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Merge SwerveDrive into Vision/Odometry (#8)
* use CANcoders Co-authored-by: simon <[email protected]> Co-authored-by: Tmanxyz <[email protected]> Co-authored-by: dchen60 <[email protected]> Co-authored-by: alex <[email protected]> Co-authored-by: urnotkool <[email protected]> Co-authored-by: rzheng287 <[email protected]> * remove used imports in swerve * Finish periodic after getting odometry logic * add SimModules * Refactor identifyPositionVelocitySystem into PositionVelocitySystem.java --------- Co-authored-by: Keobkeig <[email protected]> Co-authored-by: simon <[email protected]> Co-authored-by: Tmanxyz <[email protected]> Co-authored-by: dchen60 <[email protected]> Co-authored-by: alex <[email protected]> Co-authored-by: urnotkool <[email protected]> Co-authored-by: rzheng287 <[email protected]> Co-authored-by: Richie_Xue <[email protected]>
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128 changes: 128 additions & 0 deletions
128
src/main/java/com/stuypulse/robot/subsystems/swerve/modules/SimModule.java
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| package com.stuypulse.robot.subsystems.swerve.modules;import com.stuypulse.robot.constants.Settings; | ||
| import com.stuypulse.robot.constants.Settings.Swerve; | ||
| import com.stuypulse.robot.constants.Settings.Swerve.Controller.Drive; | ||
| import com.stuypulse.robot.constants.Settings.Swerve.Controller.Turn; | ||
| import com.stuypulse.robot.util.PositionVelocitySystem; | ||
| import com.stuypulse.stuylib.control.Controller; | ||
| import com.stuypulse.stuylib.control.angle.AngleController; | ||
| import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController; | ||
| import com.stuypulse.stuylib.control.feedback.PIDController; | ||
| import com.stuypulse.stuylib.control.feedforward.MotorFeedforward; | ||
| import com.stuypulse.stuylib.math.Angle; | ||
| import com.stuypulse.stuylib.streams.angles.filters.ARateLimit; | ||
|
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.kinematics.SwerveModulePosition; | ||
| import edu.wpi.first.math.kinematics.SwerveModuleState; | ||
| import edu.wpi.first.math.numbers.N1; | ||
| import edu.wpi.first.math.numbers.N2; | ||
|
|
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| import edu.wpi.first.math.system.plant.LinearSystemId; | ||
| import edu.wpi.first.wpilibj.simulation.BatterySim; | ||
| import edu.wpi.first.wpilibj.simulation.LinearSystemSim; | ||
| import edu.wpi.first.wpilibj.simulation.RoboRioSim; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
|
|
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| public class SimModule extends AbstractSwerveModule { | ||
| private String id; | ||
|
|
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| private Translation2d offset; | ||
|
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| private SwerveModuleState state; | ||
|
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| private Controller driveController; | ||
| private AngleController angleController; | ||
|
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| private LinearSystemSim<N2, N1, N2> driveSim; | ||
| private LinearSystemSim<N2, N1, N1> turnSim; | ||
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| public SimModule(String id, Translation2d offset) { | ||
| this.id = id; | ||
| this.offset = offset; | ||
|
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| this.state = new SwerveModuleState(); | ||
|
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| this.driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD) | ||
| .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity()); | ||
|
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| this.angleController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kD) | ||
| .setSetpointFilter(new ARateLimit(Swerve.MAX_TURNING)); | ||
|
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| this.driveSim = new PositionVelocitySystem(Drive.kV, Drive.kA).getSim(); | ||
| this.turnSim = new LinearSystemSim<N2,N1,N1>(LinearSystemId.identifyPositionSystem(Turn.kV.get(), Turn.kA.get())); | ||
| } | ||
|
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| @Override | ||
| public double getVelocity() { | ||
| return driveSim.getOutput(1); | ||
| } | ||
|
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| public double getDistance() { | ||
| return driveSim.getOutput(0); | ||
| } | ||
|
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| @Override | ||
| public Rotation2d getAngle() { | ||
| return Rotation2d.fromRadians(turnSim.getOutput(0)); | ||
| } | ||
|
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| @Override | ||
| public String getId() { | ||
| return this.id; | ||
| } | ||
|
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| @Override | ||
| public SwerveModuleState getState() { | ||
| return state; | ||
| } | ||
|
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| @Override | ||
| public Translation2d getModuleOffset() { | ||
| return offset; | ||
| } | ||
|
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| @Override | ||
| public SwerveModulePosition getModulePosition() { | ||
| return new SwerveModulePosition(getDistance(), getAngle()); | ||
| } | ||
|
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| @Override | ||
| public void setState(SwerveModuleState state) { | ||
| this.state = state; | ||
| } | ||
|
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| @Override | ||
| public void periodic() { | ||
| driveController.update( | ||
| state.speedMetersPerSecond, | ||
| getVelocity() | ||
| ); | ||
|
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| angleController.update( | ||
| Angle.fromRotation2d(state.angle), | ||
| Angle.fromRotation2d(getAngle()) | ||
| ); | ||
|
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| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Drive Voltage", driveController.getOutput()); | ||
| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Turn Voltage", angleController.getOutput()); | ||
| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Angle", state.angle.getDegrees()); | ||
| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Angle", getAngle().getDegrees()); | ||
| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Speed", state.speedMetersPerSecond); | ||
| SmartDashboard.putNumber("Swerve/Modules/" + id + "/Speed", getVelocity()); | ||
| } | ||
|
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| @Override | ||
| public void simulationPeriodic() { | ||
| driveSim.setInput(driveController.getOutput()); | ||
| driveSim.update(Settings.DT); | ||
|
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| turnSim.setInput(angleController.getOutput()); | ||
| turnSim.update(Settings.DT); | ||
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| RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage( | ||
| turnSim.getCurrentDrawAmps() + driveSim.getCurrentDrawAmps() | ||
| )); | ||
| } | ||
|
|
||
| } |
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