Wheel radius charaterization #225
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GalexY727
approved these changes
Mar 3, 2024
| @@ -470,6 +473,7 @@ private void prepareNamedCommands() { | |||
| NamedCommands.registerCommand("PrepareShooterW3", shooterCmds.prepareFireCommand(() -> FieldConstants.W3_POSE, Robot::isRedAlliance)); | |||
| NamedCommands.registerCommand("PrepareShooter", shooterCmds.prepareFireCommand(pathPlannerStorage::getNextShotTranslation, () -> false)); | |||
| NamedCommands.registerCommand("PrepareSWD", shooterCmds.prepareSWDCommand(swerve::getPose, swerve::getRobotRelativeVelocity)); | |||
| NamedCommands.registerCommand("WheelRadiusCharacterization", wheelRadiusChar); | |||
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This is only for pp, we dont need it
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Format this file quickly with ctrl k+ f teehee
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| private Swerve swerve; | ||
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| private final SlewRateLimiter omegaLimiter = new SlewRateLimiter(1.0); |
| public WheelRadiusCharacterization(Swerve swerve) { | ||
| this.swerve = swerve; | ||
| addRequirements(this.swerve); | ||
| // Use addRequirements() here to declare subsystem dependencies.e |
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did you know? you can use addRequirements() here to declare subsystem dependencies.e!1!
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| startWheelPositions = swerve.getWheelRadiusCharacterizationPosition(); | ||
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| omegaLimiter.reset(0); |
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| public double[] getWheelRadiusCharacterizationPosition() { | ||
| return Arrays.stream(swerveModules).mapToDouble(module -> module.getDrivePositionRadians()).toArray(); | ||
| } |
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I'm literally mechanical advantage
| @@ -329,6 +335,10 @@ public double getSpeedMultiplier() { | |||
| return this.speedMultiplier; | |||
| } | |||
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| public double[] getWheelRadiusCharacterizationPosition() { | |||
| return Arrays.stream(swerveModules).mapToDouble(module -> module.getDrivePositionRadians()).toArray(); | |||
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you got that. nice stuff, Jonas.
| @@ -410,7 +410,8 @@ public static final class ModuleConstants { | |||
| // Calculations required for driving motor conversion factors and feed forward | |||
| public static final double DRIVING_MOTOR_FREE_SPEED_RPS = NeoMotorConstants.VORTEX_FREE_SPEED_RPM / 60; | |||
| public static final double WHEEL_DIAMETER_METERS = 0.0762; | |||
| public static final double WHEEL_CIRCUMFERENCE_METERS = WHEEL_DIAMETER_METERS * Math.PI; | |||
| public static final double WHEEL_TO_MOTOR_ROTATIONS = 3.5625; | |||
| public static final double WHEEL_CIRCUMFERENCE_METERS = WHEEL_DIAMETER_METERS * Math.PI; | |||
| @@ -77,6 +77,13 @@ public SwerveModulePosition getPosition() { | |||
| new Rotation2d(turningSpark.getPosition() - chassisAngularOffset)); | |||
| } | |||
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| // gets the rotations of the wheel converted to radians | |||
| // TODO: change 3.5 into a real number from thad | |||
| // gets the rotations of the wheel converted to radians | ||
| // TODO: change 3.5 into a real number from thad | ||
| public double getDrivePositionRadians() { | ||
| return (drivingSpark.getPosition() / (ModuleConstants.DRIVING_ENCODER_POSITION_FACTOR * ModuleConstants.WHEEL_TO_MOTOR_ROTATIONS)) * 2 * Math.PI; |
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just confirm the parenthesis are perfect rq while you are here
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looks good to me!!!
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