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Test/swerve 2023 #35

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Test/swerve 2023 #35

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danielbrownmsm and others added 30 commits December 24, 2022 11:08
@danielbrownmsm
add swerve drive motors to actuator interface
e2e4ac8
@danielbrownmsm
add swerve drive absolute steering encoders to sensor interface
4d65374
@danielbrownmsm
create swerve drive hardware interface per #11
e8767c6
@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
fixes bug with drive config from last commit
8cc8137 
issue: #11
@danielbrownmsm
adds swerve drive parameters to the parameters.toml file per #11
3244231
@danielbrownmsm
add swerve drive to RobotContainer per #11
60a2d43
@danielbrownmsm
add swerve drive to RobotContainer header per #11
3b0fe4f
@danielbrownmsm
created SwerveModule classes, need to be fleshed out
e8fe72e
@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
fixes swerve drive initialization in RobotContainer
a5846dd
@danielbrownmsm
fixes swerve drive subsystem constructor
b1e56d1
@danielbrownmsm
instantiates swerve drive kinematics and swerve drive odometry
688361a 
ticket: #11
@danielbrownmsm
Merge branch 'master' into feat/swerve-drive-support
24e7e39
@danielbrownmsm
remove ServeModule class as it was never written and it turns out we …
32f9628 
…don't actually need it

ticket: #11
@danielbrownmsm
Merge branch 'feat/swerve-drive-support' of https://github.com/Team-O…
9cc17d2 
…KC-Robotics/FRC-2022-CPP into feat/swerve-drive-support
@danielbrownmsm
added swerve drive PID constants
f43a456
@danielbrownmsm
fixed SwerveDrive.h default constructors, added PID controllers
ded7317
@danielbrownmsm
created actual swerve I/O motor outputs
076b762
@danielbrownmsm
added drive and steer PID controllers, fleshed out TeleOpDrive method
a0aad18 
ticket: #11
@danielbrownmsm
created swerve module class
9db4fa1
@danielbrownmsm
fix swerve module not actually having a way to set its physical location
06b330d
@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
fix destructor
20f607e
@danielbrownmsm
set outputs in sw_interface
219fa28
@danielbrownmsm
added absolute encoders to hardware interface
1ee7e1e
@danielbrownmsm
created teleop and auto commands for the swerve drive
a120dd9 
they do not currently work. ticket: #11
@danielbrownmsm
add steering absolute encoders to swerve drive i/o. ticket: #11
2a95107
@danielbrownmsm
fix swerve module constructor
b6f1e0b
@danielbrownmsm
added swerve drive shuffleboard values to the UI class
2088ee6 
ticket: #11
@danielbrownmsm
remove feedforward
3b917c6
@danielbrownmsm
change swerve encoders to SparkMaxRelativeEncoder instead of just Rel…
8ea2bfd 
…ativeEncoder
@danielbrownmsm
kill everything that isn't swerve drive (and drivetrain) with fire
73e573d
@danielbrownmsm
kill the drivetrain with fire too
f99b5e5
@danielbrownmsm
missed an ember
def02ee
@danielbrownmsm
delete drivetrain test
68cfde3
@danielbrownmsm
remove everything but swerve from parameters.toml
6dd95e4
@danielbrownmsm
more OKC_CHECKs
2540464
@danielbrownmsm
fix nullptr and OKC_CHECK fails and segfaulting etc etc
f822f75
@danielbrownmsm
saved/created shuffleboard layout
0dc0b81
@danielbrownmsm
remove button bindings not related to swerve, change absolute encoder…
66e3cc0 
…s from AnalogInput to AnalogEncoder
@danielbrownmsm
remove all non-swerve shuffleboard
f864c3f
@danielbrownmsm
make swerve modules PID controllers pointers
ac20ccb
@danielbrownmsm
more OKC_CHECK stuff in SwerveDrive
854ae99
@danielbrownmsm
remove non swerve buttons
5bf530e
@danielbrownmsm
attempt to tune PIDs
142ee7b
@danielbrownmsm
fix absolute encoder readings in swerve IO
31cc711
@danielbrownmsm
swap to dump tele op drive for now
afc8463
@danielbrownmsm
add a method to SwerveModule to bypass WPILib's crap and do manual an…
47be45e 
…gle setting
@danielbrownmsm
fix gamepad axes for TeleOp
29cc14e
@danielbrownmsm
manually implement turning in teleop for SwerveDrive subsystem
f87efb5
@danielbrownmsm
reset relative encoders in RestSteerEncoders() (for velocity)
fdb33f9
@danielbrownmsm
tune swerve PIDs, add absolute encoder offsets
8e7fada
@danielbrownmsm
continuous input for steer PID, added absolute encoder offsets, a man…
35ba055 
…ual angle setting (to bypass WPILib kinematics), and fixed absolute encoder readings
@danielbrownmsm danielbrownmsm mentioned this pull request Jan 15, 2023
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2 participants
@danielbrownmsm @jkleiber