module offsets + uninvert steers + moved motors to canbus 2

hammerhead226 · Jan 28, 2024 · a239249 · a239249
1 parent cca1811
commit a239249
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Showing 8 changed files with 48 additions and 43 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 4;
-  public static final String GIT_SHA = "6238ea9fb85d7f0c41bd5dec8fe17cb125498b6d";
-  public static final String GIT_DATE = "2024-01-09 16:05:09 EST";
-  public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-01-12 17:38:42 EST";
-  public static final long BUILD_UNIX_TIME = 1705099122187L;
+  public static final int GIT_REVISION = 5;
+  public static final String GIT_SHA = "cca181101b68569d0f64c2038b7c5ffb0ceb66fb";
+  public static final String GIT_DATE = "2024-01-12 17:44:29 EST";
+  public static final String GIT_BRANCH = "swerve";
+  public static final String BUILD_DATE = "2024-01-27 16:46:30 EST";
+  public static final long BUILD_UNIX_TIME = 1706391990425L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -22,9 +22,11 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static final Mode currentMode = Mode.SIM;
+  public static final Mode currentMode = Mode.REAL;
   public static final boolean tuningMode = true;
 
+  public static final String CANBUS = "CAN Bus 2";
+
   public static enum Mode {
     /** Running on a real robot. */
     REAL,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -28,7 +28,7 @@
 import frc.robot.subsystems.drive.GyroIOPigeon2;
 import frc.robot.subsystems.drive.ModuleIO;
 import frc.robot.subsystems.drive.ModuleIOSim;
-import frc.robot.subsystems.drive.ModuleIOSparkMax;
+import frc.robot.subsystems.drive.ModuleIOTalonFX;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**
@@ -52,19 +52,20 @@ public RobotContainer() {
     switch (Constants.currentMode) {
       case REAL:
         // Real robot, instantiate hardware IO implementations
+        // drive =
+        // new Drive(
+        // new GyroIOPigeon2(),
+        // new ModuleIOSparkMax(0),
+        // new ModuleIOSparkMax(1),
+        // new ModuleIOSparkMax(2),
+        // new ModuleIOSparkMax(3));
         drive =
             new Drive(
                 new GyroIOPigeon2(),
-                new ModuleIOSparkMax(0),
-                new ModuleIOSparkMax(1),
-                new ModuleIOSparkMax(2),
-                new ModuleIOSparkMax(3));
-        // drive = new Drive(
-        // new GyroIOPigeon2(),
-        // new ModuleIOTalonFX(0),
-        // new ModuleIOTalonFX(1),
-        // new ModuleIOTalonFX(2),
-        // new ModuleIOTalonFX(3));
+                new ModuleIOTalonFX(0),
+                new ModuleIOTalonFX(1),
+                new ModuleIOTalonFX(2),
+                new ModuleIOTalonFX(3));
         // flywheel = new Flywheel(new FlywheelIOTalonFX());
         break;
 

diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
@@ -20,10 +20,11 @@
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
+import frc.robot.Constants;
 
 /** IO implementation for Pigeon2 */
 public class GyroIOPigeon2 implements GyroIO {
-  private final Pigeon2 pigeon = new Pigeon2(0);
+  private final Pigeon2 pigeon = new Pigeon2(0, Constants.CANBUS);
   private final StatusSignal<Double> yaw = pigeon.getYaw();
   private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZWorld();
 

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -63,7 +63,7 @@ public Module(ModuleIO io, int index) {
     }
 
     turnFeedback.enableContinuousInput(-Math.PI, Math.PI);
-    setBrakeMode(true);
+    setBrakeMode(false);
   }
 
   public void periodic() {

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
@@ -25,6 +25,7 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
+import frc.robot.Constants;
 
 /**
  * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
@@ -58,34 +59,34 @@ public class ModuleIOTalonFX implements ModuleIO {
   private final double DRIVE_GEAR_RATIO = 6.12;
   private final double TURN_GEAR_RATIO = 150.0 / 7.0;
 
-  private final boolean isTurnMotorInverted = true;
+  private final boolean isTurnMotorInverted = false;
   private final Rotation2d absoluteEncoderOffset;
 
   public ModuleIOTalonFX(int index) {
     switch (index) {
       case 0:
-        driveTalon = new TalonFX(0);
-        turnTalon = new TalonFX(4);
-        cancoder = new CANcoder(0);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        driveTalon = new TalonFX(0, Constants.CANBUS);
+        turnTalon = new TalonFX(4, Constants.CANBUS);
+        cancoder = new CANcoder(0, Constants.CANBUS);
+        absoluteEncoderOffset = new Rotation2d(-2.14); // MUST BE CALIBRATED
         break;
       case 1:
-        driveTalon = new TalonFX(1);
-        turnTalon = new TalonFX(5);
-        cancoder = new CANcoder(1);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        driveTalon = new TalonFX(1, Constants.CANBUS);
+        turnTalon = new TalonFX(5, Constants.CANBUS);
+        cancoder = new CANcoder(1, Constants.CANBUS);
+        absoluteEncoderOffset = new Rotation2d(-1.82); // MUST BE CALIBRATED
         break;
       case 2:
-        driveTalon = new TalonFX(2);
-        turnTalon = new TalonFX(6);
-        cancoder = new CANcoder(2);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        driveTalon = new TalonFX(2, Constants.CANBUS);
+        turnTalon = new TalonFX(6, Constants.CANBUS);
+        cancoder = new CANcoder(2, Constants.CANBUS);
+        absoluteEncoderOffset = new Rotation2d(1.74); // MUST BE CALIBRATED
         break;
       case 3:
-        driveTalon = new TalonFX(3);
-        turnTalon = new TalonFX(7);
-        cancoder = new CANcoder(3);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        driveTalon = new TalonFX(3, Constants.CANBUS);
+        turnTalon = new TalonFX(7, Constants.CANBUS);
+        cancoder = new CANcoder(3, Constants.CANBUS);
+        absoluteEncoderOffset = new Rotation2d(0.98); // MUST BE CALIBRATED
         break;
       default:
         throw new RuntimeException("Invalid module index");

diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "3.0.0",
+  "version": "3.0.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2024",
   "mavenUrls": [],
@@ -10,24 +10,24 @@
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "wpilib-shim",
-      "version": "3.0.0"
+      "version": "3.0.2"
     },
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "junction-core",
-      "version": "3.0.0"
+      "version": "3.0.2"
     },
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-api",
-      "version": "3.0.0"
+      "version": "3.0.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-wpilibio",
-      "version": "3.0.0",
+      "version": "3.0.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [