Merge pull request #9 from BroncBotz3481/dev

Update to latest
BroncBotz3481 · Mar 6, 2024 · eb52d81 · eb52d81
2 parents cf3dcc7 + 425b421
commit eb52d81
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Showing 7 changed files with 124 additions and 49 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -60,25 +60,25 @@ public RobotContainer()
     // left stick controls translation
     // right stick controls the desired angle NOT angular rotation
     Command driveFieldOrientedDirectAngle = drivebase.driveCommand(
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> -driverXbox.getRightX(),
-        () -> -driverXbox.getRightY());
+        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> driverXbox.getRightX(),
+        () -> driverXbox.getRightY());
 
     // 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 angular velocity of the robot
     Command driveFieldOrientedAnglularVelocity = drivebase.driveCommand(
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> -driverXbox.getRightX());
+        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> driverXbox.getRightX() * 0.5);
 
     Command driveFieldOrientedDirectAngleSim = drivebase.simDriveCommand(
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> -driverXbox.getRawAxis(2));
+        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> driverXbox.getRawAxis(2));
 
     drivebase.setDefaultCommand(
         !RobotBase.isSimulation() ? driveFieldOrientedDirectAngle : driveFieldOrientedDirectAngleSim);

diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
@@ -839,9 +839,9 @@ public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward
       module.maxSpeed = maximumSpeed;
       if (updateModuleFeedforward)
       {
-        module.feedforward = SwerveMath.createDriveFeedforward(optimalVoltage,
-                                                               maximumSpeed,
-                                                               swerveDriveConfiguration.physicalCharacteristics.wheelGripCoefficientOfFriction);
+        module.setFeedforward(SwerveMath.createDriveFeedforward(optimalVoltage,
+                                                                maximumSpeed,
+                                                                swerveDriveConfiguration.physicalCharacteristics.wheelGripCoefficientOfFriction));
       }
     }
   }
@@ -851,7 +851,7 @@ public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward
    * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and
    * {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
    * what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
-   * {@link SwerveModule#feedforward}.
+   * {@link SwerveModule#setFeedforward(SimpleMotorFeedforward)}.
    *
    * @param maximumSpeed Maximum speed for the drive motors in meters / second.
    */
@@ -908,13 +908,13 @@ public Pose2d[] getSwerveModulePoses(Pose2d robotPose)
   /**
    * Setup the swerve module feedforward.
    *
-   * @param feedforward Feedforward for the drive motor on swerve modules.
+   * @param driveFeedforward Feedforward for the drive motor on swerve modules.
    */
-  public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward feedforward)
+  public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward driveFeedforward)
   {
     for (SwerveModule swerveModule : swerveModules)
     {
-      swerveModule.feedforward = feedforward;
+      swerveModule.setFeedforward(driveFeedforward);
     }
   }
 
@@ -1114,7 +1114,7 @@ public void resetDriveEncoders()
   {
     for (SwerveModule module : swerveModules)
     {
-      module.configuration.driveMotor.setPosition(0);
+      module.getDriveMotor().setPosition(0);
     }
   }
 

diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -9,6 +9,7 @@
 import swervelib.math.SwerveMath;
 import swervelib.motors.SwerveMotor;
 import swervelib.parser.Cache;
+import swervelib.parser.PIDFConfig;
 import swervelib.parser.SwerveModuleConfiguration;
 import swervelib.simulation.SwerveModuleSimulation;
 import swervelib.telemetry.Alert;
@@ -78,13 +79,17 @@ public class SwerveModule
    */
   public        int                    moduleNumber;
   /**
-   * Feedforward for drive motor during closed loop control.
+   * Feedforward for the drive motor during closed loop control.
    */
-  public        SimpleMotorFeedforward feedforward;
+  private       SimpleMotorFeedforward driveMotorFeedforward;
   /**
    * Maximum speed of the drive motors in meters per second.
    */
   public        double                 maxSpeed;
+  /**
+   * Anti-Jitter AKA auto-centering disabled.
+   */
+  private       boolean                antiJitterEnabled        = true;
   /**
    * Last swerve module state applied.
    */
@@ -122,8 +127,8 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
     configuration = moduleConfiguration;
     angleOffset = moduleConfiguration.angleOffset;
 
