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Auto-Balance Update 0.1 #3

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Auto-Balance Update 0.1 #3

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5e4932f
Auto-Balance Update 0.1
StabStabImAChicken Jan 18, 2023
47d1c6a
Update SwerveDrive.java
StabStabImAChicken Jan 19, 2023
3c65b7f
Roll Update
StabStabImAChicken Jan 19, 2023
541be26
Value changes
StabStabImAChicken Jan 20, 2023
ca3390a
Functional Update
StabStabImAChicken Jan 20, 2023
825ee4e
Issue Changes #1
StabStabImAChicken Jan 21, 2023
c629fbc
Update to make merge of main into branch possible
StabStabImAChicken Jan 22, 2023
248ae18
Merge branch 'main' into Shane_Auto-balancing
smccrorie Jan 22, 2023
27b120f
Merge branch 'Shane_Auto-balancing' of https://github.com/wildstang/2…
smccrorie Jan 22, 2023
59bbb64
Should be a little faster
StabStabImAChicken Jan 22, 2023
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20 changes: 19 additions & 1 deletion src/main/java/org/wildstang/year2023/subsystems/swerve/SwerveDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ public class SwerveDrive extends SwerveDriveTemplate {
private WSSwerveHelper swerveHelper = new WSSwerveHelper();
private AimHelper limelight;

public enum driveType {TELEOP, AUTO, CROSS, LL};
public enum driveType {TELEOP, AUTO, CROSS, LL, AUTO_BALANCE};
public driveType driveState;

@Override
Expand Down Expand Up @@ -266,6 +266,24 @@ public void update() {
this.swerveSignal = swerveHelper.setDrive(xSpeed, ySpeed, rotSpeed, getGyroAngle());
drive();
}
if (driveState == driveType.AUTO_BALANCE){
if(gyro.getPitch() != 0){
if(Math.abs(gyro.getPitch()) >= 5){
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What happens if the pitch/roll goes directly from 5 to 0?

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@StabStabImAChicken StabStabImAChicken Jan 21, 2023 •
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As the code sits now, the speed would not change. I should fix the != 0 part. Thank you

ySpeed = gyro.getPitch() * 2;
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A minimum speed of 10 sure is fast

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I didn't have an accurate reference for how fast the different speeds are, so I just thought 10% of maximum speed would be pretty slow. Stuart suggested a speed of 30 should be our top speed on the ramp, so I assumed it was slow

}else{
ySpeed = 0;
}
}
if(gyro.getRoll() != 0){
if(Math.abs(gyro.getRoll()) >= 5){
xSpeed = gyro.getRoll() * 2;
}else{
xSpeed = 0;
}
}
this.swerveSignal = swerveHelper.setDrive(xSpeed, ySpeed, 0, 0);
drive();
}
SmartDashboard.putNumber("Gyro Reading", getGyroAngle());
SmartDashboard.putNumber("X speed", xSpeed);
SmartDashboard.putNumber("Y speed", ySpeed);
Expand Down