Swerve Auto + Sim + Commands #10
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…eed methods and commands to be able to drive robot
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@jkleiber sim works now. I changed the apply drive request to the set control used in 2024 robot code and everything works liek, it should. Command scheduler must not like that one command is returning another command maybe. driving works in sim just need to iron out details now for example:
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@linglejack06 Just some first pass comments / suggstions. Also would be a good idea to resolve the merge conflicts in this branch
| return Commands.print("No autonomous command configured"); | ||
| } | ||
| private void configureBindings() { | ||
| System.out.println("add binding"); |
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we can remove the prints since everything is working now with the setControl update
| private static final double kSteerInertia = 0.00001; | ||
| private static final double kDriveInertia = 0.001; | ||
| // Simulated voltage necessary to overcome friction | ||
| private static final double kSteerFrictionVoltage = 0.25; | ||
| private static final double kDriveFrictionVoltage = 0.25; |
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If you want to make the robot less jittery in sim, you could try increasing these values. In any case it would be interesting to see what they do so we can better match the real bot to the sim
| import frc.robot.constants.PhoenixDriveConstants; | ||
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| public class PhoenixDrive extends SwerveDrivetrain implements Subsystem { | ||
| private static final double kSimLoopPeriod = 0.005; // 5 ms |
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Let's make this a constant in a separate constants file even though I recognize it will probably only be used here
| SwerveDrivetrainConstants driveConstants, SwerveModuleConstants... modules) { | ||
| super(driveConstants, modules); | ||
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| System.out.println("create drive"); |
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see comment about removing prints
| if (!hasAppliedOperatorPerspective || DriverStation.isDisabled()) { | ||
| DriverStation.getAlliance() | ||
| .ifPresent( | ||
| (color) -> { | ||
| this.setOperatorPerspectiveForward( | ||
| color == Alliance.Red | ||
| ? RedAlliancePerspectiveRotation | ||
| : BlueAlliancePerspectiveRotation); | ||
| }); | ||
| hasAppliedOperatorPerspective = true; | ||
| } |
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how did we do this in 2024-Robot-Code?
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honzik used a conditional to flip values of joystick, i figured i would try out there way of doing it though to see if it led to performances in odometry and field positioning?
Resolves Issue #9