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Fix joystick #15

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merged 2 commits into from
Feb 10, 2024
Merged

Fix joystick #15

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98b2876
Attempt at fixing drive joystick
SavCam18 Sep 28, 2023
64f0265
SavCam18 Oct 4, 2023
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13 changes: 11 additions & 2 deletions src/main/java/frc/robot/commands/DriveWithController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.util.CircularBuffer;
import edu.wpi.first.wpilibj.XboxController;
Expand Down Expand Up @@ -101,10 +102,18 @@ public void execute() {
}

if (moving) {
xMove = Math.copySign(xMove * xMove, xMove);
yMove = Math.copySign(yMove * yMove, yMove);
// xMove = Math.copySign(xMove * xMove, xMove);
// yMove = Math.copySign(yMove * yMove, yMove);
rotate = Math.copySign(rotate * rotate, rotate);

Translation2d moveTranslation = new Translation2d(xMove, yMove);
double moveSpeed = moveTranslation.getNorm() * moveTranslation.getNorm();
Rotation2d angle = moveTranslation.getAngle();

xMove = moveSpeed * angle.getCos();
yMove = moveSpeed * angle.getSin();


if (drive.getSlowMode() || controller.getXButton()){
xMove *= 0.3;
yMove *= 0.3;
Expand Down
38 changes: 14 additions & 24 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
// import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
Expand Down Expand Up @@ -60,49 +60,43 @@ public Drivetrain() {
( "Pitch", () -> m_imu.getPitch() );
imuShuffleboard.addNumber
( "Roll", () -> m_imu.getRoll() );



Mk4ModuleConfiguration moduleConfig = Mk4ModuleConfiguration.getDefaultSteerNEO();
moduleConfig.setNominalVoltage(Constants.Drive.kDriveVoltageCompensation);

//: Swerve setup
this.m_swerve_modules[0] = this.createModule(
Constants.Drive.kFrontLeft,
moduleConfig, tab
Constants.Drive.kFrontLeft, moduleConfig, tab
);
this.m_swerve_modules[1] = this.createModule(
Constants.Drive.kFrontRight,
moduleConfig, tab
Constants.Drive.kFrontRight, moduleConfig, tab
);
this.m_swerve_modules[2] = this.createModule(
Constants.Drive.kBackLeft,
moduleConfig, tab
Constants.Drive.kBackLeft,moduleConfig, tab
);
this.m_swerve_modules[3] = this.createModule(
Constants.Drive.kBackRight,
moduleConfig, tab
Constants.Drive.kBackRight, moduleConfig, tab
);

// Setup odometry
m_odometry = new SwerveDriveOdometry(
Constants.Drive.kDriveKinematics,
getIMUHeading(),
getModulePositions()
getIMUHeading(), getModulePositions()
);

var odometryTab = tab.getLayout("Odometry", BuiltInLayouts.kList)
.withSize(2,2)
.withPosition(10,0);

odometryTab.addNumber("X (inches)", ()->Units.metersToInches(m_odometry.getPoseMeters().getX()));
odometryTab.addNumber("Y (inches)", ()->Units.metersToInches(m_odometry.getPoseMeters().getY()));
odometryTab.addNumber("Theta (degrees)", ()->m_odometry.getPoseMeters().getRotation().getDegrees());
odometryTab.addNumber("X (inches)", ()->Units.metersToInches(m_odometry.getPoseMeters().getX()));
odometryTab.addNumber("Y (inches)", ()->Units.metersToInches(m_odometry.getPoseMeters().getY()));
odometryTab.addNumber("Theta (degrees)", ()->m_odometry.getPoseMeters().getRotation().getDegrees());

tab.add("Field", m_field)
.withSize(5,4)
.withPosition(8,2);
}
tab.add("Field", m_field)
.withSize(5,4)
.withPosition(8,2);
}

private SwerveModule createModule(ModuleConfig config, Mk4ModuleConfiguration moduleConfig, ShuffleboardTab tab) {
return Mk4SwerveModuleHelper.createNeo(
Expand Down Expand Up @@ -179,12 +173,9 @@ public void stop() {
drive(0, 0, 0, false);
}

@Override
public void periodic() {

@Override public void periodic() {
// Upldate robote pose
m_odometry.update(getIMUHeading(), getModulePositions());

m_field.setRobotPose(m_odometry.getPoseMeters());

SmartDashboard.putBoolean("Slow Mode", m_slowMode);
Expand Down Expand Up @@ -224,5 +215,4 @@ public Pose2d getPose() {
public void resetOdometry(Pose2d pose) {
m_odometry.resetPosition(getIMUHeading(), getModulePositions(), pose);
}

}
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