Swerve + commencer pathplanner
This commit is contained in:
samuel desharnais
294
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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294
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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package frc.robot.subsystems;
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import static edu.wpi.first.units.Units.*;
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import java.util.function.Supplier;
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import com.ctre.phoenix6.SignalLogger;
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import com.ctre.phoenix6.Utils;
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import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
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import com.ctre.phoenix6.swerve.SwerveModuleConstants;
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import com.ctre.phoenix6.swerve.SwerveRequest;
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import com.pathplanner.lib.auto.AutoBuilder;
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import com.pathplanner.lib.config.PIDConstants;
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import com.pathplanner.lib.config.RobotConfig;
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import com.pathplanner.lib.controllers.PPHolonomicDriveController;
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import edu.wpi.first.math.Matrix;
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import edu.wpi.first.math.geometry.Rotation2d;
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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.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.DriverStation.Alliance;
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import edu.wpi.first.wpilibj.Notifier;
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import edu.wpi.first.wpilibj.RobotController;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Subsystem;
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import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
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import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
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/**
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* Class that extends the Phoenix 6 SwerveDrivetrain class and implements
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* Subsystem so it can easily be used in command-based projects.
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*/
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public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
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private static final double kSimLoopPeriod = 0.005; // 5 ms
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private Notifier m_simNotifier = null;
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private double m_lastSimTime;
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/* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
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private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
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/* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
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private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
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/* Keep track if we've ever applied the operator perspective before or not */
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private boolean m_hasAppliedOperatorPerspective = false;
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private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
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/* Swerve requests to apply during SysId characterization */
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private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
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private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
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private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
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/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
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private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
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new SysIdRoutine.Config(
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null, // Use default ramp rate (1 V/s)
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Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
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null, // Use default timeout (10 s)
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// Log state with SignalLogger class
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state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
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),
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new SysIdRoutine.Mechanism(
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output -> setControl(m_translationCharacterization.withVolts(output)),
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null,
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this
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)
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);
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/* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
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private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
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new SysIdRoutine.Config(
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null, // Use default ramp rate (1 V/s)
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Volts.of(7), // Use dynamic voltage of 7 V
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null, // Use default timeout (10 s)
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// Log state with SignalLogger class
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state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
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),
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new SysIdRoutine.Mechanism(
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volts -> setControl(m_steerCharacterization.withVolts(volts)),
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null,
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this
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)
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);
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/*
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* SysId routine for characterizing rotation.
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* This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
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* See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
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*/
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private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
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new SysIdRoutine.Config(
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/* This is in radians per second², but SysId only supports "volts per second" */
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Volts.of(Math.PI / 6).per(Second),
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/* This is in radians per second, but SysId only supports "volts" */
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Volts.of(Math.PI),
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null, // Use default timeout (10 s)
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// Log state with SignalLogger class
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state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
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),
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new SysIdRoutine.Mechanism(
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output -> {
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/* output is actually radians per second, but SysId only supports "volts" */
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setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
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/* also log the requested output for SysId */
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SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
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},
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null,
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this
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)
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);
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private void configureAutoBuilder() {
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try {
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var config = RobotConfig.fromGUISettings();
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AutoBuilder.configure(
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() -> getState().Pose, // Supplier of current robot pose
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this::resetPose, // Consumer for seeding pose against auto
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() -> getState().Speeds, // Supplier of current robot speeds
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// Consumer of ChassisSpeeds and feedforwards to drive the robot
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(speeds, feedforwards) -> setControl(
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m_pathApplyRobotSpeeds.withSpeeds(speeds)
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.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
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.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
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),
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new PPHolonomicDriveController(
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// PID constants for translation
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new PIDConstants(10, 0, 0),
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// PID constants for rotation
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new PIDConstants(7, 0, 0)
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),
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config,
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// Assume the path needs to be flipped for Red vs Blue, this is normally the case
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() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
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this // Subsystem for requirements
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);
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} catch (Exception ex) {
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DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
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}
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}
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/* The SysId routine to test */
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private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
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/**
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* Constructs a CTRE SwerveDrivetrain using the specified constants.
