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Dev splines test 2022 #279

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Dev splines test 2022 #279

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35 changes: 23 additions & 12 deletions commands/chassis/SimpleSplines.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,21 +23,32 @@

public class SimpleSplines extends SequentialCommandGroup {
public SimpleSplines(SplinesDrive robotDrive, Pose2d init_pos, List<Translation2d> inter_points, Pose2d final_pos, double maxVoltage, Command nextCommand){
super(new RamseteCommand(
TrajectoryGenerator.generateTrajectory(init_pos, inter_points, final_pos, new TrajectoryConfig(robotDrive.getAutoConstants().kMaxSpeedMetersPerSecond,
robotDrive.getAutoConstants().kMaxAccelerationMetersPerSecondSquared)
.setKinematics(robotDrive.getDriveConstants().kDriveKinematics)
.addConstraint(new DifferentialDriveVoltageConstraint(
new SimpleMotorFeedforward(robotDrive.getDriveConstants().ksVolts,
robotDrive.getDriveConstants().kvVoltSecondsPerMeter,
robotDrive.getDriveConstants().kaVoltSecondsSquaredPerMeter),
super(
new RamseteCommand(
TrajectoryGenerator.generateTrajectory(init_pos, inter_points, final_pos,
new TrajectoryConfig(
robotDrive.getAutoConstants().kMaxSpeedMetersPerSecond,
robotDrive.getAutoConstants().kMaxAccelerationMetersPerSecondSquared
).setKinematics(robotDrive.getDriveConstants().kDriveKinematics
).addConstraint(
new DifferentialDriveVoltageConstraint(
new SimpleMotorFeedforward(
robotDrive.getDriveConstants().ksVolts,
robotDrive.getDriveConstants().kvVoltSecondsPerMeter,
robotDrive.getDriveConstants().kaVoltSecondsSquaredPerMeter
),
robotDrive.getDriveConstants().kDriveKinematics,
maxVoltage))),
maxVoltage
)
)
),
robotDrive::getPose,
new RamseteController(robotDrive.getAutoConstants().kRamseteB, robotDrive.getAutoConstants().kRamseteZeta),
new SimpleMotorFeedforward(robotDrive.getDriveConstants().ksVolts,
robotDrive.getDriveConstants().kvVoltSecondsPerMeter,
robotDrive.getDriveConstants().kaVoltSecondsSquaredPerMeter),
new SimpleMotorFeedforward(
robotDrive.getDriveConstants().ksVolts,
robotDrive.getDriveConstants().kvVoltSecondsPerMeter,
robotDrive.getDriveConstants().kaVoltSecondsSquaredPerMeter
),
robotDrive.getDriveConstants().kDriveKinematics,
robotDrive::getWheelSpeeds,
new PIDController(robotDrive.getDriveConstants().kPDriveVel, 0, 0),
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4 changes: 1 addition & 3 deletions subsystems/chassis/SplinesDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,10 @@

package org.usfirst.frc4904.standard.subsystems.chassis;

import javax.naming.InitialContext;

import com.ctre.phoenix.sensors.CANCoder;
import org.usfirst.frc4904.standard.custom.sensors.CANTalonEncoder;

import org.usfirst.frc4904.standard.commands.chassis.SimpleSplines;
import org.usfirst.frc4904.standard.custom.sensors.CANTalonEncoder;
import org.usfirst.frc4904.standard.custom.sensors.IMU;
import org.usfirst.frc4904.standard.subsystems.chassis.TankDrive;
import org.usfirst.frc4904.standard.subsystems.motor.Motor;
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