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Merge pull request #55 from 4201VitruvianBots/v1-drivetrain-setup
Merge V1Constants
2 parents d3101f8 + 15d35de commit a15526e

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Lines changed: 318 additions & 4 deletions

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‎src/main/java/frc/robot/RobotContainer.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
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import frc.robot.commands.shooter.Shoot;
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import frc.robot.commands.shooter.ShootManualFlywheel;
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import frc.robot.constants.FIELD;
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import frc.robot.generated.WoodBotConstants;
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import frc.robot.generated.V1Constants;
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import frc.robot.simulation.Robot2d;
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import frc.robot.subsystems.*;
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import frc.robot.subsystems.Climber;
@@ -58,7 +58,7 @@ public class RobotContainer {
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@Logged(name = "Hood", importance = Logged.Importance.INFO)
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private Hood m_hood;
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private CommandSwerveDrivetrain m_swerveDrive = WoodBotConstants.createDrivetrain();
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private CommandSwerveDrivetrain m_swerveDrive = V1Constants.createDrivetrain();
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@Logged(name = "Intake", importance = Logged.Importance.INFO)
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private Intake m_intake;
@@ -94,7 +94,7 @@ public boolean isHubActive() {
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@NotLogged
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private final double MaxSpeed =
97-
WoodBotConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeed at 12 volts desired top speed
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V1Constants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeed at 12 volts desired top speed
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private Boolean m_flipToRight = false;
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‎src/main/java/frc/robot/generated/V1Constants.java‎

