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shooterandstuff

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This commit is contained in:
Olivier Demers
2026-03-10 19:36:15 -04:00
parent c1b6ebc485
commit a581bd105b
21 changed files with 1054 additions and 301 deletions
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2
build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
}
java {

38
src/main/deploy/pathplanner/autos/Balles-Grimpe.auto Normal file
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@@ -0,0 +1,38 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Sortir"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Aspirer"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "Retour"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

19
src/main/deploy/pathplanner/autos/Tests.auto
View File

@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "SimplePath"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

2
src/main/deploy/pathplanner/navgrid.json
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File diff suppressed because one or more lines are too long

54
src/main/deploy/pathplanner/paths/Aspirer.path Normal file
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.713431818179517,
"y": 6.869375
},
"prevControl": null,
"nextControl": {
"x": 7.71512019907703,
"y": 5.599309498510606
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.713431818179517,
"y": 4.467886363634282
},
"prevControl": {
"x": 7.715861871554869,
"y": 5.73629063106375
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

86
src/main/deploy/pathplanner/paths/Retour.path Normal file
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@@ -0,0 +1,86 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.785579545453249,
"y": 4.540034090910067
},
"prevControl": null,
"nextControl": {
"x": 7.084715909095779,
"y": 5.581022727273153
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.641999999998702,
"y": 7.425943181819158
},
"prevControl": {
"x": 6.920368903788226,
"y": 7.435679801066667
},
"nextControl": {
"x": 2.2302045454594164,
"y": 7.415636363636789
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.3848068181805204,
"y": 4.210215909091886
},
"prevControl": {
"x": 2.5394090909139617,
"y": 5.4367272727276985
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.9939540507859759,
"rotationDegrees": 180.0
}
],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.6,
"y": 4.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.25,
"maxWaypointRelativePos": 0.75,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

75
src/main/deploy/pathplanner/paths/SimplePath.path
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@@ -1,75 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.061722123444247,
"y": 5.039
},
"prevControl": null,
"nextControl": {
"x": 4.267799739805012,
"y": 4.6820630981604685
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.292790014151457,
"y": 4.494829275372837
},
"prevControl": {
"x": 4.519661364176327,
"y": 4.494829275372837
},
"nextControl": {
"x": 5.980046769810262,
"y": 4.494829275372837
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.152,
"y": 5.296
},
"prevControl": {
"x": 6.066179328079686,
"y": 4.809286783590948
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.0,
"rotationDegrees": 90.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3,
"maxAcceleration": 3,
"maxAngularVelocity": 540,
"maxAngularAcceleration": 720,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}

66
src/main/deploy/pathplanner/paths/Sortir.path Normal file
View File

@@ -0,0 +1,66 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.406,
"y": 7.663
},
"prevControl": null,
"nextControl": {
"x": 7.043488636363636,
"y": 7.570238636363637
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.7237386363636364,
"y": 6.931215909090908
},
"prevControl": {
"x": 7.500041412044834,
"y": 7.042838271689375
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.28174123337363943,
"rotationDegrees": 0.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Aspirateur",
"waypointRelativePos": 0.6550802139037444,
"endWaypointRelativePos": 1.0,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

2
src/main/deploy/pathplanner/settings.json
View File

@@ -1,6 +1,6 @@
{
"robotWidth": 0.762,
"robotLength": 0.762,
"robotLength": 0.889,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],

