Moved Maximum Speed to Constants.java and Added ac Comment to Absolut…

…eDriveAdv
BroncBotz3481 · Mar 24, 2024 · 9ab6327 · 9ab6327
1 parent e58d6bd
commit 9ab6327
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Showing 3 changed files with 15 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -24,6 +24,7 @@ public final class Constants
   public static final double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound
   public static final Matter CHASSIS    = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS);
   public static final double LOOP_TIME  = 0.13; //s, 20ms + 110ms sprk max velocity lag
+  public static final double MAX_SPEED = Units.feetToMeters(14.5); // Maximum speed of the robot in meters per second, used to limit acceleration.
 
   public static final class AutonConstants
   {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -42,6 +42,15 @@ public RobotContainer()
     // Configure the trigger bindings
     configureBindings();
 
+
+
+    // Applies deadbands and inverts controls because joysticks
+    // are back-right positive while robot
+    // controls are front-left positive
+    // left stick controls translation
+    // right stick controls the rotational velocity 
+    // buttons are quick rotation positions to different ways to face
+    // WARNING: default buttons are on the same buttons as the ones defined in configureBindings
     AbsoluteDriveAdv closedAbsoluteDriveAdv = new AbsoluteDriveAdv(drivebase,
                                                                    () -> -MathUtil.applyDeadband(driverXbox.getLeftY(),
                                                                                                 OperatorConstants.LEFT_Y_DEADBAND),

diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -26,6 +26,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
+import frc.robot.Constants;
 import frc.robot.Constants.AutonConstants;
 import java.io.File;
 import java.util.function.DoubleSupplier;
@@ -48,10 +49,6 @@ public class SwerveSubsystem extends SubsystemBase
    * Swerve drive object.
    */
   private final SwerveDrive swerveDrive;
-  /**
-   * Maximum speed of the robot in meters per second, used to limit acceleration.
-   */
-  public        double      maximumSpeed = Units.feetToMeters(14.5);
 
   /**
    * Initialize {@link SwerveDrive} with the directory provided.
@@ -78,7 +75,7 @@ public SwerveSubsystem(File directory)
     SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
     try
     {
-      swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed);
+      swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED);
       // Alternative method if you don't want to supply the conversion factor via JSON files.
       // swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor);
     } catch (Exception e)
@@ -98,7 +95,7 @@ public SwerveSubsystem(File directory)
    */
   public SwerveSubsystem(SwerveDriveConfiguration driveCfg, SwerveControllerConfiguration controllerCfg)
   {
-    swerveDrive = new SwerveDrive(driveCfg, controllerCfg, maximumSpeed);
+    swerveDrive = new SwerveDrive(driveCfg, controllerCfg, Constants.MAX_SPEED);
   }
 
   /**
@@ -516,7 +513,7 @@ public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double headin
                                                         headingX,
                                                         headingY,
                                                         getHeading().getRadians(),
-                                                        maximumSpeed);
+                                                        Constants.MAX_SPEED);
   }
 
   /**
@@ -536,7 +533,7 @@ public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, Rotation2d an
                                                         yInput,
                                                         angle.getRadians(),
                                                         getHeading().getRadians(),
-                                                        maximumSpeed);
+                                                        Constants.MAX_SPEED);
   }
 
   /**