From 26b8ff6249c027ffb2530dc67dec5c0158aa7ef6 Mon Sep 17 00:00:00 2001 From: ericoj100 <144740721+ericoj100@users.noreply.github.com> Date: Sat, 24 Jan 2026 12:26:47 -0800 Subject: [PATCH] ready to test --- src/main/java/frc/robot/Robot.java | 38 ++++++++++--------- src/main/java/frc/robot/RobotId.java | 2 +- .../constants/swerve/DriveConstants.java | 23 +++++++++-- .../robot/subsystems/drivetrain/Module.java | 3 ++ 4 files changed, 44 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index dfe0261..9893b52 100644 --- 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 6cba572..dc50a29 100644 --- 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 d91802f..a16e454 100644 --- 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 d0ada94..90702a9 100644 --- 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); -- 2.39.5