64
src/main/java/frc/robot/RobotContainer.java
View File

@@ -5,6 +5,7 @@
package frc.robot;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.RPM;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
@@ -13,45 +14,53 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.FollowPathCommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.AprilTagsLimelight;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Shooter;
import frc.robot.utils.Field;
public class RobotContainer {
private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top
private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired
// top
// speed
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per
// second
// max angular velocity
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
private final SwerveRequest.RobotCentric forwardStraight = new SwerveRequest.RobotCentric()
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive
// motors
private final SwerveRequest.FieldCentricFacingAngle driveWithAngle = new SwerveRequest.FieldCentricFacingAngle()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage)
.withHeadingPID(7, 0, 0);
private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController joystick = new CommandXboxController(0);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
public final AprilTagsLimelight aprilTagsLimelight = new AprilTagsLimelight(drivetrain);
private final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private final AprilTagsLimelight aprilTagsLimelight = new AprilTagsLimelight(drivetrain);
private final Shooter shooter = new Shooter();
/* Path follower */
private final SendableChooser<Command> autoChooser;
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("Tests");
autoChooser = AutoBuilder.buildAutoChooser("Balles-Grimpe");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
@@ -67,7 +76,20 @@ public class RobotContainer {
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drive.withVelocityX(-joystick.getLeftY() * MaxSpeed)
.withVelocityY(-joystick.getLeftX() * MaxSpeed)
.withRotationalRate(-joystick.getRightX() * MaxAngularRate)));
.withRotationalRate((joystick.getLeftTriggerAxis()
- joystick.getRightTriggerAxis()) * MaxAngularRate)));
joystick.a().whileTrue(drivetrain.applyRequest(() -> {
Pose2d pose = drivetrain.getState().Pose;
Pose2d hubPose = Field.getHubPose();
Pose2d diff = pose.relativeTo(hubPose);
return driveWithAngle.withTargetDirection(new Rotation2d(diff.getX(), diff.getY()))
.withVelocityX(-joystick.getLeftY() * MaxSpeed)
.withVelocityY(-joystick.getLeftX() * MaxSpeed);
}));
joystick.x().whileTrue(Commands.runEnd(() -> shooter.set(RPM.of(10000)), () -> shooter.set(RPM.of(0)),
shooter));
// Idle while the robot is disabled. This ensures the configured
// neutral mode is applied to the drive motors while disabled.
@@ -75,24 +97,6 @@ public class RobotContainer {
RobotModeTriggers.disabled().whileTrue(
drivetrain.applyRequest(() -> idle).ignoringDisable(true));
joystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
joystick.b().whileTrue(drivetrain.applyRequest(
() -> point.withModuleDirection(new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))));
joystick.povUp().whileTrue(drivetrain.applyRequest(() -> forwardStraight.withVelocityX(0.5).withVelocityY(0)));
joystick.povDown()
.whileTrue(drivetrain.applyRequest(() -> forwardStraight.withVelocityX(-0.5).withVelocityY(0)));
// Run SysId routines when holding back/start and X/Y.
// Note that each routine should be run exactly once in a single log.
joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
// Reset the field-centric heading on left bumper press.
joystick.leftBumper().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
drivetrain.registerTelemetry(logger::telemeterize);
}

7
src/main/java/frc/robot/Vision.java
View File

@@ -1,7 +0,0 @@
package frc.robot;
import limelight.Limelight;
public class Vision {
public final Limelight limelight = new Limelight("AprilTags");
}