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@@ -0,0 +1,314 @@
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package frc.robot.generated;
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import static edu.wpi.first.units.Units.*;
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import com.ctre.phoenix6.CANBus;
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import com.ctre.phoenix6.configs.*;
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import com.ctre.phoenix6.hardware.*;
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import com.ctre.phoenix6.signals.*;
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import com.ctre.phoenix6.swerve.*;
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import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
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import edu.wpi.first.math.Matrix;
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import edu.wpi.first.math.numbers.N1;
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import edu.wpi.first.math.numbers.N3;
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import edu.wpi.first.units.measure.*;
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import frc.robot.subsystems.CommandSwerveDrivetrain;
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// Generated by the 2026 Tuner X Swerve Project Generator
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// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
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public class V1Constants {
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// Both sets of gains need to be tuned to your individual robot.
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// The steer motor uses any SwerveModule.SteerRequestType control request with the
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// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
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private static final Slot0Configs steerGains =
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new Slot0Configs()
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.withKP(100)
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.withKI(0)
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.withKD(0.5)
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.withKS(0.1)
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.withKV(2.49)
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.withKA(0)
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.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
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// When using closed-loop control, the drive motor uses the control
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// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
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private static final Slot0Configs driveGains =
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new Slot0Configs().withKP(0.1).withKI(0).withKD(0).withKS(0).withKV(0.124);
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// The closed-loop output type to use for the steer motors;
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// This affects the PID/FF gains for the steer motors
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private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The closed-loop output type to use for the drive motors;
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// This affects the PID/FF gains for the drive motors
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private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The type of motor used for the drive motor
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private static final DriveMotorArrangement kDriveMotorType =
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DriveMotorArrangement.TalonFX_Integrated;
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// The type of motor used for the drive motor
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private static final SteerMotorArrangement kSteerMotorType =
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SteerMotorArrangement.TalonFX_Integrated;
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// The remote sensor feedback type to use for the steer motors;
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// When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
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private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
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// The stator current at which the wheels start to slip;
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// This needs to be tuned to your individual robot
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private static final Current kSlipCurrent = Amps.of(120);
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// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
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// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
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private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
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private static final TalonFXConfiguration steerInitialConfigs =
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new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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// Swerve azimuth does not require much torque output, so we can set a relatively
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// low
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// stator current limit to help avoid brownouts without impacting performance.
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.withStatorCurrentLimit(Amps.of(60))
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.withStatorCurrentLimitEnable(true));
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private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
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// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
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private static final Pigeon2Configuration pigeonConfigs = null;
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// CAN bus that the devices are located on;
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// All swerve devices must share the same CAN bus
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public static final CANBus kCANBus = new CANBus("", "./logs/example.hoot");
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// Theoretical free speed (m/s) at 12 V applied output;
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// This needs to be tuned to your individual robot
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public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.39);
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// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
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// This may need to be tuned to your individual robot
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private static final double kCoupleRatio = 4.5;
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private static final double kDriveGearRatio = 7.03125;
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private static final double kSteerGearRatio = 26.09090909090909;
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private static final Distance kWheelRadius = Inches.of(2);
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private static final boolean kInvertLeftSide = false;
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private static final boolean kInvertRightSide = true;
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private static final int kPigeonId = 9;
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// These are only used for simulation
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private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
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private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
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// Simulated voltage necessary to overcome friction
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private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
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private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
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public static final SwerveDrivetrainConstants DrivetrainConstants =
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new SwerveDrivetrainConstants()
106+
.withCANBusName(kCANBus.getName())
107+
.withPigeon2Id(kPigeonId)
108+
.withPigeon2Configs(pigeonConfigs);
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110+
private static final SwerveModuleConstantsFactory<
111+
TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
112+
ConstantCreator =
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new SwerveModuleConstantsFactory<
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TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
115+
.withDriveMotorGearRatio(kDriveGearRatio)
116+
.withSteerMotorGearRatio(kSteerGearRatio)
117+
.withCouplingGearRatio(kCoupleRatio)
118+
.withWheelRadius(kWheelRadius)
119+
.withSteerMotorGains(steerGains)
120+
.withDriveMotorGains(driveGains)
121+
.withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
122+
.withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
123+
.withSlipCurrent(kSlipCurrent)
124+
.withSpeedAt12Volts(kSpeedAt12Volts)
125+
.withDriveMotorType(kDriveMotorType)
126+
.withSteerMotorType(kSteerMotorType)
127+
.withFeedbackSource(kSteerFeedbackType)
128+
.withDriveMotorInitialConfigs(driveInitialConfigs)
129+
.withSteerMotorInitialConfigs(steerInitialConfigs)
130+
.withEncoderInitialConfigs(encoderInitialConfigs)
131+
.withSteerInertia(kSteerInertia)
132+
.withDriveInertia(kDriveInertia)
133+
.withSteerFrictionVoltage(kSteerFrictionVoltage)
134+
.withDriveFrictionVoltage(kDriveFrictionVoltage);
135+
136+
// Front Left
137+
private static final int kFrontLeftDriveMotorId = 20;
138+
private static final int kFrontLeftSteerMotorId = 21;
139+
private static final int kFrontLeftEncoderId = 10;
140+
private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.390869140625);
141+
private static final boolean kFrontLeftSteerMotorInverted = false;
142+
private static final boolean kFrontLeftEncoderInverted = false;
143+
144+
private static final Distance kFrontLeftXPos = Inches.of(8.875);
145+
private static final Distance kFrontLeftYPos = Inches.of(12.625);
146+
147+
// Front Right
148+
private static final int kFrontRightDriveMotorId = 22;
149+
private static final int kFrontRightSteerMotorId = 23;
150+
private static final int kFrontRightEncoderId = 11;
151+
private static final Angle kFrontRightEncoderOffset = Rotations.of(0.239990234375);
152+
private static final boolean kFrontRightSteerMotorInverted = false;
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private static final boolean kFrontRightEncoderInverted = false;
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155+
private static final Distance kFrontRightXPos = Inches.of(8.875);
156+
private static final Distance kFrontRightYPos = Inches.of(-12.625);
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158+
// Back Left
159+
private static final int kBackLeftDriveMotorId = 24;
160+
private static final int kBackLeftSteerMotorId = 25;
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private static final int kBackLeftEncoderId = 12;
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private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.01123046875);
