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Slew Rates, Zero Swerve, and Button Bindings #4

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Slew Rates, Zero Swerve, and Button Bindings #4

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0bb80fe
Slew Rates, Zero Swerve, and Button Bindings
ddjoshua01 Oct 6, 2024
d82d986
Note Vision on Secondary Controller
ddjoshua01 Oct 12, 2024
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@@ -0,0 +1,2 @@
#Mon Sep 30 15:02:48 MDT 2024
gradle.version=8.5
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20 changes: 10 additions & 10 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -82,18 +82,18 @@ public void configureButtonBindings() {

swerveSubsystem.setDefaultCommand(new DriveCommands(
swerveSubsystem,
() -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
() -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar,
() -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar,
() -> Math.pow(primaryController.getLeftY(), 2)/1.5 * DrivetrainConstants.drivingSpeedScalar * primaryController.getLeftY()/Math.abs(primaryController.getLeftY()),
() -> Math.pow(primaryController.getLeftX(), 2)/1.5 * DrivetrainConstants.drivingSpeedScalar * primaryController.getLeftX()/Math.abs(primaryController.getLeftX()),
() -> Math.pow(primaryController.getRightX(), 2)/1.5 * DrivetrainConstants.rotationSpeedScalar * primaryController.getRightY()/Math.abs(primaryController.getRightY()),
true,
true
));

new JoystickButton(primaryController, XboxController.Button.kRightBumper.value).whileTrue(
new DriveCommands(swerveSubsystem,
() -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar / 2.5,
() -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar / 2.5,
() -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar / 2.5,
() -> Math.pow(primaryController.getLeftY(), 2) * DrivetrainConstants.drivingSpeedScalar / 4.5 * Math.signum(primaryController.getLeftY()),
() -> Math.pow(primaryController.getLeftX(), 2) * DrivetrainConstants.drivingSpeedScalar / 4.5 * Math.signum(primaryController.getLeftX()),
() -> Math.pow(primaryController.getRightX(), 2) * DrivetrainConstants.rotationSpeedScalar / 4.5 * Math.signum(primaryController.getRightY()),
true,
true
)
Expand All @@ -107,7 +107,7 @@ public void configureButtonBindings() {
new RunCommand(() -> swerveSubsystem.zeroGyroAndOdometry())
);
//
new JoystickButton(primaryController, XboxController.Button.kX.value).whileTrue(
new POVButton(secondaryController, 270).whileTrue(
new RotateToSpeakerAndDriveCommand(
swerveSubsystem,
() -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
Expand Down Expand Up @@ -207,7 +207,7 @@ public void configureButtonBindings() {
new IntakeCommand(intakeSubsystem, indexerSubsystem, ledSubsystem, primaryController, secondaryController, IntakeCommand.Targets.SPEAKER, false)
);

new JoystickButton(primaryController, XboxController.Button.kB.value).whileTrue(
new POVButton(secondaryController, 90).whileTrue(
new RotateToNoteAndDriveCommand(swerveSubsystem, secondaryController,
() -> -primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar,
() -> -primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar,
Expand Down Expand Up @@ -241,11 +241,11 @@ public void configureButtonBindings() {
// );

new POVButton(secondaryController, 0).whileTrue(
new RunCommand(() -> shooterSubsystem.setSpeed(1000))
new RunCommand(() -> shooterSubsystem.setSpeed(3500))
).whileFalse(
new RunCommand(() -> shooterSubsystem.setSpeed(0))
);

//Please let me PR GitHub
//
// new JoystickButton(secondaryController, XboxController.Button.kX.value).whileTrue(
// new RunCommand(() -> shooterSubsystem.setBottomSpeed(6500))
Expand Down
12 changes: 6 additions & 6 deletions src/main/java/frc/robot/constants/DrivetrainConstants.java
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Expand Up @@ -12,8 +12,8 @@ public class DrivetrainConstants {
public static final double maxAngularSpeed = 2 * Math.PI;

public static final double directionSlewRate = 20; // rads/sec - turning was 4.0
public static final double magnitudeSlewRate = 1000; // percent/second (1 = 100%) - forward/backward/traverse - was 20.0
public static final double rotationalSlewRate = 1000; // percent/second (1 = 100%) - rotation was 50.0
public static final double magnitudeSlewRate = 20; // percent/second (1 = 100%) - forward/backward/traverse - was 20.0
public static final double rotationalSlewRate = 30; // percent/second (1 = 100%) - rotation was 50.0

public static final double drivingSpeedScalar = -4.0; //make positive so gyroreset with intake forward
public static final double rotationSpeedScalar = -3 * Math.PI;//make positive so gyroreset with intake forward
Expand All @@ -28,10 +28,10 @@ public class DrivetrainConstants {
new Translation2d(-wheelBase / 2, -trackWidth / 2)
);

public static final double frontLeftChassisAngularOffset = 1.029 + Math.PI/2 + Math.PI;
public static final double frontRightChassisAngularOffset = 5.034 - Math.PI + Math.PI;
public static final double rearLeftChassisAngularOffset = 0.8645 + Math.PI;
public static final double rearRightChassisAngularOffset = 5.449 - Math.PI/2 + Math.PI;
public static final double frontLeftChassisAngularOffset = 1.029 + Math.PI/2 + Math.PI-0.83+Math.PI/4;
public static final double frontRightChassisAngularOffset = 5.034 - Math.PI;
public static final double rearLeftChassisAngularOffset = 0.8645 + Math.PI+1.327;
public static final double rearRightChassisAngularOffset = 5.449 - Math.PI/2 + Math.PI-2.153;

public static final int frontLeftDrivingPort = 7;
public static final int rearLeftDrivingPort = 5;
Expand Down