157
src/main/java/frc/robot/generated/TunerConstants.java
View File

@@ -1,19 +1,39 @@
package frc.robot.generated;
import static edu.wpi.first.units.Units.*;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.Volts;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.*;
import com.ctre.phoenix6.hardware.*;
import com.ctre.phoenix6.signals.*;
import com.ctre.phoenix6.swerve.*;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.Pigeon2Configuration;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.MomentOfInertia;
import edu.wpi.first.units.measure.Voltage;
import frc.robot.subsystems.CommandSwerveDrivetrain;
// Generated by the 2026 Tuner X Swerve Project Generator
@@ -21,7 +41,8 @@ import frc.robot.subsystems.CommandSwerveDrivetrain;
public class TunerConstants {
// Both sets of gains need to be tuned to your individual robot.
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// The steer motor uses any SwerveModule.SteerRequestType control request with
// the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(100).withKI(0).withKD(0.5)
@@ -53,17 +74,25 @@ public class TunerConstants {
// This needs to be tuned to your individual robot
private static final Current kSlipCurrent = Amps.of(120);
// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
// Initial configs for the drive and steer motors and the azimuth encoder; these
// cannot be null.
// Some configs will be overwritten; check the `with*InitialConfigs()` API
// documentation.
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(kSlipCurrent)
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(Amps.of(70))
.withSupplyCurrentLimitEnable(true));
private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
// Swerve azimuth does not require much torque output, so we can set a relatively low
// Swerve azimuth does not require much torque output, so we can set a
// relatively low
// stator current limit to help avoid brownouts without impacting performance.
.withStatorCurrentLimit(Amps.of(60))
.withStatorCurrentLimitEnable(true)
);
.withStatorCurrentLimitEnable(true));
private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
private static final Pigeon2Configuration pigeonConfigs = null;
@@ -101,8 +130,7 @@ public class TunerConstants {
.withPigeon2Id(kPigeonId)
.withPigeon2Configs(pigeonConfigs);
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator = new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
.withDriveMotorGearRatio(kDriveGearRatio)
.withSteerMotorGearRatio(kSteerGearRatio)
.withCouplingGearRatio(kCoupleRatio)
@@ -124,7 +152,6 @@ public class TunerConstants {
.withSteerFrictionVoltage(kSteerFrictionVoltage)
.withDriveFrictionVoltage(kDriveFrictionVoltage);
// Front Left
private static final int kFrontLeftDriveMotorId = 3;
private static final int kFrontLeftSteerMotorId = 2;
@@ -169,27 +196,26 @@ public class TunerConstants {
private static final Distance kBackRightXPos = Inches.of(-10);
private static final Distance kBackRightYPos = Inches.of(-10);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
ConstantCreator.createModuleConstants(
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft = ConstantCreator
.createModuleConstants(
kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
ConstantCreator.createModuleConstants(
kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted,
kFrontLeftEncoderInverted);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight = ConstantCreator
.createModuleConstants(
kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
ConstantCreator.createModuleConstants(
kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted,
kFrontRightEncoderInverted);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft = ConstantCreator
.createModuleConstants(
kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
ConstantCreator.createModuleConstants(
kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted,
kBackLeftEncoderInverted);
public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight = ConstantCreator
.createModuleConstants(
kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
);
kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted,
kBackRightEncoderInverted);
/**
* Creates a CommandSwerveDrivetrain instance.
@@ -197,20 +223,21 @@ public class TunerConstants {
*/
public static CommandSwerveDrivetrain createDrivetrain() {
return new CommandSwerveDrivetrain(
DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
);
DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
}
/**
* Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
* Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected
* device types.
*/
public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
* <p>
* This constructs the underlying hardware devices, so users should not construct
* the devices themselves. If they need the devices, they can access them through
* This constructs the underlying hardware devices, so users should not
* construct
* the devices themselves. If they need the devices, they can access them
* through
* getters in the classes.
*
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
@@ -218,19 +245,19 @@ public class TunerConstants {
*/
public TunerSwerveDrivetrain(
SwerveDrivetrainConstants drivetrainConstants,
SwerveModuleConstants<?, ?, ?>... modules
) {
SwerveModuleConstants<?, ?, ?>... modules) {
super(
TalonFX::new, TalonFX::new, CANcoder::new,
drivetrainConstants, modules
);
drivetrainConstants, modules);
}
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
* <p>
* This constructs the underlying hardware devices, so users should not construct
* the devices themselves. If they need the devices, they can access them through
* This constructs the underlying hardware devices, so users should not
* construct
* the devices themselves. If they need the devices, they can access them
* through
* getters in the classes.
*
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
@@ -242,30 +269,36 @@ public class TunerConstants {
public TunerSwerveDrivetrain(
SwerveDrivetrainConstants drivetrainConstants,
double odometryUpdateFrequency,
SwerveModuleConstants<?, ?, ?>... modules
) {
SwerveModuleConstants<?, ?, ?>... modules) {
super(
TalonFX::new, TalonFX::new, CANcoder::new,
drivetrainConstants, odometryUpdateFrequency, modules
);
drivetrainConstants, odometryUpdateFrequency, modules);
}
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
* <p>
* This constructs the underlying hardware devices, so users should not construct
* the devices themselves. If they need the devices, they can access them through
* This constructs the underlying hardware devices, so users should not
* construct
* the devices themselves. If they need the devices, they can access them
* through
* getters in the classes.
*
* @param drivetrainConstants Drivetrain-wide constants for the swerve drive
* @param drivetrainConstants Drivetrain-wide constants for the swerve
* drive
* @param odometryUpdateFrequency The frequency to run the odometry loop. If
* unspecified or set to 0 Hz, this is 250 Hz on
* unspecified or set to 0 Hz, this is 250 Hz
* on
* CAN FD, and 100 Hz on CAN 2.0.
* @param odometryStandardDeviation The standard deviation for odometry calculation
* in the form [x, y, theta]ᵀ, with units in meters
* @param odometryStandardDeviation The standard deviation for odometry
* calculation
* in the form [x, y, theta]ᵀ, with units in
* meters
* and radians
* @param visionStandardDeviation The standard deviation for vision calculation
* in the form [x, y, theta]ᵀ, with units in meters
* @param visionStandardDeviation The standard deviation for vision
* calculation
* in the form [x, y, theta]ᵀ, with units in
* meters
* and radians
* @param modules Constants for each specific module
*/
@@ -274,13 +307,11 @@ public class TunerConstants {
double odometryUpdateFrequency,
Matrix<N3, N1> odometryStandardDeviation,
Matrix<N3, N1> visionStandardDeviation,
SwerveModuleConstants<?, ?, ?>... modules
) {
SwerveModuleConstants<?, ?, ?>... modules) {
super(
TalonFX::new, TalonFX::new, CANcoder::new,
drivetrainConstants, odometryUpdateFrequency,
odometryStandardDeviation, visionStandardDeviation, modules
);
odometryStandardDeviation, visionStandardDeviation, modules);
}
}
}

