionConversionFactor));
|
|
configureSparkMax(() -> encoder.setVelocityConversionFactor(positionConversionFactor / 60));
|
|
|
|
// 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);
|
|
} else
|
|
{
|
|
configureSparkMax(() -> {
|
|
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
|
|
{
|
|
return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(
|
|
positionConversionFactor);
|
|
} else
|
|
{
|
|
return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(
|
|
positionConversionFactor);
|
|
}
|
|
});
|
|
configureSparkMax(() -> {
|
|
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
|
|
{
|
|
return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(
|
|
positionConversionFactor / 60);
|
|
} else
|
|
{
|
|
return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(
|
|
positionConversionFactor / 60);
|
|
}
|
|
});
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Configure the PIDF values for the closed loop controller.
|
|
*
|
|
* @param config Configuration class holding the PIDF values.
|
|
*/
|
|
@Override
|
|
public void configurePIDF(PIDFConfig config)
|
|
{
|
|
// 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));
|
|
}
|
|
|
|
/**
|
|
* Configure the PID wrapping for the position closed loop controller.
|
|
*
|
|
* @param minInput Minimum PID input.
|
|
* @param maxInput Maximum PID input.
|
|
*/
|
|
@Override
|
|
public void configurePIDWrapping(double minInput, double maxInput)
|
|
{
|
|
configureSparkMax(() -> pid.setPositionPIDWrappingEnabled(true));
|
|
configureSparkMax(() -> pid.setPositionPIDWrappingMinInput(minInput));
|
|
configureSparkMax(() -> pid.setPositionPIDWrappingMaxInput(maxInput));
|
|
}
|
|
|
|
/**
|
|
* Set the CAN status frames.
|
|
*
|
|
* @param CANStatus0 Applied Output, Faults, Sticky Faults, Is Follower
|
|
* @param CANStatus1 Motor Velocity, Motor Temperature, Motor Voltage, Motor Current
|
|
* @param CANStatus2 Motor Position
|
|
* @param CANStatus3 Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
|
|
* @param CANStatus4 Alternate Encoder Velocity, Alternate Encoder Position
|
|
*/
|
|
public void configureCANStatusFrames(
|
|
int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)
|
|
{
|
|
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
|
|
// https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
|
|
}
|
|
|
|
/**
|
|
* Set the idle mode.
|
|
*
|
|
* @param isBrakeMode Set the brake mode.
|
|
*/
|
|
@Override
|
|
public void setMotorBrake(boolean isBrakeMode)
|
|
{
|
|
configureSparkMax(() -> motor.setIdleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast));
|
|
}
|
|
|
|
/**
|
|
* Set the motor to be inverted.
|
|
*
|
|
* @param inverted State of inversion.
|
|
*/
|
|
@Override
|
|
public void setInverted(boolean inverted)
|
|
{
|
|
motor.setInverted(inverted);
|
|
}
|
|
|
|
/**
|
|
* Save the configurations from flash to EEPROM.
|
|
*/
|
|
@Override
|
|
public void burnFlash()
|
|
{
|
|
try
|
|
{
|
|
Thread.sleep(200);
|
|
} catch (Exception e)
|
|
{
|
|
}
|
|
configureSparkMax(() -> motor.burnFlash());
|
|
}
|
|
|
|
/**
|
|
* Set the percentage output.
|
|
*
|
|
* @param percentOutput percent out for the motor controller.
|
|
*/
|
|
@Override
|
|
public void set(double percentOutput)
|
|
{
|
|
motor.set(percentOutput);
|
|
}
|
|
|
|
/**
|
|
* Set the closed loop PID controller reference point.
|
|
*
|
|
* @param setpoint Setpoint in MPS or Angle in degrees.
|
|
* @param feedforward Feedforward in volt-meter-per-second or kV.
|
|
*/
|
|
@Override
|
|
public void setReference(double setpoint, double feedforward)
|
|
{
|
|
boolean possibleBurnOutIssue = true;
|
|
// int pidSlot =
|
|
// isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
|
|
int pidSlot = 0;
|
|
|
|
if (isDriveMotor)
|
|
{
|
|
configureSparkMax(() ->
|
|
pid.setReference(
|
|
setpoint,
|
|
ControlType.kVelocity,
|
|
pidSlot,
|
|
feedforward));
|
|
} else
|
|
{
|
|
configureSparkMax(() ->
|
|
pid.setReference(
|
|
setpoint,
|
|
ControlType.kPosition,
|
|
pidSlot,
|
|
feedforward));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the closed loop PID controller reference point.
|
|
*
|
|
* @param setpoint Setpoint in meters per second or angle in degrees.
|
|
* @param feedforward Feedforward in volt-meter-per-second or kV.
|
|
* @param position Only used on the angle motor, the position of the motor in degrees.
|
|
*/
|
|
@Override
|
|
public void setReference(double setpoint, double feedforward, double position)
|
|
{
|
|
setReference(setpoint, feedforward);
|
|
}
|
|
|
|
/**
|
|
* Get the velocity of the integrated encoder.
|
|
*
|
|
* @return velocity
|
|
*/
|
|
@Override
|
|
public double getVelocity()
|
|
{
|
|
return absoluteEncoder == null ? encoder.getVelocity() : absoluteEncoder.getVelocity();
|
|
}
|
|
|
|
/**
|
|
* Get the position of the integrated encoder.
|
|
*
|
|
* @return Position
|
|
*/
|
|
@Override
|
|
public double getPosition()
|
|
{
|
|
return absoluteEncoder == null ? encoder.getPosition() : absoluteEncoder.getAbsolutePosition();
|
|
}
|
|
|
|
/**
|
|
* Set the integrated encoder position.
|
|
*
|
|
* @param position Integrated encoder position.
|
|
*/
|
|
@Override
|
|
public void setPosition(double position)
|
|
{
|
|
if (absoluteEncoder == null)
|
|
{
|
|
configureSparkMax(() -> encoder.setPosition(position));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* REV Slots for PID configuration.
|
|
*/
|
|
enum SparkMAX_slotIdx
|
|
{
|
|
/**
|
|
* Slot 1, used for position PID's.
|
|
*/
|
|
Position,
|
|
/**
|
|
* Slot 2, used for velocity PID's.
|
|
*/
|
|
Velocity,
|
|
/**
|
|
* Slot 3, used arbitrarily. (Documentation show simulations).
|
|
*/
|
|
Simulation
|
|
}
|
|
}
|