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Add Swerve Drive Support #11

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danielbrownmsm opened this issue Dec 18, 2022 · 6 comments
Open

Add Swerve Drive Support #11

danielbrownmsm opened this issue Dec 18, 2022 · 6 comments
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@danielbrownmsm
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enhancement New feature or request
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Enhanced Function...

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@danielbrownmsm
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Add Swerve Drive Support

Summary
We have a swerve drive. It needs to be coded.

Work Required

  • code the swerve drive
  • test the swerve drive

Verification

  • CI passes
@danielbrownmsm danielbrownmsm self-assigned this Dec 18, 2022
@jkleiber
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We should make the swerve drive into its own subsystem rather than mixing it with the Drivetrain/DrivetrainIO system. Something like SwerveDrive and SwerveDriveIO seem like names we could use

@danielbrownmsm
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why?

@danielbrownmsm
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danielbrownmsm commented Dec 20, 2022 •
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also, research thus far:

@jkleiber
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It makes more sense to start with a clean slate since the swerve drive will use different amounts of motors and different driving/odometry logic. It's almost totally different so we should make it a separate subsystem, saving the current drivetrain code as legacy code in case we make a west coast drive again

@danielbrownmsm danielbrownmsm added the enhancement New feature or request label Dec 24, 2022
@danielbrownmsm
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Working under the assumption that we are plugging the absolute encoders into the roboRIO. If we're plugging them directly into the sparkMAXes instead, we'll need to change some code

danielbrownmsm added a commit that referenced this issue Dec 24, 2022
@danielbrownmsm
create swerve drive hardware interface per #11
e8767c6
danielbrownmsm added a commit that referenced this issue Dec 24, 2022
@danielbrownmsm
created swerve drive IO per #11
b5f4cb8 
still has a lot of functionality to be written and planned, but the basic skeleton is there
danielbrownmsm added a commit that referenced this issue Dec 24, 2022
@danielbrownmsm
fixes bug with drive config from last commit
8cc8137 
issue: #11
@danielbrownmsm danielbrownmsm mentioned this issue Dec 24, 2022
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@danielbrownmsm
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https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp

danielbrownmsm added a commit that referenced this issue Dec 27, 2022
@danielbrownmsm
adds swerve drive parameters to the parameters.toml file per #11
3244231
danielbrownmsm added a commit that referenced this issue Dec 27, 2022
@danielbrownmsm
add swerve drive to RobotContainer per #11
60a2d43
danielbrownmsm added a commit that referenced this issue Dec 27, 2022
@danielbrownmsm
add swerve drive to RobotContainer header per #11
3b0fe4f
@danielbrownmsm danielbrownmsm linked a pull request Dec 27, 2022 that will close this issue
Feat/swerve drive support #25
Closed
danielbrownmsm added a commit that referenced this issue Dec 31, 2022
@danielbrownmsm
finised adding WPILib swerve support to SwerveDrive subsystem
696c850 
of course, it doesn't do much right now, but the framework is there for writing all the set_output etc.
adds SwerveModulePosition, SwerveModuleState, SwerveKinematics, and SwerveOdometry
also removes all the drivetrian shuffleboard code (because this file was copied from the Drivetrain subsystem)
ticket: #11
@danielbrownmsm danielbrownmsm added this to the Enhanced Functionality milestone Dec 31, 2022
danielbrownmsm added a commit that referenced this issue Dec 31, 2022
@danielbrownmsm
instantiates swerve drive kinematics and swerve drive odometry
688361a 
ticket: #11
danielbrownmsm added a commit that referenced this issue Dec 31, 2022
@danielbrownmsm
remove ServeModule class as it was never written and it turns out we …
32f9628 
…don't actually need it

ticket: #11
danielbrownmsm added a commit that referenced this issue Jan 2, 2023
@danielbrownmsm
added drive and steer PID controllers, fleshed out TeleOpDrive method
a0aad18 
ticket: #11
@danielbrownmsm danielbrownmsm mentioned this issue Jan 2, 2023
Open
danielbrownmsm added a commit that referenced this issue Jan 4, 2023
@danielbrownmsm
added velocity readings to swerve software interface
5b66c7b 
added actually getting encoder readings
TODO: add absolute encoder support, everything right now is all the internal NEO encoders
ticket: #11
danielbrownmsm added a commit that referenced this issue Jan 4, 2023
@danielbrownmsm
created teleop and auto commands for the swerve drive
a120dd9 
they do not currently work. ticket: #11
danielbrownmsm added a commit that referenced this issue Jan 4, 2023
@danielbrownmsm
add steering absolute encoders to swerve drive i/o. ticket: #11
2a95107
danielbrownmsm added a commit that referenced this issue Jan 4, 2023
@danielbrownmsm
added swerve drive shuffleboard values to the UI class
2088ee6 
ticket: #11
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Feat/swerve drive support Team-OKC-Robotics/FRC-2022-CPP
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@jkleiber @danielbrownmsm