feat: imported to 2024

SaintsRobotics · Jan 20, 2024 · 2bfaef8 · 2bfaef8
1 parent 05bd2a4
commit 2bfaef8
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Showing 8 changed files with 179 additions and 144 deletions.
diff --git a/build.gradle b/build.gradle
@@ -68,7 +68,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    //testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {

diff --git a/networktables.json b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,97 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
@@ -0,0 +1,18 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -72,7 +72,7 @@ public static final class DriveConstants {
     public static final double kDrivingGearRatio = 8.14; // SDS MK4i's in L1 configuration
 
     // TODO: Tune this PID before running on a robot on the ground
-    public static final double kPModuleTurningController = -0.3;
+    public static final double kPModuleTurningController = 0.3;
 
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),

diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -4,8 +4,8 @@
 
 package frc.robot.subsystems;
 
-import com.ctre.phoenix.sensors.CANCoder;
-import com.ctre.phoenix.sensors.SensorTimeBase;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
@@ -14,6 +14,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.units.Units;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Robot;
 
@@ -22,7 +23,7 @@ public class SwerveModule {
   private final CANSparkFlex m_driveMotor;
   private final CANSparkFlex m_turningMotor;
 
-  private final CANCoder m_turningEncoder;
+  private final CANcoder m_turningEncoder;
 
   private final PIDController m_turningPIDController = new PIDController(DriveConstants.kPModuleTurningController, 0,
       0);
@@ -50,7 +51,7 @@ public SwerveModule(
       double turningEncoderOffset) {
     m_driveMotor = new CANSparkFlex(driveMotorPort, MotorType.kBrushless);
     m_turningMotor = new CANSparkFlex(turningMotorPort, MotorType.kBrushless);
-    m_turningEncoder = new CANCoder(turningEncoderPort);
+    m_turningEncoder = new CANcoder(turningEncoderPort);
 
     // converts default units to meters per second
     m_driveMotor.getEncoder().setVelocityConversionFactor(
@@ -59,10 +60,8 @@ public SwerveModule(
     m_driveMotor.setInverted(driveMotorReversed);
 
     m_turningMotor.setIdleMode(IdleMode.kBrake);
-
-    // converts default units of CANCoders to radians
-    m_turningEncoder.configFeedbackCoefficient(Math.toRadians(0.087890625), "radians", SensorTimeBase.PerSecond);
-    m_turningEncoder.configMagnetOffset(-turningEncoderOffset);
+
+    m_turningEncoder.getConfigurator().apply(new CANcoderConfiguration().MagnetSensor.withMagnetOffset(-turningEncoderOffset));
 
     m_turningPIDController.enableContinuousInput(-Math.PI, Math.PI);
   }
@@ -79,9 +78,12 @@ public SwerveModulePosition getPosition() {
     // actual encoders
     // If the robot is simulated, then return the swerve module state using the
     // expected values
+
+
+    ;
     return Robot.isReal()
         ? new SwerveModulePosition(m_driveMotor.getEncoder().getPosition(),
-            new Rotation2d(m_turningEncoder.getAbsolutePosition()))
+            new Rotation2d(Units.RadiansPerSecond.convertFrom(m_turningEncoder.getAbsolutePosition().getValueAsDouble(), Units.RotationsPerSecond)))
         : new SwerveModulePosition(m_distance, m_state.angle);
   }
 
@@ -91,11 +93,11 @@ public SwerveModulePosition getPosition() {
    * @param desiredState Desired state with speed and angle.
    */
   public void setDesiredState(SwerveModuleState desiredState) {
-    m_state = SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getAbsolutePosition()));
+    m_state = SwerveModuleState.optimize(desiredState, new Rotation2d(Units.RadiansPerSecond.convertFrom(m_turningEncoder.getAbsolutePosition().getValueAsDouble(), Units.RotationsPerSecond)));
 
     driveOutput = m_state.speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond;
 
-    turnOutput = m_turningPIDController.calculate(m_turningEncoder.getAbsolutePosition(),
+    turnOutput = m_turningPIDController.calculate(Units.RadiansPerSecond.convertFrom(m_turningEncoder.getAbsolutePosition().getValueAsDouble(), Units.RotationsPerSecond),
         m_state.angle.getRadians());
 
     m_driveMotor.set(driveOutput);

diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
@@ -1,25 +1,26 @@
 {
     "fileName": "NavX.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "2023.0.4",
+    "name": "NavX",
+    "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2024",
     "mavenUrls": [
-        "https://dev.studica.com/maven/release/2023/"
+        "https://dev.studica.com/maven/release/2024/"
     ],
-    "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
+    "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
     "javaDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-java",
-            "version": "2023.0.4"
+            "version": "2024.1.0"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-cpp",
-            "version": "2023.0.4",
+            "version": "2024.1.0",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,