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Si besoin de Sysid. Code retirer lors de ce commit

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Antoine PerreaultE 2025-02-27 19:24:31 -05:00
parent 280270245e
commit 19bbde5cf6
1 changed files with 0 additions and 89 deletions
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89
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
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.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
/**
@ -44,71 +43,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
/* Swerve requests to apply during SysId characterization */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s)
Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
),
new SysIdRoutine.Mechanism(
output -> setControl(m_translationCharacterization.withVolts(output)),
null,
this
)
);
/* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s)
Volts.of(7), // Use dynamic voltage of 7 V
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
),
new SysIdRoutine.Mechanism(
volts -> setControl(m_steerCharacterization.withVolts(volts)),
null,
this
)
);
/*
* SysId routine for characterizing rotation.
* This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
* See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
*/
private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
new SysIdRoutine.Config(
/* This is in radians per second², but SysId only supports "volts per second" */
Volts.of(Math.PI / 6).per(Second),
/* This is in radians per second, but SysId only supports "volts" */
Volts.of(Math.PI),
null, // Use default timeout (10 s)
// Log state with SignalLogger class
state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
),
new SysIdRoutine.Mechanism(
output -> {
/* output is actually radians per second, but SysId only supports "volts" */
setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
/* also log the requested output for SysId */
SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
},
null,
this
)
);
private void configureAutoBuilder() {
try {
var config = RobotConfig.fromGUISettings();
@ -140,9 +76,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
return 0;
});
}
/* The SysId routine to test */
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
@ -234,28 +167,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
return run(() -> this.setControl(requestSupplier.get()));
}
/**
* Runs the SysId Quasistatic test in the given direction for the routine
* specified by {@link #m_sysIdRoutineToApply}.
*
* @param direction Direction of the SysId Quasistatic test
* @return Command to run
*/
public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.quasistatic(direction);
}
/**
* Runs the SysId Dynamic test in the given direction for the routine
* specified by {@link #m_sysIdRoutineToApply}.
*
* @param direction Direction of the SysId Dynamic test
* @return Command to run
*/
public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.dynamic(direction);
}
@Override
public void periodic() {