Update vendor libraries

Set module configs constants for compbot
Mechanical-Advantage · Feb 18, 2024 · 9b4d5f1 · 9b4d5f1
1 parent 125745d
commit 9b4d5f1
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Showing 9 changed files with 76 additions and 53 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/Constants.java b/src/main/java/org/littletonrobotics/frc2024/Constants.java
@@ -21,7 +21,7 @@
  */
 public final class Constants {
   public static final double loopPeriodSecs = 0.02;
-  private static RobotType robotType = RobotType.DEVBOT;
+  private static RobotType robotType = RobotType.COMPBOT;
   public static final boolean tuningMode = true;
 
   public static RobotType getRobot() {

diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java
@@ -88,7 +88,13 @@ public RobotContainer() {
     if (Constants.getMode() != Constants.Mode.REPLAY) {
       switch (Constants.getRobot()) {
         case COMPBOT -> {
-          // No impl yet
+          drive =
+              new Drive(
+                  new GyroIOPigeon2(true),
+                  new ModuleIOKrakenFOC(DriveConstants.moduleConfigs[0]),
+                  new ModuleIOKrakenFOC(DriveConstants.moduleConfigs[1]),
+                  new ModuleIOKrakenFOC(DriveConstants.moduleConfigs[2]),
+                  new ModuleIOKrakenFOC(DriveConstants.moduleConfigs[3]));
         }
         case DEVBOT -> {
           drive =

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java
@@ -67,7 +67,14 @@ public final class DriveConstants {
   // Module Constants
   public static ModuleConfig[] moduleConfigs =
       switch (Constants.getRobot()) {
-        case COMPBOT, DEVBOT ->
+        case COMPBOT ->
+            new ModuleConfig[] {
+              new ModuleConfig(16, 12, 0, new Rotation2d(-1.93585), true),
+              new ModuleConfig(19, 14, 1, new Rotation2d(0.73053), true),
+              new ModuleConfig(17, 13, 2, new Rotation2d(-0.50507), true),
+              new ModuleConfig(18, 15, 3, new Rotation2d(-1.51666), true)
+            };
+        case DEVBOT ->
             new ModuleConfig[] {
               new ModuleConfig(15, 11, 0, new Rotation2d(-0.036), true),
               new ModuleConfig(12, 9, 1, new Rotation2d(1.0185), true),
@@ -86,12 +93,12 @@ public final class DriveConstants {
       switch (Constants.getRobot()) {
         case COMPBOT ->
             new ModuleConstants(
-                2.0,
                 0.0,
-                200.0,
                 0.0,
-                200.0,
-                20.0,
+                0.0,
+                0.0,
+                0.0,
+                0.0,
                 Mk4iReductions.L3.reduction,
                 Mk4iReductions.TURN.reduction);
         case DEVBOT ->
@@ -125,7 +132,8 @@ public final class DriveConstants {
   // Trajectory Following
   public static TrajectoryConstants trajectoryConstants =
       switch (Constants.getRobot()) {
-        case COMPBOT, DEVBOT ->
+        case COMPBOT -> new TrajectoryConstants(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+        case DEVBOT ->
             new TrajectoryConstants(
                 6.0,
                 0.0,

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/GyroIOPigeon2.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/GyroIOPigeon2.java
@@ -18,12 +18,18 @@
 
 /** IO implementation for Pigeon2 */
 public class GyroIOPigeon2 implements GyroIO {
-  private final Pigeon2 pigeon = new Pigeon2(0);
-  private final StatusSignal<Double> yaw = pigeon.getYaw();
+  private static final int id = 0;
+
+  private final Pigeon2 pigeon;
+  private final StatusSignal<Double> yaw;
   private final Queue<Double> yawPositionQueue;
-  private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZWorld();
+  private final StatusSignal<Double> yawVelocity;
 
   public GyroIOPigeon2(boolean phoenixDrive) {
+    pigeon = new Pigeon2(id, "canivore");
+    yaw = pigeon.getYaw();
+    yawVelocity = pigeon.getAngularVelocityZWorld();
+
     pigeon.getConfigurator().apply(new Pigeon2Configuration());
     pigeon.getConfigurator().setYaw(0.0);
     yaw.setUpdateFrequency(DriveConstants.odometryFrequency);

