Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add deadband to alignment command rotation #88

Merged
merged 3 commits into from
Mar 25, 2024
Merged

Add deadband to alignment command rotation #88

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
424bbf2
Added deadband on the omega which is inputted to ChassisSpeeds
Rahuldeb75 Mar 22, 2024
7ff13ae
Move deadband logic into commands
BenG49 Mar 23, 2024
bbeba51
Rename deadband + lower, test higher later
BenG49 Mar 23, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveToPose.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -145,10 +145,14 @@ public void execute() {

SmartDashboard.putNumber("Alignment/Translation Target Speed", speed.distance());

if (Math.abs(rotation) < Swerve.ALIGN_OMEGA_DEADBAND.get())
rotation = 0;

ChassisSpeeds clamped = new ChassisSpeeds(
speed.x, speed.y, rotation);

swerve.setChassisSpeeds(clamped);

}

@Override
Expand Down
4 changes: 4 additions & 0 deletions src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveToShoot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
import com.stuypulse.robot.Robot;
import com.stuypulse.robot.constants.Field;
import com.stuypulse.robot.constants.Settings.Alignment;
import com.stuypulse.robot.constants.Settings.Swerve;
import com.stuypulse.robot.constants.Settings.Alignment.Shoot;
import com.stuypulse.robot.subsystems.odometry.Odometry;
import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
Expand Down Expand Up @@ -121,6 +122,9 @@ public void execute() {
speed,
toSpeaker.getAngle());

if (Math.abs(rotation) < Swerve.ALIGN_OMEGA_DEADBAND.get())
rotation = 0;

swerve.setFieldRelativeSpeeds(
new ChassisSpeeds(
speeds.getX(),
Expand Down
4 changes: 3 additions & 1 deletion src/main/java/com/stuypulse/robot/constants/Settings.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -151,9 +151,11 @@ public interface Swerve {

double MODULE_VELOCITY_DEADBAND = 0.05;

SmartNumber ALIGN_OMEGA_DEADBAND = new SmartNumber("Swerve/Align Omega Deadband", 0.05); // TODO: make 0.25 and test

public interface Assist {
SmartNumber ALIGN_MIN_SPEAKER_DIST = new SmartNumber("SwerveAssist/Minimum Distance to Speaker", 4); //change

double BUZZ_INTENSITY = 1;

SmartNumber kP = new SmartNumber("SwerveAssist/kP", 2.0);
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -319,7 +319,7 @@ public Rotation2d getGyroRoll() {
public double getForwardAccelerationGs() {
return gyro.getWorldLinearAccelY();
}

@Override
public void periodic() {
Odometry odometry = Odometry.getInstance();
Expand Down
Loading