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Abigail swrve x stance #12

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Abigail swrve x stance #12

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526672c
Update GradleRIO plugin version to 2025.1.1
Ishan1522 Jan 4, 2025
1acca00
Update .gitignore to include additional configuration files
Ishan1522 Jan 4, 2025
1c818f6
Fix formatting in .gitignore for clarity
Ishan1522 Jan 4, 2025
5818cd1
Update project year to 2025 and remove obsolete vendor dependencies
Ishan1522 Jan 4, 2025
8478e17
code will build once all vendors have released their deps.
Ishan1522 Jan 4, 2025
3518058
Formatting fixes
github-actions[bot] Jan 4, 2025
1e0ae18
update to most recent deps
lukeful Jan 6, 2025
27d0ca0
hhfsjdfskddf
Ishan1522 Jan 6, 2025
33a86ec
:/
Ishan1522 Jan 7, 2025
33638fd
xstance created
Abigail-27 Jan 8, 2025
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3 changes: 3 additions & 0 deletions .gitignore
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@@ -1,6 +1,9 @@
# This gitignore has been specially created by the WPILib team.
# If you remove items from this file, intellisense might break.
*src/main/java/frc/robot/BuildConstants.java
simgui-ds.json
simgui.json
networktables.json
### C++ ###
# Prerequisites
*.d
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2 changes: 1 addition & 1 deletion .wpilib/wpilib_preferences.json
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{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2025beta",
"projectYear": "2025",
"teamNumber": 4829
}
34 changes: 17 additions & 17 deletions build.gradle
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plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
id "edu.wpi.first.GradleRIO" version "2025.1.1"
id "com.peterabeles.gversion" version "1.10"
id "com.diffplug.spotless" version "6.25.0"
id "pmd"
Expand Down Expand Up @@ -66,21 +66,21 @@ wpi.java.debugJni = false
def includeDesktopSupport = true

// Configuration for AdvantageKit
repositories {
maven {
url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
credentials {
username = "Mechanical-Advantage-Bot"
password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
}
}
mavenLocal()
}
// repositories {
// maven {
// url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
// credentials {
// username = "Mechanical-Advantage-Bot"
// password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
// }
// }
// mavenLocal()
// }

task(replayWatch, type: JavaExec) {
mainClass = "org.littletonrobotics.junction.ReplayWatch"
classpath = sourceSets.main.runtimeClasspath
}
// task(replayWatch, type: JavaExec) {
// mainClass = "org.littletonrobotics.junction.ReplayWatch"
// classpath = sourceSets.main.runtimeClasspath
// }

// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
Expand Down Expand Up @@ -108,8 +108,8 @@ dependencies {
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'

def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
// def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
// annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
}

test {
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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -27,7 +27,7 @@
import frc.robot.subsystems.swerve.module.PhysicalModule;
import frc.robot.subsystems.swerve.module.SimulatedModule;
import frc.robot.subsystems.vision.PhysicalVision;
import frc.robot.subsystems.vision.SimulatedVision;
// import frc.robot.subsystems.vision.SimulatedVision;
import frc.robot.subsystems.vision.VisionInterface;
import frc.robot.subsystems.vision.VisionSubsystem;
import java.util.function.DoubleSupplier;
Expand Down Expand Up @@ -107,9 +107,9 @@
new SimulatedModule(swerveDriveSimulation.getModules()[2]),
new SimulatedModule(swerveDriveSimulation.getModules()[3]));

visionSubsystem =
new VisionSubsystem(
new SimulatedVision(() -> swerveDriveSimulation.getSimulatedDriveTrainPose()));
visionSubsystem = null;
// new VisionSubsystem(
// new SimulatedVision(() -> swerveDriveSimulation.getSimulatedDriveTrainPose()));

SimulatedField.getInstance().resetFieldForAuto();
resetFieldAndOdometryForAuto(
Expand Down Expand Up @@ -171,12 +171,12 @@
() -> JoystickUtil.modifyAxisPolar(driverLeftStickX, driverLeftStickY, 3)[1]
};