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Module.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Module.java
@@ -60,7 +60,7 @@ public Module(ModuleIO io, int index) {
   /** Called while blocking odometry thread */
   public void updateInputs() {
     io.updateInputs(inputs);
-    Logger.processInputs("Drive/" + moduleNames[index] + "_Module", inputs);
+    Logger.processInputs("Drive/Module" + index, inputs);
 
     // Update ff and controllers
     LoggedTunableNumber.ifChanged(

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOKrakenFOC.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOKrakenFOC.java
@@ -104,6 +104,15 @@ public ModuleIOKrakenFOC(ModuleConfig config) {
       if (!error) break;
     }
 
+    // 250hz signals
+    drivePosition = driveTalon.getPosition();
+    turnPosition = turnTalon.getPosition();
+    BaseStatusSignal.setUpdateFrequencyForAll(odometryFrequency, drivePosition, turnPosition);
+
+    drivePositionQueue =
+        PhoenixOdometryThread.getInstance().registerSignal(driveTalon, drivePosition);
+    turnPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(turnTalon, turnPosition);
+
     // Get signals and set update rate
     // 100hz signals
     driveVelocity = driveTalon.getVelocity();
@@ -133,17 +142,11 @@ public ModuleIOKrakenFOC(ModuleConfig config) {
         turnSupplyCurrent,
         turnTorqueCurrent);
 
-    // 250hz signals
-    drivePosition = driveTalon.getPosition();
-    turnPosition = turnTalon.getPosition();
-    BaseStatusSignal.setUpdateFrequencyForAll(odometryFrequency, drivePosition, turnPosition);
-    drivePositionQueue =
-        PhoenixOdometryThread.getInstance().registerSignal(driveTalon, driveTalon.getPosition());
-    turnPositionQueue =
-        PhoenixOdometryThread.getInstance().registerSignal(turnTalon, turnTalon.getPosition());
-
     // Reset turn position to absolute encoder position
-    turnTalon.setPosition(turnAbsolutePosition.get().getRotations());
+    turnTalon.setPosition(turnAbsolutePosition.get().getRotations(), 1.0);
+
+    driveTalon.optimizeBusUtilization(1.0);
+    turnTalon.optimizeBusUtilization(1.0);
   }
 
   @Override

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/FlywheelConstants.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/FlywheelConstants.java
@@ -12,14 +12,14 @@
 public class FlywheelConstants {
   public static FlywheelConfig flywheelConfig =
       switch (Constants.getRobot()) {
-        case COMPBOT -> null;
+        case COMPBOT -> new FlywheelConfig(0, 0, 0, 0, 0);
         case DEVBOT -> new FlywheelConfig(5, 4, (1.0 / 2.0), 6000.0, 100.0);
         case SIMBOT -> new FlywheelConfig(0, 0, (1.0 / 2.0), 6000.0, 50.0);
       };
 
   public static Gains gains =
       switch (Constants.getRobot()) {
-        case COMPBOT -> null;
+        case COMPBOT -> new Gains(0, 0, 0, 0, 0, 0);
         case DEVBOT -> new Gains(0.0006, 0.0, 0.05, 0.33329, 0.00083, 0.0);
         case SIMBOT -> new Gains(0.05, 0.0, 0.0, 0.01, 0.00103, 0.0);
       };

diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
@@ -1,7 +1,7 @@
 {
   "fileName": "Phoenix6.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "24.1.0",
+  "version": "24.2.0",
   "frcYear": 2024,
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
@@ -19,14 +19,14 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-java",
-      "version": "24.1.0"
+      "version": "24.2.0"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -39,7 +39,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -52,7 +52,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -65,7 +65,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonFX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -78,7 +78,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -91,7 +91,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -104,7 +104,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -117,7 +117,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -130,7 +130,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -143,7 +143,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -158,7 +158,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -173,7 +173,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -188,7 +188,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -203,7 +203,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -218,7 +218,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -233,7 +233,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonFX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -248,7 +248,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -263,7 +263,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -278,7 +278,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimCANCoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -293,7 +293,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -308,7 +308,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -323,7 +323,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "24.1.0",
+      "version": "24.2.0",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,