ready to test

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index dfe02615387170776d73a257977bb4cc7be35280..9893b524d9cac582c55f93dcd56cdd000ad288f5 100644 (file)
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.constants.Constants;
 import frc.robot.constants.VisionConstants;
 import frc.robot.constants.swerve.DriveConstants;
-import frc.robot.util.BuildData;
+// import frc.robot.util.BuildData;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -80,23 +80,25 @@ public class Robot extends LoggedRobot {
         // obtain this robot's identity
         RobotId robotId = RobotId.getRobotId();
 
-          // Record metadata
-        Logger.recordMetadata("ProjectName", BuildData.MAVEN_NAME);
-        Logger.recordMetadata("BuildDate", BuildData.BUILD_DATE);
-        Logger.recordMetadata("GitSHA", BuildData.GIT_SHA);
-        Logger.recordMetadata("GitDate", BuildData.GIT_DATE);
-        Logger.recordMetadata("GitBranch", BuildData.GIT_BRANCH);
-        switch (BuildData.DIRTY) {
-        case 0:
-            Logger.recordMetadata("GitDirty", "All changes committed");
-            break;
-        case 1:
-            Logger.recordMetadata("GitDirty", "Uncomitted changes");
-            break;
-        default:
-            Logger.recordMetadata("GitDirty", "Unknown");
-            break;
-        }
+        // RobotId.setRobotId(RobotId.CompBot);
+
+        // // Record metadata
+        // Logger.recordMetadata("ProjectName", BuildData.MAVEN_NAME);
+        // Logger.recordMetadata("BuildDate", BuildData.BUILD_DATE);
+        // Logger.recordMetadata("GitSHA", BuildData.GIT_SHA);
+        // Logger.recordMetadata("GitDate", BuildData.GIT_DATE);
+        // Logger.recordMetadata("GitBranch", BuildData.GIT_BRANCH);
+        // switch (BuildData.DIRTY) {
+        // case 0:
+        //     Logger.recordMetadata("GitDirty", "All changes committed");
+        //     break;
+        // case 1:
+        //     Logger.recordMetadata("GitDirty", "Uncomitted changes");
+        //     break;
+        // default:
+        //     Logger.recordMetadata("GitDirty", "Unknown");
+        //     break;
+        // }
 
         robotContainer = new RobotContainer(robotId);
         

diff --git a/src/main/java/frc/robot/RobotId.java b/src/main/java/frc/robot/RobotId.java
index 6cba572078e5180c75535feb3b563e375d73810c..dc50a29c0cb815c46ac7d7ce0b6aa40bddba7f25 100644 (file)
--- a/src/main/java/frc/robot/RobotId.java
+++ b/src/main/java/frc/robot/RobotId.java
@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.Preferences;
  */
 public enum RobotId {
     Default,
-    WaffleHouse, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
+    CompBot, WaffleHouse, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
     ClassBot1, ClassBot2, ClassBot3, ClassBot4,
     TestBed1, TestBed2;
 

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index d91802f131d6d823530c2da27d3e8d861f74de62..a16e454dbb40245eeb1d3548e1d1a718b81859d6 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -136,7 +136,7 @@ public class DriveConstants {
     
         /* Motor inversions */
         public static final InvertedValue INVERT_DRIVE_MOTOR = InvertedValue.CounterClockwise_Positive;
-        public static final InvertedValue INVERT_STEER_MOTOR = InvertedValue.Clockwise_Positive;
+        public static InvertedValue INVERT_STEER_MOTOR = InvertedValue.Clockwise_Positive;
     
         /* Neutral Modes */
         public static final NeutralModeValue DRIVE_NEUTRAL_MODE = NeutralModeValue.Brake;
@@ -200,12 +200,29 @@ public class DriveConstants {
          * Updates the constants if the RobotId is not the default SwerveCompetition robot.
          */
         public static void update(RobotId robotId) {
-            if(robotId == RobotId.WaffleHouse){
+            if (robotId == RobotId.CompBot) {
+                STEER_OFFSET_FRONT_LEFT = 0;
+                STEER_OFFSET_FRONT_RIGHT = 0;
+                STEER_OFFSET_BACK_LEFT = 0;
+                STEER_OFFSET_BACK_RIGHT = 0;
+                
+                // MK5n 
+                INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive;
+
+                DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0);
+                STEER_GEAR_RATIO = 287.0 / 11.0;
+
+                MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK5n(DRIVE_GEAR_RATIO);
+
+            } else if(robotId == RobotId.WaffleHouse){
                 STEER_OFFSET_FRONT_LEFT = 300.058594 - 350 + 180;
                 STEER_OFFSET_FRONT_RIGHT = 65.654297 + 180;
                 STEER_OFFSET_BACK_LEFT = 38.232422 + 180 + 180;
                 STEER_OFFSET_BACK_RIGHT = 116.279297 + 180;
-    
+                
+                // MK5n gear ratio 
+                INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive;
+
                 DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0);
                 STEER_GEAR_RATIO = 287.0 / 11.0;
 

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index d0ada94d1fa5f92005fed2878c0da229c14e6976..90702a9da33863042546216f05089c5f8dca8334 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -33,6 +33,7 @@ import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.constants.swerve.DriveConstants;
 import frc.robot.constants.swerve.ModuleConstants;
 import frc.robot.constants.swerve.ModuleType;
@@ -208,6 +209,8 @@ public class Module implements ModuleIO{
     }
     
     public void periodic() {
+        SmartDashboard.putNumber("Encoder offset for " + getModuleType(), Units.rotationsToDegrees(CANcoder.getAbsolutePosition().getValueAsDouble()));
+
         updateInputs();
         Logger.processInputs("Drive/Module" + Integer.toString(moduleConstants.ordinal()), inputs);