DoubleSupplier operatorLeftStickX = operatorController::getLeftX;

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DoubleSupplier operatorRightStickY = operatorController::getRightY;

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Trigger driverRightBumper = new Trigger(driverController.rightBumper());
Trigger driverRightDirectionPad = new Trigger(driverController.pov(90));
Trigger driverDownDirectionPad = new Trigger(driverController.pov(180));

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Trigger driverLeftDirectionPad = new Trigger(driverController.pov(270));

// // autodrive
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11 changes: 10 additions & 1 deletion src/main/java/frc/robot/commands/drive/DriveCommand.java
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import frc.robot.subsystems.swerve.SwerveConstants.DriveConstants;
import frc.robot.subsystems.swerve.SwerveDrive;
import frc.robot.subsystems.swerve.gyro.GyroInterface;
import frc.robot.subsystems.swerve.module.ModuleInterface;
import frc.robot.subsystems.vision.VisionSubsystem;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import com.ctre.phoenix6.swerve.SwerveModule;

import edu.wpi.first.math.geometry.Rotation2d;

// import frc.robot.subsystems.vision.VisionSubsystem;

public class DriveCommand extends DriveCommandBase {

private final SwerveDrive driveSubsystem;

private final DoubleSupplier leftJoystickY, leftJoystickX, rightJoystickX;

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private final BooleanSupplier isFieldRelative, isHighRotation;

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private double angularSpeed;

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in every method where the field is used, it is assigned before it is first read.
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so it might as well not be stored in the enclosing object.

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/**
* The command for driving the robot using joystick inputs.
Expand All @@ -29,6 +35,7 @@
*/
public DriveCommand(
SwerveDrive driveSubsystem,
SwerveModule swerveModule,

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VisionSubsystem visionSubsystem,
DoubleSupplier leftJoystickY,
DoubleSupplier leftJoystickX,
Expand Down Expand Up @@ -68,7 +75,9 @@
}

@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
angularSpeed = 0;
}

@Override
public boolean isFinished() {
Expand Down
37 changes: 37 additions & 0 deletions src/main/java/frc/robot/commands/drive/XSwerve.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
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If ur not gonna use this plz delete

// the WPILib BSD license file in the root directory of this project.

package frc.robot.commands.drive;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.swerve.SwerveConstants;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class XSwerve extends Command {
/** Creates a new XSwerve. */
public XSwerve() {
SwerveConstants swerveConstants;
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
@Override
public void initialize() {
if
}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}

// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
24 changes: 12 additions & 12 deletions src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java
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Expand Up @@ -49,10 +49,10 @@ public static final class DriveConstants {
public static final int REAR_LEFT_CANCODER_ID = 11;
public static final int REAR_RIGHT_CANCODER_ID = 13;

public static final double FRONT_LEFT_ZERO_ANGLE = 0.137939453125;
public static final double FRONT_RIGHT_ZERO_ANGLE = -0.420654296875;
public static final double REAR_LEFT_ZERO_ANGLE = -0.475341796875;
public static final double REAR_RIGHT_ZERO_ANGLE = -0.05078125;
public static final double FRONT_LEFT_ZERO_ANGLE = 0.0;
public static final double FRONT_RIGHT_ZERO_ANGLE = 0;
public static final double REAR_LEFT_ZERO_ANGLE = 0;
public static final double REAR_RIGHT_ZERO_ANGLE = 0;

public static final SensorDirectionValue FRONT_LEFT_CANCODER_REVERSED =
SensorDirectionValue.CounterClockwise_Positive;
Expand Down Expand Up @@ -103,9 +103,9 @@ public class ModuleConstants {
public static final double DRIVE_SUPPLY_LIMIT = 45.0;
public static final double DRIVE_STATOR_LIMIT = 50.0;

public static final double TURN_P = 116;
public static final double TURN_P = 0;
public static final double TURN_I = 0.0;
public static final double TURN_D = 0.64;
public static final double TURN_D = 0.0;