2
src/main/java/frc/robot/subsystems/AprilTagsLimelight.java
View File

@@ -12,7 +12,7 @@ public class AprilTagsLimelight extends SubsystemBase {
private CommandSwerveDrivetrain drivetrain;
private final Limelight limelight = new Limelight("AprilTags");
private final LimelightPoseEstimator poseEstimator = limelight.createPoseEstimator(EstimationMode.MEGATAG2);;
private final LimelightPoseEstimator poseEstimator = limelight.createPoseEstimator(EstimationMode.MEGATAG2);
public AprilTagsLimelight(CommandSwerveDrivetrain drivetrain) {
this.drivetrain = drivetrain;

60
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -1,6 +1,9 @@
package frc.robot.subsystems;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Pounds;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Volts;
import java.util.Optional;
@@ -16,20 +19,25 @@ import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import dev.doglog.DogLog;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.generated.TunerConstants;
import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
import frc.robot.utils.simulation.MapleSimSwerveDrivetrain;
import limelight.networktables.Orientation3d;
/**
@@ -42,7 +50,6 @@ import limelight.networktables.Orientation3d;
public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
private static final double kSimLoopPeriod = 0.004; // 4 ms
private Notifier m_simNotifier = null;
private double m_lastSimTime;
/* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
@@ -137,7 +144,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public CommandSwerveDrivetrain(
SwerveDrivetrainConstants drivetrainConstants,
SwerveModuleConstants<?, ?, ?>... modules) {
super(drivetrainConstants, modules);
super(drivetrainConstants, MapleSimSwerveDrivetrain.regulateModuleConstantsForSimulation(modules));
if (Utils.isSimulation()) {
startSimThread();
}
@@ -163,7 +170,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
SwerveDrivetrainConstants drivetrainConstants,
double odometryUpdateFrequency,
SwerveModuleConstants<?, ?, ?>... modules) {
super(drivetrainConstants, odometryUpdateFrequency, modules);
super(drivetrainConstants, odometryUpdateFrequency,
MapleSimSwerveDrivetrain.regulateModuleConstantsForSimulation(modules));
if (Utils.isSimulation()) {
startSimThread();
}
@@ -204,7 +212,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
Matrix<N3, N1> visionStandardDeviation,
SwerveModuleConstants<?, ?, ?>... modules) {
super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation,
modules);
MapleSimSwerveDrivetrain.regulateModuleConstantsForSimulation(modules));
if (Utils.isSimulation()) {
startSimThread();
}
@@ -302,20 +310,36 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
m_hasAppliedOperatorPerspective = true;
});
}
DogLog.log("BatteryVoltage", RobotController.getBatteryVoltage());
DogLog.log("Drive/OdometryPose", getState().Pose);
DogLog.log("Drive/TargetStates", getState().ModuleTargets);
DogLog.log("Drive/MeasuredStates", getState().ModuleStates);
DogLog.log("Drive/MeasuredSpeeds", getState().Speeds);
if (mapleSimSwerveDrivetrain != null)
DogLog.log("Drive/SimulationPose", mapleSimSwerveDrivetrain.mapleSimDrive.getSimulatedDriveTrainPose());
}
private MapleSimSwerveDrivetrain mapleSimSwerveDrivetrain = null;
private void startSimThread() {
m_lastSimTime = Utils.getCurrentTimeSeconds();
mapleSimSwerveDrivetrain = new MapleSimSwerveDrivetrain(
Seconds.of(kSimLoopPeriod),
Pounds.of(115), // robot weight
Inches.of(35), // bumper length
Inches.of(30), // bumper width
DCMotor.getKrakenX60(1), // drive motor type
DCMotor.getKrakenX60(1), // steer motor type
1.2, // wheel COF
getModuleLocations(),
getPigeon2(),
getModules(),
TunerConstants.FrontLeft,
TunerConstants.FrontRight,
TunerConstants.BackLeft,
TunerConstants.BackRight);
/* Run simulation at a faster rate so PID gains behave more reasonably */
m_simNotifier = new Notifier(() -> {
final double currentTime = Utils.getCurrentTimeSeconds();
double deltaTime = currentTime - m_lastSimTime;
m_lastSimTime = currentTime;
/* use the measured time delta, get battery voltage from WPILib */
updateSimState(deltaTime, RobotController.getBatteryVoltage());
});
m_simNotifier = new Notifier(mapleSimSwerveDrivetrain::update);
m_simNotifier.startPeriodic(kSimLoopPeriod);
}
@@ -372,4 +396,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds));
}
@Override
public void resetPose(Pose2d pose) {
if (this.mapleSimSwerveDrivetrain != null)
mapleSimSwerveDrivetrain.mapleSimDrive.setSimulationWorldPose(pose);
Timer.delay(0.05); // Wait for simulation to update
super.resetPose(pose);
}
}

