fixes to make odometry work, now uses through bore encoders

Team766 · Nov 22, 2024 · 28903f4 · 28903f4
1 parent 0f5da0f
commit 28903f4
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Showing 2 changed files with 36 additions and 19 deletions.
diff --git a/src/main/java/com/team766/odometry/DifferentialDriveOdometry.java b/src/main/java/com/team766/odometry/DifferentialDriveOdometry.java
@@ -1,6 +1,6 @@
 package com.team766.odometry;
 
-import com.team766.hal.MotorController;
+import com.team766.hal.wpilib.REVThroughBoreDutyCycleEncoder;
 import com.team766.library.RateLimiter;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -10,7 +10,7 @@ public class DifferentialDriveOdometry {
     private static final double RATE_LIMITER_TIME = 0.05;
 
     private RateLimiter odometryLimiter;
-    private MotorController leftMotor, rightMotor;
+    private REVThroughBoreDutyCycleEncoder leftEncoder, rightEncoder;
 
     private Pose2d currentPosition;
 
@@ -34,15 +34,15 @@ public class DifferentialDriveOdometry {
      * @param wheelBaseWidth The distance between the left and right wheels (in meters).
      */
     public DifferentialDriveOdometry(
-            MotorController leftMotor,
-            MotorController rightMotor,
+            REVThroughBoreDutyCycleEncoder leftEncoder,
+            REVThroughBoreDutyCycleEncoder rightEncoder,
             double wheelCircumference,
             double gearRatio,
             double encoderToRevolutionConstant,
             double wheelBaseWidth) {
 
-        this.leftMotor = leftMotor;
-        this.rightMotor = rightMotor;
+        this.leftEncoder = leftEncoder;
+        this.rightEncoder = rightEncoder;
         this.wheelCircumference = wheelCircumference;
         this.gearRatio = gearRatio;
         this.encoderToRevolutionConstant = encoderToRevolutionConstant;
@@ -70,11 +70,11 @@ public void setCurrentPosition(Pose2d position) {
      * Updates the encoder values for both the left and right wheels.
      */
     private void setCurrentEncoderValues() {
-        currLeftEncoderValue = leftMotor.getSensorPosition();
-        currRightEncoderValue = rightMotor.getSensorPosition();
-
         prevLeftEncoderValue = currLeftEncoderValue;
         prevRightEncoderValue = currRightEncoderValue;
+
+        currLeftEncoderValue = leftEncoder.getAbsolutePosition();
+        currRightEncoderValue = rightEncoder.getAbsolutePosition();
     }
 
     /**

diff --git a/src/main/java/com/team766/robot/common/mechanisms/BurroDrive.java b/src/main/java/com/team766/robot/common/mechanisms/BurroDrive.java
@@ -4,6 +4,7 @@
 
 import com.team766.hal.MotorController;
 import com.team766.hal.MotorController.ControlMode;
+import com.team766.hal.wpilib.REVThroughBoreDutyCycleEncoder;
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;
 import com.team766.odometry.DifferentialDriveOdometry;
@@ -18,37 +19,48 @@ public class BurroDrive extends Drive {
 
     private final MotorController leftMotor;
     private final MotorController rightMotor;
+    private final REVThroughBoreDutyCycleEncoder leftEncoder;
+    private final REVThroughBoreDutyCycleEncoder rightEncoder;
     private DifferentialDriveKinematics differentialDriveKinematics;
     private DifferentialDriveOdometry differentialDriveOdometry;
 
-    // todo set actual ratio
+    // TODO set actual ratio
     private static final double DRIVE_GEAR_RATIO = 1; // Gear ratio
 
-    // todo set actual radius
+    // TODO set actual radius
     private static final double WHEEL_RADIUS = 1; // Radius of the wheels
 
+    // TODO
+    private static final double ENCODER_UNIT_TO_REVOLUTION_CONSTANT = 1.; 
+
     private static final double MOTOR_WHEEL_FACTOR_MPS =
             1.
                     / WHEEL_RADIUS // Wheel radians/sec
                     * DRIVE_GEAR_RATIO // Motor radians/sec
-                    / (2 * Math.PI); // Motor rotations/sec (what velocity mode takes));
+                    / (2 * Math.PI) // Motor rotations/sec (what velocity mode takes))
+                    * ENCODER_UNIT_TO_REVOLUTION_CONSTANT; // Encoder units/sec
+
+    // TODO
+    private static final double TRACK_WIDTH_METERS = 0.4; // Distance between left and right wheel
 
-    public BurroDrive(double trackWidthMeters) {
+    public BurroDrive() {
         loggerCategory = Category.DRIVE;
 
         leftMotor = RobotProvider.instance.getMotor(DRIVE_LEFT);
         rightMotor = RobotProvider.instance.getMotor(DRIVE_RIGHT);
 
-        differentialDriveKinematics = new DifferentialDriveKinematics(trackWidthMeters);
+        leftEncoder = null; //FIXME
+        rightEncoder = null; //FIXME
+
+        differentialDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS);
         differentialDriveOdometry =
                 new DifferentialDriveOdometry(
-                        leftMotor,
-                        rightMotor,
+                        leftEncoder,
+                        rightEncoder,
                         WHEEL_RADIUS * 2 * Math.PI,
                         DRIVE_GEAR_RATIO,
-                        1.,
-                        0 // TODO
-                        );
+                        ENCODER_UNIT_TO_REVOLUTION_CONSTANT,
+                        TRACK_WIDTH_METERS);
     }
 
     /**
@@ -109,4 +121,9 @@ public ChassisSpeeds getChassisSpeeds() {
     }
 
     public void setCross() {}
+
+    @Override
+    public void run() {
+        differentialDriveOdometry.run();
+    }
 }