public static final double TURN_S = 0.0;
public static final double TURN_V = 0.0;
Expand All @@ -114,18 +114,18 @@ public class ModuleConstants {
public static final double MAX_ANGULAR_SPEED_ROTATIONS_PER_SECOND = 30;
public static final double MAX_ANGULAR_ACCELERATION_ROTATIONS_PER_SECOND_SQUARED = 24;

public static final double DRIVE_P = 0.417;
public static final double DRIVE_P = 0.0;
public static final double DRIVE_I = 0.0;
public static final double DRIVE_D = 0.0;

public static final double DRIVE_S = 0.16;
public static final double DRIVE_S = 0.0;
// These values were gotten using recalc, then converted to the correct units & were confirmed
// through testing and characterization
// https://www.reca.lc/drive?appliedVoltageRamp=%7B%22s%22%3A1200%2C%22u%22%3A%22V%2Fs%22%7D&batteryAmpHours=%7B%22s%22%3A18%2C%22u%22%3A%22A%2Ah%22%7D&batteryResistance=%7B%22s%22%3A0.018%2C%22u%22%3A%22Ohm%22%7D&batteryVoltageAtRest=%7B%22s%22%3A12.6%2C%22u%22%3A%22V%22%7D&efficiency=97&filtering=1&gearRatioMax=%7B%22magnitude%22%3A15%2C%22ratioType%22%3A%22Reduction%22%7D&gearRatioMin=%7B%22magnitude%22%3A3%2C%22ratioType%22%3A%22Reduction%22%7D&maxSimulationTime=%7B%22s%22%3A4%2C%22u%22%3A%22s%22%7D&maxSpeedAccelerationThreshold=%7B%22s%22%3A0.15%2C%22u%22%3A%22ft%2Fs2%22%7D&motor=%7B%22quantity%22%3A4%2C%22name%22%3A%22Kraken%20X60%2A%22%7D&motorCurrentLimit=%7B%22s%22%3A60%2C%22u%22%3A%22A%22%7D&numCyclesPerMatch=24&peakBatteryDischarge=20&ratio=%7B%22magnitude%22%3A4.59%2C%22ratioType%22%3A%22Reduction%22%7D&sprintDistance=%7B%22s%22%3A25%2C%22u%22%3A%22ft%22%7D&swerve=1&targetTimeToGoal=%7B%22s%22%3A2%2C%22u%22%3A%22s%22%7D&throttleResponseMax=0.99&throttleResponseMin=0.5&weightAuxilliary=%7B%22s%22%3A24%2C%22u%22%3A%22lbs%22%7D&weightDistributionFrontBack=0.5&weightDistributionLeftRight=0.5&weightInspected=%7B%22s%22%3A125%2C%22u%22%3A%22lbs%22%7D&wheelBaseLength=%7B%22s%22%3A27%2C%22u%22%3A%22in%22%7D&wheelBaseWidth=%7B%22s%22%3A20%2C%22u%22%3A%22in%22%7D&wheelCOFDynamic=0.9&wheelCOFLateral=1.1&wheelCOFStatic=1.1&wheelDiameter=%7B%22s%22%3A4%2C%22u%22%3A%22in%22%7D
public static final double DRIVE_V =
1.73 * WHEEL_CIRCUMFERENCE_METERS / DRIVE_GEAR_RATIO; // = 0.1203 V*s/m
public static final double DRIVE_A =
0.32 * WHEEL_CIRCUMFERENCE_METERS / DRIVE_GEAR_RATIO; // = 0.02225 V*s^2/m
public static final double DRIVE_V = 0;
// 1.73 * WHEEL_CIRCUMFERENCE_METERS / DRIVE_GEAR_RATIO; // = 0.1203 V*s/m
public static final double DRIVE_A = 0;
// 0.32 * WHEEL_CIRCUMFERENCE_METERS / DRIVE_GEAR_RATIO; // = 0.02225 V*s^2/m
}