64
src/main/java/frc/robot/subsystems/Shooter.java Normal file
View File

@@ -0,0 +1,64 @@
package frc.robot.subsystems;
import static edu.wpi.first.units.Units.RPM;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.sim.SparkFlexSim;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import dev.doglog.DogLog;
import com.revrobotics.spark.config.SparkFlexConfig;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.FlywheelSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Shooter extends SubsystemBase {
private DCMotor motor = DCMotor.getNeoVortex(1);
private FlywheelSim flywheelSim = new FlywheelSim(
LinearSystemId.createFlywheelSystem(motor, 0.001, 0.5), motor);
private SparkFlex flex = new SparkFlex(1, MotorType.kBrushless);
private SparkFlexSim flexSim = new SparkFlexSim(flex, motor);
public Shooter() {
SparkFlexConfig flexConfig = new SparkFlexConfig();
flexConfig.smartCurrentLimit(40).idleMode(IdleMode.kCoast);
flexConfig.closedLoop.p(0.27).feedForward.kV(0.11).kA(0);
flex.configure(flexConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
}
public void set(AngularVelocity vel) {
flex.getClosedLoopController().setSetpoint(vel.in(RPM), ControlType.kVelocity);
}
@Override
public void periodic() {
DogLog.log("Shooter/Flex", flex.get());
}
@Override
public void simulationPeriodic() {
flywheelSim.setInput(flexSim.getAppliedOutput() * RoboRioSim.getVInVoltage());
flywheelSim.update(0.02);
flexSim.iterate(
flywheelSim.getAngularVelocityRPM(), RoboRioSim.getVInVoltage(), 0.02);
RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(flywheelSim.getCurrentDrawAmps()));
DogLog.log("Shooter/FlexSim", flexSim.getVelocity());
}
}

24
src/main/java/frc/robot/utils/Field.java Normal file
View File

@@ -0,0 +1,24 @@
package frc.robot.utils;
import static edu.wpi.first.units.Units.Meters;
import java.util.Optional;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
public class Field {
public static Pose2d getHubPose() {
Optional<Alliance> alliance = DriverStation.getAlliance();
if (alliance.isEmpty()) {
return new Pose2d();
} else if (alliance.get() == Alliance.Blue) {
return new Pose2d(Meters.of(4.6), Meters.of(4.03), new Rotation2d());
} else {
return new Pose2d(Meters.of(16.5-4.6), Meters.of(4.03), new Rotation2d());
}
}
}

