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Swerve rewrite #53

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Swerve rewrite #53

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SirBeans
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MatthewChoulas and others added 21 commits April 17, 2024 16:59
@MatthewChoulas
worlds load in debugging
edfae15
@MatthewChoulas
worlds q1-19
dc499c5
@AlphaPranav9102
code day 1
a5429cb
@MatthewChoulas
adjust amp center line without first note
68ee786
@AlphaPranav9102
fried at worlds but its over?
a430254
@MatthewChoulas
tune swerve turning
52d87f3
@SirBeans
Create and write all of swerve logic inlcude Logger stuffs
5542200
@SirBeans
Create and write all of swerve module IO
716974d
@SirBeans
Fix Logger Stuff
81841d9
@SirBeans
Merge branch 'main' of https://github.com/team4099/Crescendo-2024 int…
a134f46 
…o swerve-rewrite
@SirBeans
write all the setup variables for logic file
de9f858
@SirBeans
start the periodic for Drivetrain
8dcb30d
@SirBeans
Fix errors in SwerveModule code and start the cleanup process for dri…
cd079c5 
…vetrain logic file
@SirBeans
Fix final errors in Drivetrain logic to get file ready for review
deef8c4
@SirBeans
Fix every Error caused by renaming in hardware and sim files for Swer…
6d8fffc 
…veModule as well as fix any remaining errors in Drivetrain. Code is now error free
@SirBeans
Makes sure that the program builds by fixing up errors whith variable…
1374b5f 
…s switched from pairs to velocity2d and fixing things messed up by removal of deprocated functions
@yamamara
make testing command
4521d6c
@yamamara
create test drive velocity command (needs to be tested)
7607f51
@00magikarp
more testing
8f61162
@00magikarp
fix superstructure test command to call tunabledrivestates
301a332
@Shom770
drive revamp finished
bc9334f
@00magikarp 00magikarp marked this pull request as ready for review June 25, 2024 13:57
sswadkar
sswadkar previously requested changes Jun 25, 2024
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@sswadkar sswadkar left a comment •
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good work ‼️ but lots of work to do as well. go through comments and make suggestions. resolve/comment as you go

src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/config/constants/DrivetrainConstants.kt Outdated Show resolved Hide resolved
...main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt Outdated Show resolved Hide resolved
...main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt Outdated Show resolved Hide resolved
...main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt Show resolved Hide resolved
...main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt Outdated Show resolved Hide resolved
Shom770
Shom770 approved these changes Jun 28, 2024
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Looks good to me besides a few nitpicks, but I agree with Saraansh's comments and we should get on that soon.

src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt Outdated Show resolved Hide resolved
...main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOTalon.kt Outdated Show resolved Hide resolved
src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt Outdated Show resolved Hide resolved
yamamara and others added 21 commits July 3, 2024 20:20
@yamamara
Fixed SwerveModuleIOTalon implementation of slot configs
da4ce2d
@SirBeans
Fix more nitpicks
e42807c
@SirBeans
Merge branch 'swerve-rewrite' of https://github.com/team4099/Crescend…
39abfdd 
…o-2024 into swerve-rewrite
@yamamara
Made instantiation of the 0 chassis speed static and moved static zer…
ccef242 
…oes to DriveTrainConstants
@00magikarp
made feedback variable in SwerveModuleIOSim 🤩
404417c
@00magikarp
remove extra steering value log in SwerveModuleIOTalon
4c5f19d
@00magikarp
remove extra steering value log in SwerveModuleIOTalon
f448483
@00magikarp
move log target pose to DrivePathCommand
7d30d77
@00magikarp
add javadocs to functions in Drivetrain.kt
c6077a8 
Drivetrain.zeroGyroPitch
Drivetrain.zeroGyroRoll
Drivetrain.addVisionData
Drivetrain.addSpeakerVisionData
@00magikarp
new method of obtaining applied voltage in SwerveModuleIOTalon
bf5bf60
@00magikarp
new method of obtaining applied voltage in SwerveModuleIOTalon
d6c746a
@00magikarp
new method of obtaining applied voltage in SwerveModuleIOTalon
5150333
@00magikarp
Merge branch 'swerve-rewrite' of https://github.com/team4099/Crescend…
590f836 
…o-2024 into swerve-rewrite
@00magikarp
change how we get applied voltage to be like other signals in SwerveM…
3d44ca1 
…oduleIOTalon.kt
@00magikarp
remove extra line bc its annoying me 😠
f6c4fb8
@00magikarp
remove driveOdometryPos and steerOdometryPos from SwerveModuleIO (no …
68f511d 
…multithreading)
@00magikarp
final touches 😁
164e7a9 
changed all logging under Odometry/ to FieldFrameEstimator/
removed init block from Drivetrain.kt
@00magikarp
remove unnecessary getSwerveModules() from RobotContainer.kt
5b74b1b
@00magikarp
changes today
ac3393f
@00magikarp
new stuff
04a9514
@Shom770
move to main
1175c50
00magikarp added 4 commits July 6, 2024 17:23
@00magikarp
merge conflict 🤣🤣
977a265 
kept intake objectized but everything else is shayaans, swervemodules in robotcontainer is now supplier
@00magikarp
builds spotlessapply
21f2ea2
@00magikarp
made swerve modules in robot container lambdas 🗣️
66c92be
@00magikarp
unbind testwrist and rebind climbautoalign
3cd0ca7 
climbautoalign is not set in superstructure!!!
testwrist was used to test advantagescope and should have been unbinded by now
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@00magikarp 00magikarp 00magikarp left review comments

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@Shom770 Shom770 Shom770 approved these changes

@sswadkar sswadkar sswadkar left review comments

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10 participants
@SirBeans @yamamara @sswadkar @AJaiman @CodingMaster121 @Shom770 @Vybz-1 @00magikarp @MatthewChoulas @AlphaPranav9102