public static final class TrajectoryConstants {
Expand Down
30 changes: 29 additions & 1 deletion src/main/java/frc/robot/subsystems/swerve/SwerveDrive.java
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Expand Up @@ -30,6 +30,8 @@
import java.util.Optional;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import java.util.Timer;
import java.util.TimerTask;

public class SwerveDrive extends SubsystemBase {
private final GyroInterface gyroIO;
Expand Down Expand Up @@ -276,8 +278,34 @@ public Rotation2d getOdometryAllianceRelativeRotation2d() {
public void setModuleStates(SwerveModuleState[] desiredStates) {
for (int i = 0; i < 4; i++) {
swerveModules[i].runSetPoint((desiredStates[i]));
}
}
}

private boolean isMoving; // Tracks if the robot is moving
private long lastMovementTime = System.currentTimeMillis(); // Time of the last movement
private static final long INACTIVITY_THRESHOLD = 3000; // 3 seconds in milliseconds

// Check if the robot has been inactive for 3 seconds
public boolean threesecsinactive() {
if (!isMoving && System.currentTimeMillis() - lastMovementTime >= INACTIVITY_THRESHOLD) {
return true; // 3 seconds of inactivity
}
return false; // Still moving or not enough time passed
}

public void setXStance(SwerveModuleState[] xState) {
isMoving = false;
if (threesecsinactive()) { // Only lock if inactive for 3 seconds
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honestly this not rlly the best way of doing it. also the setXStance isn't used anywhere sooooooooo it wouldn't actually happen.

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imo u could use wpilib's timer or the fpga clock and get if some amount of time has passed.

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u might want to separate the if statement out of the method bc we want the thing that does the xStance to be usable in other contexts. In addition, we might also make it a button, so another reason to move the if statement out.

If you want to do the three seconds (which we might do) you could maybe put it in something like setModuleStates or drive?

Rotation2d[] swerveHeadings = new Rotation2d[swerveModules.length];
for (int i = 0; i < swerveHeadings.length; i++) {
swerveHeadings[i] = swerveModules[i].getPosition().angle;
}
DriveConstants.DRIVE_KINEMATICS.resetHeadings(swerveHeadings);
for (int i = 0; i < swerveModules.length; i++) {
swerveModules[i].stopModule();
}
}
}

/**
* Updates the pose estimator with the pose calculated from the swerve modules.
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7 changes: 7 additions & 0 deletions src/main/java/frc/robot/subsystems/swerve/SwerveModule.java
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Expand Up @@ -68,6 +68,9 @@ public void runSetPoint(SwerveModuleState state) {
Logger.recordOutput("Drive/desired turn angle", state.angle.getRotations());
}

public void stopModule() {
io.stopModule();
}
/** Returns the current turn angle of the module. */
public Rotation2d getTurnRotation() {
return inputs.turnAbsolutePosition;
Expand All @@ -77,6 +80,10 @@ public double getTurnVelocity() {
return inputs.turnVelocity;
}

public void xthing(double desiredPositionDegrees) {
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dont think u need this

io.xthing(desiredPositionDegrees);
}

/** Returns the current drive position of the module in meters. */
public double getDrivePositionMeters() {
return ModuleConstants.WHEEL_CIRCUMFERENCE_METERS * inputs.drivePosition;
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/swerve/module/ModuleInterface.java
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Expand Up @@ -47,6 +47,7 @@ default void setTurnVoltage(Voltage voltage) {}

default void stopModule() {}

default void xthing(double desiredPositionDegrees) {}
default double getTurnRotations() {
return 0.0;
}
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5 changes: 5 additions & 0 deletions src/main/java/frc/robot/subsystems/swerve/module/PhysicalModule.java
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Expand Up @@ -187,6 +187,11 @@ public double getTurnRotations() {
.getRotations();
}

@Override
public void xthing(double desiredPositionDegrees) {
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make a better name

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actually i dont think this is used in the code so u should just delete it

turnMotor.setControl(mmPositionRequest.withPosition(Degrees.of(desiredPositionDegrees)));
}

@Override
public void stopModule() {
driveMotor.stopMotor();
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