-    // Initialize Feedforward for drive motor.
-    feedforward = driveFeedforward;
+    // Initialize Feedforwards.
+    driveMotorFeedforward = driveFeedforward;
 
     // Create motors from configuration and reset them to defaults.
     angleMotor = moduleConfiguration.angleMotor;
@@ -236,6 +241,76 @@ public void queueSynchronizeEncoders()
     }
   }
 
+  /**
+   * Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor
+   * controllers as well.
+   *
+   * @param antiJitter Anti-Jitter state desired.
+   */
+  public void setAntiJitter(boolean antiJitter)
+  {
+    this.antiJitterEnabled = antiJitter;
+    if (antiJitter)
+    {
+      pushOffsetsToControllers();
+    } else
+    {
+      restoreInternalOffset();
+    }
+  }
+
+  /**
+   * Set the feedforward attributes to the given parameters.
+   *
+   * @param drive Drive motor feedforward for the module.
+   */
+  public void setFeedforward(SimpleMotorFeedforward drive)
+  {
+    this.driveMotorFeedforward = drive;
+  }
+
+  /**
+   * Set the drive PIDF values.
+   *
+   * @param config {@link PIDFConfig} of that should be set.
+   */
+  public void setDrivePIDF(PIDFConfig config)
+  {
+    configuration.velocityPIDF = config;
+    driveMotor.configurePIDF(config);
+  }
+
+  /**
+   * Get the current drive motor PIDF values.
+   *
+   * @return {@link PIDFConfig} of the drive motor.
+   */
+  public PIDFConfig getDrivePIDF()
+  {
+    return configuration.velocityPIDF;
+  }
+
+  /**
+   * Set the angle/azimuth/steering motor PID
+   *
+   * @param config {@link PIDFConfig} of that should be set.
+   */
+  public void setAnglePIDF(PIDFConfig config)
+  {
+    configuration.anglePIDF = config;
+    angleMotor.configurePIDF(config);
+  }
+
+  /**
+   * Get the current angle/azimuth/steering motor PIDF values.
+   *
+   * @return {@link PIDFConfig} of the angle motor.
+   */
+  public PIDFConfig getAnglePIDF()
+  {
+    return configuration.anglePIDF;
+  }
+
   /**
    * Set the desired state of the swerve module. <br /><b>WARNING: If you are not using one of the functions from
    * {@link SwerveDrive} you may screw up {@link SwerveDrive#kinematics}</b>
@@ -250,7 +325,7 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
     desiredState = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(getAbsolutePosition()));
 
     // If we are forcing the angle
-    if (!force)
+    if (!force && antiJitterEnabled)
     {
       // Prevents module rotation if speed is less than 1%
       SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4));
@@ -267,7 +342,7 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
       driveMotor.set(percentOutput);
     } else
     {
-      driveMotor.setReference(velocity, feedforward.calculate(velocity));
+      driveMotor.setReference(velocity, driveMotorFeedforward.calculate(velocity));
       desiredState.speedMetersPerSecond = velocity;
     }
 
@@ -507,7 +582,7 @@ public SwerveModuleConfiguration getConfiguration()
    */
   public void pushOffsetsToControllers()
   {
-    if (absoluteEncoder != null)
+    if (absoluteEncoder != null && angleOffset == configuration.angleOffset)
     {
       if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
       {

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.3",
+    "version": "2024.2.4",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.3"
+            "version": "2024.2.4"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix5.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.33.0",
+    "version": "5.33.1",
     "frcYear": 2024,
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
@@ -20,19 +20,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.33.0"
+            "version": "5.33.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.33.0"
+            "version": "5.33.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +45,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -60,7 +60,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -75,7 +75,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -105,7 +105,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -120,7 +120,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -135,7 +135,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.33.0",
+            "version": "5.33.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.1",
+    "version": "2024.2.3",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.1"
+            "version": "2024.2.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,