296
src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java Normal file
View File

@@ -0,0 +1,296 @@
package frc.robot.utils.simulation;
// Copyright 2021-2025 Iron Maple 5516
// Original Source:
// https://github.com/Shenzhen-Robotics-Alliance/maple-sim/blob/main/templates/CTRE%20Swerve%20with%20maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java
//
// This code is licensed under MIT license (see https://mit-license.org/)
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Volts;
import org.ironmaple.simulation.SimulatedArena;
import org.ironmaple.simulation.drivesims.COTS;
import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
import org.ironmaple.simulation.motorsims.SimulatedBattery;
import org.ironmaple.simulation.motorsims.SimulatedMotorController;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import com.ctre.phoenix6.sim.CANcoderSimState;
import com.ctre.phoenix6.sim.Pigeon2SimState;
import com.ctre.phoenix6.sim.TalonFXSimState;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveModule;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Mass;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotBase;
/**
*
*
* <h2>Injects Maple-Sim simulation data into a CTRE swerve drivetrain.</h2>
*
* <p>
* This class retrieves simulation data from Maple-Sim and injects it into the
* CTRE
* {@link com.ctre.phoenix6.swerve.SwerveDrivetrain} instance.
*
* <p>
* It replaces the {@link com.ctre.phoenix6.swerve.SimSwerveDrivetrain} class.
*/
public class MapleSimSwerveDrivetrain {
private final Pigeon2SimState pigeonSim;
private final SimSwerveModule[] simModules;
public final SwerveDriveSimulation mapleSimDrive;
/**
*
*
* <h2>Constructs a drivetrain simulation using the specified parameters.</h2>
*
* @param simPeriod the time period of the simulation
* @param robotMassWithBumpers the total mass of the robot, including bumpers
* @param bumperLengthX the length of the bumper along the X-axis
* (influences the collision space of the robot)
* @param bumperWidthY the width of the bumper along the Y-axis
* (influences the collision space of the robot)
* @param driveMotorModel the {@link DCMotor} model for the drive motor,
* typically <code>DCMotor.getKrakenX60Foc()
* </code>
* @param steerMotorModel the {@link DCMotor} model for the steer motor,
* typically <code>DCMotor.getKrakenX60Foc()
* </code>
* @param wheelCOF the coefficient of friction of the drive wheels
* @param moduleLocations the locations of the swerve modules on the robot,
* in the order <code>FL, FR, BL, BR</code>
* @param pigeon the {@link Pigeon2} IMU used in the drivetrain
* @param modules the {@link SwerveModule}s, typically obtained via
* {@link SwerveDrivetrain#getModules()}
* @param moduleConstants the constants for the swerve modules
*/
@SafeVarargs
public MapleSimSwerveDrivetrain(
Time simPeriod,
Mass robotMassWithBumpers,
Distance bumperLengthX,
Distance bumperWidthY,
DCMotor driveMotorModel,
DCMotor steerMotorModel,
double wheelCOF,
Translation2d[] moduleLocations,
Pigeon2 pigeon,
SwerveModule<TalonFX, TalonFX, CANcoder>[] modules,
SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>... moduleConstants) {
this.pigeonSim = pigeon.getSimState();
simModules = new SimSwerveModule[moduleConstants.length];
DriveTrainSimulationConfig simulationConfig = DriveTrainSimulationConfig.Default()
.withRobotMass(robotMassWithBumpers)
.withBumperSize(bumperLengthX, bumperWidthY)
.withGyro(COTS.ofPigeon2())
.withCustomModuleTranslations(moduleLocations)
.withSwerveModule(new SwerveModuleSimulationConfig(
driveMotorModel,
steerMotorModel,
moduleConstants[0].DriveMotorGearRatio,
moduleConstants[0].SteerMotorGearRatio,
Volts.of(moduleConstants[0].DriveFrictionVoltage),
Volts.of(moduleConstants[0].SteerFrictionVoltage),
Meters.of(moduleConstants[0].WheelRadius),
KilogramSquareMeters.of(moduleConstants[0].SteerInertia),
wheelCOF));
mapleSimDrive = new SwerveDriveSimulation(simulationConfig, new Pose2d());
SwerveModuleSimulation[] moduleSimulations = mapleSimDrive.getModules();
for (int i = 0; i < this.simModules.length; i++)
simModules[i] = new SimSwerveModule(moduleConstants[0], moduleSimulations[i], modules[i]);
SimulatedArena.overrideSimulationTimings(simPeriod, 1);
SimulatedArena.getInstance().addDriveTrainSimulation(mapleSimDrive);
}
/**
*
*
* <h2>Update the simulation.</h2>
*
* <p>
* Updates the Maple-Sim simulation and injects the results into the simulated
* CTRE devices, including motors and
* the IMU.
*/
public void update() {
SimulatedArena.getInstance().simulationPeriodic();
pigeonSim.setRawYaw(
mapleSimDrive.getSimulatedDriveTrainPose().getRotation().getMeasure());
pigeonSim.setAngularVelocityZ(RadiansPerSecond.of(