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private static final boolean kBackLeftSteerMotorInverted = false;
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private static final boolean kBackLeftEncoderInverted = false;
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private static final Distance kBackLeftXPos = Inches.of(-8.875);
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private static final Distance kBackLeftYPos = Inches.of(12.625);
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// Back Right
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private static final int kBackRightDriveMotorId = 26;
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private static final int kBackRightSteerMotorId = 27;
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private static final int kBackRightEncoderId = 13;
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private static final Angle kBackRightEncoderOffset = Rotations.of(0.4248046875);
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private static final boolean kBackRightSteerMotorInverted = false;
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private static final boolean kBackRightEncoderInverted = false;
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private static final Distance kBackRightXPos = Inches.of(-8.875);
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private static final Distance kBackRightYPos = Inches.of(-12.625);
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public static final SwerveModuleConstants<
181+
TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
182+
FrontLeft =
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ConstantCreator.createModuleConstants(
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kFrontLeftSteerMotorId,
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kFrontLeftDriveMotorId,
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kFrontLeftEncoderId,
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kFrontLeftEncoderOffset,
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kFrontLeftXPos,
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kFrontLeftYPos,
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kInvertLeftSide,
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kFrontLeftSteerMotorInverted,
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kFrontLeftEncoderInverted);
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public static final SwerveModuleConstants<
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TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
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FrontRight =
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ConstantCreator.createModuleConstants(
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kFrontRightSteerMotorId,
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kFrontRightDriveMotorId,
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kFrontRightEncoderId,
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kFrontRightEncoderOffset,
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kFrontRightXPos,
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kFrontRightYPos,
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kInvertRightSide,
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kFrontRightSteerMotorInverted,
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kFrontRightEncoderInverted);
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public static final SwerveModuleConstants<
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TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
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BackLeft =
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ConstantCreator.createModuleConstants(
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kBackLeftSteerMotorId,
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kBackLeftDriveMotorId,
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kBackLeftEncoderId,
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kBackLeftEncoderOffset,
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kBackLeftXPos,
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kBackLeftYPos,
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kInvertLeftSide,
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kBackLeftSteerMotorInverted,
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kBackLeftEncoderInverted);
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public static final SwerveModuleConstants<
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TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>
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BackRight =
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ConstantCreator.createModuleConstants(
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kBackRightSteerMotorId,
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kBackRightDriveMotorId,
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kBackRightEncoderId,
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kBackRightEncoderOffset,
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kBackRightXPos,
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kBackRightYPos,
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kInvertRightSide,
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kBackRightSteerMotorInverted,
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kBackRightEncoderInverted);
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/**
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* Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot
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* program,.
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*/
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public static CommandSwerveDrivetrain createDrivetrain() {
238+
return new CommandSwerveDrivetrain(
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DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
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}
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/** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */
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public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
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/**
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* Constructs a CTRE SwerveDrivetrain using the specified constants.
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*
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* <p>This constructs the underlying hardware devices, so users should not construct the devices
248+
* themselves. If they need the devices, they can access them through getters in the classes.
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*
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* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
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* @param modules Constants for each specific module
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*/
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public TunerSwerveDrivetrain(
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SwerveDrivetrainConstants drivetrainConstants, SwerveModuleConstants<?, ?, ?>... modules) {
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super(TalonFX::new, TalonFX::new, CANcoder::new, drivetrainConstants, modules);
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}
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/**
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* Constructs a CTRE SwerveDrivetrain using the specified constants.
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*
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* <p>This constructs the underlying hardware devices, so users should not construct the devices
262+
* themselves. If they need the devices, they can access them through getters in the classes.
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*
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* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
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* @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
266+
* to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
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* @param modules Constants for each specific module
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*/
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public TunerSwerveDrivetrain(
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SwerveDrivetrainConstants drivetrainConstants,
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double odometryUpdateFrequency,
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SwerveModuleConstants<?, ?, ?>... modules) {
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super(
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TalonFX::new,
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TalonFX::new,
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CANcoder::new,
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drivetrainConstants,
278+
odometryUpdateFrequency,
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modules);
280+
}
281+
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/**
283+
* Constructs a CTRE SwerveDrivetrain using the specified constants.
284+
*
285+
* <p>This constructs the underlying hardware devices, so users should not construct the devices
286+
* themselves. If they need the devices, they can access them through getters in the classes.
287+
*
288+
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
289+
* @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
290+
* to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
291+
* @param odometryStandardDeviation The standard deviation for odometry calculation in the form
292+
* [x, y, theta]áµ€, with units in meters and radians
293+
* @param visionStandardDeviation The standard deviation for vision calculation in the form [x,
294+
* y, theta]áµ€, with units in meters and radians
295+
* @param modules Constants for each specific module
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*/
297+
public TunerSwerveDrivetrain(
298+
SwerveDrivetrainConstants drivetrainConstants,
299+
double odometryUpdateFrequency,
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Matrix<N3, N1> odometryStandardDeviation,
301+
Matrix<N3, N1> visionStandardDeviation,
302+
SwerveModuleConstants<?, ?, ?>... modules) {
303+
super(
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TalonFX::new,
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TalonFX::new,
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CANcoder::new,
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drivetrainConstants,
308+
odometryUpdateFrequency,
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odometryStandardDeviation,
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visionStandardDeviation,
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modules);
312+
}
313+
}
314+
}

‎src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
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import edu.wpi.first.wpilibj2.command.Command;
3434
import frc.robot.Constants.CAN;
3535
import frc.robot.Constants.SWERVE;
36-
import frc.robot.generated.WoodBotConstants.TunerSwerveDrivetrain;
36+
import frc.robot.generated.V1Constants.TunerSwerveDrivetrain;
3737
import frc.team4201.lib.command.SwerveSubsystem;
3838
import frc.team4201.lib.utils.CtreUtils;
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import frc.team4201.lib.utils.ModuleMap;

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