Integrated swerve sim

Team766 · Nov 2, 2024 · dfc7040 · dfc7040
1 parent 1ef8599
commit dfc7040
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Showing 6 changed files with 274 additions and 174 deletions.
diff --git a/WPISimConfig.txt b/WPISimConfig.txt
@@ -1,101 +1,170 @@
 {
-	"drive": {
-		"leftMotor": {
-			"deviceId": 6,
-			"sensorScale": 0.0524
-		},
-		"rightMotor": {
-			"deviceId": 4,
-			"sensorScale": 0.0524
-		},
-		"leftEncoder": {
-			"ports": [0, 1],
-			"distancePerPulse": 0.0524
-		},
-		"rightEncoder": {
-			"ports": [2, 3],
-			"distancePerPulse": 0.0524
-		},
-		"gyro": {
-			"port": 12
-		},
-		"frontLeftDriveMotor": {
-			"deviceId": 84,
-			"sensorScale": 0.0008866,
-			"sensorScaledUnits": "meter"
-		},
-		"backLeftDriveMotor": {
-			"deviceId": 85,
-			"sensorScale": 0.0008866,
-			"sensorScaledUnits": "meter"
-		},
-		"frontRightDriveMotor": {
-			"deviceId": 86,
-			"sensorScale": 0.0008866,
-			"sensorScaledUnits": "meter"
-		},
-		"backRightDriveMotor": {
-			"deviceId": 87,
-			"sensorScale": 0.0008866,
-			"sensorScaledUnits": "meter"
-		},
-		"frontLeftSteerMotor": {
-			"deviceId": 88,
-			"inverted": true,
-			"sensorScaledUnits": "degree"
-		},
-		"backLeftSteerMotor": {
-			"deviceId": 89,
-			"inverted": true,
-			"sensorScaledUnits": "degree"
-		},
-		"frontRightSteerMotor": {
-			"deviceId": 90,
-			"inverted": true,
-			"sensorScaledUnits": "degree"
-		},
-		"backRightSteerMotor": {
-			"deviceId": 91,
-			"inverted": true,
-			"sensorScaledUnits": "degree"
-		}
-	},
-	"intakeWheels": {
-		"deviceId": 10
-	},
-	"intakeArm": {
-		"port": 0
-	},
-	"launch": {
-		"port": 1
-	},
-	"climber": {
-		"elevator": {
-			"deviceId": 10
-		},
-		"arms": {"port": 0}
-	},
-	"lineSensorLeft": {
-		"port": 4
-	},
-	"lineSensorCenter": {
-		"port": 5
-	},
-	"lineSensorRight": {
-		"port": 6
-	},
-
-	"intake": {
-		"extend": {"port": 0},
-		"frontWheels": {"deviceId": 10},
-		"topWheels": {"deviceId": 12}
-	},
-	"shooter": {
-		"motor": {"deviceId": 14}
-	},
-	"storage": {
-		"proximitySensor": {"port": 2},
-		"left": {"deviceId": 6},
-		"right": {"deviceId": 4}
-	}
+  "robotConfigurator": "com.team766.robot.reva.Robot",
+  "logFilePath": null,
+  "drive": {
+    "SteerFrontRight": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 10,
+      "CANBus": null
+    },
+    "SteerBackRight": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 11,
+      "CANBus": null
+    },
+    "DriveBackRight": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 12,
+      "CANBus": null
+    },
+    "DriveFrontRight": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 13,
+      "CANBus": null
+    },
+    "SteerBackLeft": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 14,
+      "CANBus": null
+    },
+    "SteerFrontLeft": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 15,
+      "CANBus": null
+    },
+    "DriveFrontLeft": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 16,
+      "CANBus": null
+    },
+    "DriveBackLeft": {
+      "sensorScale": null,
+      "port": null,
+      "sensorInverted": null,
+      "analogInput": null,
+      "pid": {
+        "outputMaxHigh": null,
+        "iGain": null,
+        "dGain": null,
+        "ffGain": null,
+        "pGain": 0.1,
+        "outputMaxLow": null,
+        "threshold": null
+      },
+      "inverted": null,
+      "type": "TalonFX",
+      "encoder": null,
+      "deviceId": 17,
+      "CANBus": null
+    },
+    "Gyro": {
+      "port": 0,
+      "type": "Pigeon2"
+    }
+  }
 }
diff --git a/build.gradle b/build.gradle
@@ -94,7 +94,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.

diff --git a/src/main/java/com/team766/hal/wpilib/PigeonGyro.java b/src/main/java/com/team766/hal/wpilib/PigeonGyro.java
@@ -63,4 +63,8 @@ public double getRoll() {
     public double getRate() {
         return pigeon.getRate();
     }
+
+    public Pigeon2 getCTRE() {
+        return pigeon;
+    }
 }
diff --git a/src/main/java/com/team766/robot/common/constants/SwerveConstants.java b/src/main/java/com/team766/robot/common/constants/SwerveConstants.java
@@ -36,6 +36,11 @@ private SwerveConstants() {}
                     * DRIVE_GEAR_RATIO // Motor radians/sec
                     / (2 * Math.PI); // Motor rotations/sec (what velocity mode takes));
 
+    public static final double WHEEL_COEFF_FRICTION_STATIC = 1.1;
+    public static final double WHEEL_COEFF_FRICTION_DYNAMIC = 0.8;
+
+    public static final double NUM_WHEELS = 4;
+
     // TUNE THESE!
     public static final double DRIVE_STATOR_CURRENT_LIMIT = 80.0;
     public static final double STEER_STATOR_CURRENT_LIMIT = 80.0;