mapleSimDrive.getDriveTrainSimulatedChassisSpeedsRobotRelative().omegaRadiansPerSecond));
}
/**
*
*
* <h1>Represents the simulation of a single {@link SwerveModule}.</h1>
*/
protected static class SimSwerveModule {
public final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> moduleConstant;
public final SwerveModuleSimulation moduleSimulation;
public SimSwerveModule(
SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> moduleConstant,
SwerveModuleSimulation moduleSimulation,
SwerveModule<TalonFX, TalonFX, CANcoder> module) {
this.moduleConstant = moduleConstant;
this.moduleSimulation = moduleSimulation;
moduleSimulation.useDriveMotorController(new TalonFXMotorControllerSim(module.getDriveMotor()));
moduleSimulation.useSteerMotorController(
new TalonFXMotorControllerWithRemoteCanCoderSim(module.getSteerMotor(), module.getEncoder()));
}
}
// Static utils classes
public static class TalonFXMotorControllerSim implements SimulatedMotorController {
public final int id;
private final TalonFXSimState talonFXSimState;
public TalonFXMotorControllerSim(TalonFX talonFX) {
this.id = talonFX.getDeviceID();
this.talonFXSimState = talonFX.getSimState();
}
@Override
public Voltage updateControlSignal(
Angle mechanismAngle,
AngularVelocity mechanismVelocity,
Angle encoderAngle,
AngularVelocity encoderVelocity) {
talonFXSimState.setRawRotorPosition(encoderAngle);
talonFXSimState.setRotorVelocity(encoderVelocity);
talonFXSimState.setSupplyVoltage(SimulatedBattery.getBatteryVoltage());
return talonFXSimState.getMotorVoltageMeasure();
}
}
public static class TalonFXMotorControllerWithRemoteCanCoderSim extends TalonFXMotorControllerSim {
@SuppressWarnings("unused")
private final int encoderId;
private final CANcoderSimState remoteCancoderSimState;
public TalonFXMotorControllerWithRemoteCanCoderSim(TalonFX talonFX, CANcoder cancoder) {
super(talonFX);
this.remoteCancoderSimState = cancoder.getSimState();
this.encoderId = cancoder.getDeviceID();
}
@Override
public Voltage updateControlSignal(
Angle mechanismAngle,
AngularVelocity mechanismVelocity,
Angle encoderAngle,
AngularVelocity encoderVelocity) {
remoteCancoderSimState.setSupplyVoltage(SimulatedBattery.getBatteryVoltage());
remoteCancoderSimState.setRawPosition(mechanismAngle);
remoteCancoderSimState.setVelocity(mechanismVelocity);
return super.updateControlSignal(mechanismAngle, mechanismVelocity, encoderAngle, encoderVelocity);
}
}
/**
*
*
* <h2>Regulates all {@link SwerveModuleConstants} for a drivetrain
* simulation.</h2>
*
* <p>
* This method processes an array of {@link SwerveModuleConstants} to apply
* necessary adjustments for simulation
* purposes, ensuring compatibility and avoiding known bugs.
*
* @see #regulateModuleConstantForSimulation(SwerveModuleConstants)
*/
public static SwerveModuleConstants<?, ?, ?>[] regulateModuleConstantsForSimulation(
SwerveModuleConstants<?, ?, ?>[] moduleConstants) {
for (SwerveModuleConstants<?, ?, ?> moduleConstant : moduleConstants)
regulateModuleConstantForSimulation(moduleConstant);
return moduleConstants;
}
/**
*
*
* <h2>Regulates the {@link SwerveModuleConstants} for a single module.</h2>
*
* <p>
* This method applies specific adjustments to the {@link SwerveModuleConstants}
* for simulation purposes. These
* changes have no effect on real robot operations and address known simulation
* bugs:
*
* <ul>
* <li><strong>Inverted Drive Motors:</strong> Prevents drive PID issues caused
* by inverted configurations.
* <li><strong>Non-zero CanCoder Offsets:</strong> Fixes potential module state
* optimization issues.
* <li><strong>Steer Motor PID:</strong> Adjusts PID values tuned for real
* robots to improve simulation
* performance.
* </ul>
*
* <h4>Note:This function is skipped when running on a real robot, ensuring no
* impact on constants used on real
* robot hardware.</h4>
*/
private static void regulateModuleConstantForSimulation(SwerveModuleConstants<?, ?, ?> moduleConstants) {
// Skip regulation if running on a real robot
if (RobotBase.isReal())
return;
// Apply simulation-specific adjustments to module constants
moduleConstants
// Disable encoder offsets
.withEncoderOffset(0)
// Disable motor inversions for drive and steer motors
.withDriveMotorInverted(false)
.withSteerMotorInverted(false)
// Disable CanCoder inversion
.withEncoderInverted(false)
// Adjust steer motor PID gains for simulation
.withSteerMotorGains(new Slot0Configs()
.withKP(70)
.withKI(0)
.withKD(4.5)
.withKS(0)
.withKV(1.91)
.withKA(0)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign))
.withSteerMotorGearRatio(16.0)
// Adjust friction voltages
.withDriveFrictionVoltage(Volts.of(0.1))
.withSteerFrictionVoltage(Volts.of(0.05))
// Adjust steer inertia
.withSteerInertia(KilogramSquareMeters.of(0.05));
}
}

