Code

Phoenix6 update#13

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vichik123 merged 65 commits into2024-commonGalaxia5987/common:2024-commonfrom phoenix6-updateGalaxia5987/common:phoenix6-updateCopy head branch name to clipboardJan 17, 2024

+838-525

Commits

Commits on Jan 14, 2024

• Bring back setInstance of the SwerveDrive after merge

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• Rename function stopMotor to stop

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• Fix unit conversion

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• Calibrate motion magic

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• Switch to better variable types in SwerveDriveInputs

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• Fix checkSwerve

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• Add AutoLogOutputs in SwerveDrive

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• Calibrate PID and change to PositionVoltage

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• Remove exclusion of robot classes from build

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• Set command name in checkSwerve function

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• Add PhoenixOdometryThread

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• Give gyro values initial value

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• I'm really sorry for this commit I just can't I'm so confused

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• add some odometry stuff that doesn't work yet

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• Update wheel diameter constant

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• Update max linear velocity constant

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• Rename dthetaTwist to dThetaTwist

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• some odometry stuff

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• Rewrite phoenix odometry thread class

  

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• Remove unnecessary resetHighFreqOdometry function

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• Use SwerveDrivePoseEstimator and clean up SwerveDrive class

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• Turn gyro variables into Rotation2d

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• Use .withName and Commands.run

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• Remove unnecessary import

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• Move calculation to module class

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• Remove robot classes

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• Use getRotorPosition instead of Integral to log module distance

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• Turn module offset to Rotation2d

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• Remove unnecessary import and semicolon

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Commits on Jan 15, 2024

• Rename ModuleIOReal to ModuleIOTalonFX

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• Remove default option for checkModule method

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• Add logged tunable numbers

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• Improve drive function

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• Add 6328's copyright lines to PhoenixOdometryThread

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• Remove unnecessary imports

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• Rename control requests in sim IO

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• Add setAngleVelocity function to IOs

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• Move checkModule function to module subsystem class

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Commits on Jan 16, 2024

• Move logged tunable numbers under the Swerve Drive key

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• Update real motors' slot 0 configs in updateInputs function

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• Add simulated PID constants to SwerveConstants as logged tunable numbers

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• Update sim motors' pid configs in updateInputs function

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• Turn slot 0 configs constants to individual logged tunable numbers

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• Add function to check if PID tunable numbers have changed and one to update them in ModuleIO

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• Implement new PID methods in real IO

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• Implement new PID methods in sim IO

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• Add default option to hasPIDChanged method

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• Remove hasPIDChanged method from real IO

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• Remove hasPIDChanged method from sim IO

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• Add initConstants function

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• Fix ModuleIOSim's use of PID constants

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• Remove unnecessary initialization

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• Remove unused constants

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• Rename constants file

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• Fix steering multiplier in XboxDrive

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• Update check module function

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• Apply spotless

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• Rename pid update function

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Commits on Jan 17, 2024

• Merge remote-tracking branch 'origin/2024-common' into phoenix6-update

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• Merge the two constants files into one

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• Import SwerveModuleState in SwerveModuleInputs

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• Remove setAngleVelocity function

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• Add checkModule function to sim IO

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• Rearrange function order to be more consistent

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• Apply spotless

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