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Yagsl 1360 Implementation #49

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Yagsl 1360 Implementation #49

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BrightLaw9
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@BrightLaw9 BrightLaw9 commented May 4, 2023 •
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Please review.

I decided to simply bring in the folder of swervelib for freedom of potential modifications in the future.

  • Created DIOAbsoluteEncoderSwerve.
  • Angle offset of modules is handled in SwerveModuleConfiguration instead of in the absolute encoder calculation
  • Radians -> Degrees
  • Configure robot swerve module characteristics
  • Cleaned up and modified existing DriveTrainSubsystem code and related
  • Drive and steer ramp rates still unknown, wasn't able to find, perhaps can measure using SysID and previous code?

@BrightLaw9 BrightLaw9 linked an issue May 4, 2023 that may be closed by this pull request
Swap SDS Swerve Library to YAGSL #47
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@BrightLaw9 BrightLaw9 requested a review from MichGedd May 4, 2023 15:22
BrightLaw9 and others added 26 commits May 4, 2023 21:31
@BrightLaw9
May the 4th changes
0b787b9
@BrightLaw9
Push
3778125
@BrightLaw9
PID tuning work
da23c27
@BrightLaw9
More work on PID
dced066
@BrightLaw9
Progess
81011c7
@BrightLaw9
Updated constants to reflect 1 for integrated encoderes
6af5d4f
@BrightLaw9
Added json config for swerve and fixed errors
7b3daae
@BrightLaw9
PID tuning
dcde03a
@blazecoding2009
in progress but trying to rewrite swerve
0e1b13d
@pooriaahmadi
Moving from DriveTrainSubsystem to SwerveSubsystem
8a524c4
@pooriaahmadi
swerve half working
6bf03d3
@pooriaahmadi
Merge branch 'main' into yagsl-1360 except Constants
9ed2bb7
@pooriaahmadi
speed bug fixing
a2af3ac
@pooriaahmadi
finished
5f4a25a
@PerfectlyInternal
Shoulder offset
5a5a9e9
@BrightLaw9
Modification to make superstructure move
f1b00d6
@BrightLaw9
New paths tests with PathPlanner; adjust auto PIDs
1fb62c3
@BrightLaw9
Changes made to auto path following
b68efea
@PerfectlyInternal
add vision class
a7bf476
@PerfectlyInternal
scrap old vision commands
6fdf60d
@PerfectlyInternal
cleanup
f6881dc
@PerfectlyInternal
vision constants
56898af
@PerfectlyInternal
add vision integration funcs
f9047c4
@PerfectlyInternal
final vision integration
816f70f
@PerfectlyInternal
changes
e52fd50
@PerfectlyInternal
update to java 17
5075ee8
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@MichGedd MichGedd Awaiting requested review from MichGedd

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Swap SDS Swerve Library to YAGSL
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@BrightLaw9 @blazecoding2009 @pooriaahmadi @PerfectlyInternal