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* <p>
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* This constructs the underlying hardware devices, so users should not construct
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* the devices themselves. If they need the devices, they can access them through
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* 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 CommandSwerveDrivetrain(
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SwerveDrivetrainConstants drivetrainConstants,
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SwerveModuleConstants<?, ?, ?>... modules
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) {
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super(drivetrainConstants, modules);
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if (Utils.isSimulation()) {
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startSimThread();
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}
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configureAutoBuilder();
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}
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/**
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* Constructs a CTRE SwerveDrivetrain using the specified constants.
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* <p>
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* This constructs the underlying hardware devices, so users should not construct
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* the devices themselves. If they need the devices, they can access them through
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* 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
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* unspecified or set to 0 Hz, this is 250 Hz on
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* 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 CommandSwerveDrivetrain(
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SwerveDrivetrainConstants drivetrainConstants,
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double odometryUpdateFrequency,
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SwerveModuleConstants<?, ?, ?>... modules
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) {
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super(drivetrainConstants, odometryUpdateFrequency, modules);
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if (Utils.isSimulation()) {
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startSimThread();
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}
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configureAutoBuilder();
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}
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/**
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* Constructs a CTRE SwerveDrivetrain using the specified constants.
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* <p>
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* This constructs the underlying hardware devices, so users should not construct
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* the devices themselves. If they need the devices, they can access them through
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* 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
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* unspecified or set to 0 Hz, this is 250 Hz on
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* CAN FD, and 100 Hz on CAN 2.0.
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* @param odometryStandardDeviation The standard deviation for odometry calculation
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* in the form [x, y, theta]ᵀ, with units in meters
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* and radians
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* @param visionStandardDeviation The standard deviation for vision calculation
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* in the form [x, y, theta]ᵀ, with units in meters
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* and radians
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* @param modules Constants for each specific module
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*/
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public CommandSwerveDrivetrain(
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SwerveDrivetrainConstants drivetrainConstants,
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double odometryUpdateFrequency,
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Matrix<N3, N1> odometryStandardDeviation,
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Matrix<N3, N1> visionStandardDeviation,
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SwerveModuleConstants<?, ?, ?>... modules
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) {
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super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, modules);
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if (Utils.isSimulation()) {
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startSimThread();
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}
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configureAutoBuilder();
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}
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/**
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* Returns a command that applies the specified control request to this swerve drivetrain.
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*
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* @param request Function returning the request to apply
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* @return Command to run
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*/
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public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
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return run(() -> this.setControl(requestSupplier.get()));
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}
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/**
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* Runs the SysId Quasistatic test in the given direction for the routine
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* specified by {@link #m_sysIdRoutineToApply}.
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*
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* @param direction Direction of the SysId Quasistatic test
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* @return Command to run
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*/
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public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
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return m_sysIdRoutineToApply.quasistatic(direction);
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}
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/**
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* Runs the SysId Dynamic test in the given direction for the routine
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* specified by {@link #m_sysIdRoutineToApply}.
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*
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* @param direction Direction of the SysId Dynamic test
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* @return Command to run
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*/
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public Command sysIdDynamic(SysIdRoutine.Direction direction) {
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return m_sysIdRoutineToApply.dynamic(direction);
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}
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@Override
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public void periodic() {
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/*
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* Periodically try to apply the operator perspective.
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* If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
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* This allows us to correct the perspective in case the robot code restarts mid-match.
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* Otherwise, only check and apply the operator perspective if the DS is disabled.
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* This ensures driving behavior doesn't change until an explicit disable event occurs during testing.
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*/
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if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
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DriverStation.getAlliance().ifPresent(allianceColor -> {
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setOperatorPerspectiveForward(
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allianceColor == Alliance.Red
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? kRedAlliancePerspectiveRotation
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: kBlueAlliancePerspectiveRotation
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);
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m_hasAppliedOperatorPerspective = true;
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});
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}
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}
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private void startSimThread() {
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m_lastSimTime = Utils.getCurrentTimeSeconds();
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/* Run simulation at a faster rate so PID gains behave more reasonably */
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m_simNotifier = new Notifier(() -> {
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final double currentTime = Utils.getCurrentTimeSeconds();
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double deltaTime = currentTime - m_lastSimTime;
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m_lastSimTime = currentTime;
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/* use the measured time delta, get battery voltage from WPILib */
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updateSimState(deltaTime, RobotController.getBatteryVoltage());
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});
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m_simNotifier.startPeriodic(kSimLoopPeriod);
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}
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}
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