4
vendordeps/DogLog.json
View File

@@ -3,7 +3,7 @@
{
"groupId": "com.github.jonahsnider",
"artifactId": "doglog",
"version": "2026.3.0"
"version": "2026.5.0"
}
],
"fileName": "DogLog.json",
@@ -15,6 +15,6 @@
"https://jitpack.io"
],
"cppDependencies": [],
"version": "2026.3.0",
"version": "2026.5.0",
"uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
}

62
vendordeps/Phoenix6-frc2026-latest.json → vendordeps/Phoenix6-26.1.1.json
View File

@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-frc2026-latest.json",
"fileName": "Phoenix6-26.1.1.json",
"name": "CTRE-Phoenix (v6)",
"version": "26.1.0",
"version": "26.1.1",
"frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
@@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.1.0"
"version": "26.1.1"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -194,7 +194,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -208,7 +208,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.0",
"version": "26.1.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -224,7 +224,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -240,7 +240,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -256,7 +256,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -272,7 +272,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -288,7 +288,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -304,7 +304,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -320,7 +320,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -336,7 +336,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -352,7 +352,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -368,7 +368,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -384,7 +384,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -400,7 +400,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -416,7 +416,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -432,7 +432,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.0",
"version": "26.1.1",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,

133
vendordeps/REVLib.json Normal file
View File

@@ -0,0 +1,133 @@
{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2026.0.4",
"frcYear": "2026",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2026.0.4"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2026.0.4",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
]
}

26
vendordeps/maple-sim.json Normal file
View File

@@ -0,0 +1,26 @@
{
"fileName": "maple-sim.json",
"name": "maplesim",
"version": "0.4.0-beta",
"frcYear": "2026",
"uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
"mavenUrls": [
"https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
"https://repo1.maven.org/maven2"
],
"jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
"javaDependencies": [
{
"groupId": "org.ironmaple",
"artifactId": "maplesim-java",
"version": "0.4.0-beta"
},
{
"groupId": "org.dyn4j",
"artifactId": "dyn4j",
"version": "5.0.2"
}
],
"jniDependencies": [],
"cppDependencies": []
}