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0.02 changed to loopPeriodSecs #21

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Feb 17, 2024
Merged

0.02 changed to loopPeriodSecs #21

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2 changes: 1 addition & 1 deletion src/main/java/org/littletonrobotics/frc2024/Constants.java
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Expand Up @@ -20,7 +20,7 @@
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final int loopPeriodMs = 20;
public static final double loopPeriodSecs = 0.02;
private static RobotType robotType = RobotType.DEVBOT;
public static final boolean tuningMode = true;

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3 changes: 2 additions & 1 deletion src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Drive.java
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Expand Up @@ -21,6 +21,7 @@
import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.IntStream;
import lombok.experimental.ExtensionMethod;
import org.littletonrobotics.frc2024.Constants;
import org.littletonrobotics.frc2024.RobotState;
import org.littletonrobotics.frc2024.subsystems.drive.controllers.AutoAimController;
import org.littletonrobotics.frc2024.subsystems.drive.controllers.AutoAlignController;
Expand Down Expand Up @@ -255,7 +256,7 @@ public void periodic() {
// Generate feasible next setpoint
currentSetpoint =
setpointGenerator.generateSetpoint(
currentModuleLimits, currentSetpoint, desiredSpeeds, 0.02);
currentModuleLimits, currentSetpoint, desiredSpeeds, Constants.loopPeriodSecs);
// run modules
SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4];
for (int i = 0; i < modules.length; i++) {
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11 changes: 7 additions & 4 deletions src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSim.java
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Expand Up @@ -14,15 +14,18 @@
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.simulation.DCMotorSim;
import org.littletonrobotics.frc2024.Constants;

public class ModuleIOSim implements ModuleIO {
private final DCMotorSim driveSim =
new DCMotorSim(DCMotor.getKrakenX60Foc(1), moduleConstants.driveReduction(), 0.025);
private final DCMotorSim turnSim =
new DCMotorSim(DCMotor.getKrakenX60Foc(1), moduleConstants.turnReduction(), 0.004);

private final PIDController driveFeedback = new PIDController(0.0, 0.0, 0.0, 0.02);
private final PIDController turnFeedback = new PIDController(0.0, 0.0, 0.0, 0.02);
private final PIDController driveFeedback =
new PIDController(0.0, 0.0, 0.0, Constants.loopPeriodSecs);
private final PIDController turnFeedback =
new PIDController(0.0, 0.0, 0.0, Constants.loopPeriodSecs);

private double driveAppliedVolts = 0.0;
private double turnAppliedVolts = 0.0;
Expand All @@ -35,8 +38,8 @@ public ModuleIOSim(ModuleConfig config) {

@Override
public void updateInputs(ModuleIOInputs inputs) {
driveSim.update(0.02);
turnSim.update(0.02);
driveSim.update(Constants.loopPeriodSecs);
turnSim.update(Constants.loopPeriodSecs);

inputs.drivePositionRad = driveSim.getAngularPositionRad();
inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec();
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3 changes: 2 additions & 1 deletion ...in/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/AutoAimController.java
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Expand Up @@ -9,6 +9,7 @@

import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.util.Units;
import org.littletonrobotics.frc2024.Constants;
import org.littletonrobotics.frc2024.RobotState;
import org.littletonrobotics.frc2024.subsystems.drive.DriveConstants;
import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
Expand All @@ -26,7 +27,7 @@ public class AutoAimController {
private PIDController headingController;

public AutoAimController() {
headingController = new PIDController(0, 0, 0, 0.02);
headingController = new PIDController(0, 0, 0, Constants.loopPeriodSecs);
headingController.enableContinuousInput(-Math.PI, Math.PI);
}

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9 changes: 5 additions & 4 deletions src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/FlywheelsIOSim.java
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Expand Up @@ -15,6 +15,7 @@
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.simulation.FlywheelSim;
import org.littletonrobotics.frc2024.Constants;

public class FlywheelsIOSim implements FlywheelsIO {
private final FlywheelSim leftSim =
Expand All @@ -37,8 +38,8 @@ public class FlywheelsIOSim implements FlywheelsIO {

@Override
public void updateInputs(FlywheelsIOInputs inputs) {
leftSim.update(0.02);
rightSim.update(0.02);
leftSim.update(Constants.loopPeriodSecs);
rightSim.update(Constants.loopPeriodSecs);
// control to setpoint
if (leftSetpointRPM != null && rightSetpointRPM != null) {
runVolts(
Expand All @@ -49,13 +50,13 @@ public void updateInputs(FlywheelsIOInputs inputs) {
}

inputs.leftPositionRads +=
Units.radiansToRotations(leftSim.getAngularVelocityRadPerSec() * 0.02);
Units.radiansToRotations(leftSim.getAngularVelocityRadPerSec() * Constants.loopPeriodSecs);
inputs.leftVelocityRpm = leftSim.getAngularVelocityRPM();
inputs.leftAppliedVolts = leftAppliedVolts;
inputs.leftOutputCurrent = leftSim.getCurrentDrawAmps();

inputs.rightPositionRads +=
Units.radiansToRotations(rightSim.getAngularVelocityRadPerSec() * 0.02);
Units.radiansToRotations(rightSim.getAngularVelocityRadPerSec() * Constants.loopPeriodSecs);
inputs.rightVelocityRpm = rightSim.getAngularVelocityRPM();
inputs.rightAppliedVolts = rightAppliedVolts;
inputs.rightOutputCurrent = rightSim.getCurrentDrawAmps();
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3 changes: 2 additions & 1 deletion src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystemIOSim.java
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Expand Up @@ -11,6 +11,7 @@
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.simulation.DCMotorSim;
import org.littletonrobotics.frc2024.Constants;

public class GenericRollerSystemIOSim implements GenericRollerSystemIO {
private final DCMotorSim sim;
Expand All @@ -26,7 +27,7 @@ public void updateInputs(GenericRollerSystemIOInputs inputs) {
runVolts(0.0);
}

sim.update(0.02);
sim.update(Constants.loopPeriodSecs);
inputs.positionRads = sim.getAngularPositionRad();
inputs.velocityRadsPerSec = sim.getAngularVelocityRadPerSec();
inputs.appliedVoltage = appliedVoltage;
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3 changes: 2 additions & 1 deletion src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java
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Expand Up @@ -20,6 +20,7 @@
import lombok.Getter;
import lombok.RequiredArgsConstructor;
import lombok.Setter;
import org.littletonrobotics.frc2024.Constants;
import org.littletonrobotics.frc2024.RobotState;
import org.littletonrobotics.frc2024.util.EqualsUtil;
import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
Expand Down Expand Up @@ -122,7 +123,7 @@ public void periodic() {
// Run closed loop
setpointState =
motionProfile.calculate(
0.02,
Constants.loopPeriodSecs,
new TrapezoidProfile.State(inputs.armPositionRads, inputs.armVelocityRadsPerSec),
new TrapezoidProfile.State(
MathUtil.clamp(
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3 changes: 2 additions & 1 deletion src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/ArmIOSim.java
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Expand Up @@ -15,6 +15,7 @@
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
import org.littletonrobotics.frc2024.Constants;

public class ArmIOSim implements ArmIO {
private final SingleJointedArmSim sim =
Expand Down Expand Up @@ -47,7 +48,7 @@ public void updateInputs(ArmIOInputs inputs) {
controllerNeedsReset = true;
}

sim.update(0.02);
sim.update(Constants.loopPeriodSecs);

inputs.armPositionRads = sim.getAngleRads() + positionOffset;
inputs.armVelocityRadsPerSec = sim.getVelocityRadPerSec();
Expand Down
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