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package frc.robot.subsystems;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.proto.Trajectory;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import frc.robot.Constants;
import frc.robot.util.IMUGyro;
public class Drivetrain extends SubsystemBase
{
private IMUGyro m_gyro = Constants.gyro;
private CANSparkMax m_motorL_leader = Constants.motorL_leader;
private CANSparkMax m_motorL_follower = Constants.motorL_follower;
private CANSparkMax m_motorR_leader = Constants.motorR_leader;
private CANSparkMax m_motorR_follower = Constants.motorR_follower;
private Encoder m_encoderL = Constants.encoderL;
private Encoder m_encoderR = Constants.encoderR;
private SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1.1, 3.16, 0.17);
private final PIDController m_pidL = new PIDController(1, 0, 0);
private final PIDController m_pidR = new PIDController(1, 0, 0);
private DifferentialDriveKinematics m_kinematics =
new DifferentialDriveKinematics(Constants.TrackWidth);
private DifferentialDriveOdometry m_odometry;
// For system identification
private final MutableMeasure<Voltage> m_voltage = mutable(Volts.of(0));
private final MutableMeasure<Distance> m_distance = mutable(Meters.of(0));
private final MutableMeasure<Velocity<Distance>> m_velocity = mutable(MetersPerSecond.of(0));
private final SysIdRoutine m_sysIdRoutine = new SysIdRoutine(
new SysIdRoutine.Config(),
new SysIdRoutine.Mechanism(
(Measure<Voltage> volts) -> {
m_motorL_leader.set(-volts.in(Volts));
m_motorR_leader.set(-volts.in(Volts));
},
log -> {
log.motor("drive-left")
.voltage(
m_voltage.mut_replace(
m_motorL_leader.get() * RobotController.getBatteryVoltage(), Volts)
)
.linearPosition(m_distance.mut_replace(m_encoderL.getDistance(), Meters))
.linearVelocity(m_velocity.mut_replace(m_encoderL.getRate(), MetersPerSecond));
log.motor("driver-right")
.voltage(
m_voltage.mut_replace(
m_motorR_leader.get() * RobotController.getBatteryVoltage(), Volts)
)
.linearPosition(m_distance.mut_replace(m_encoderR.getDistance(), Meters))
.linearVelocity(m_velocity.mut_replace(m_encoderR.getRate(), MetersPerSecond));
}, this));
public Drivetrain()
{
m_gyro.reset();
m_gyro.calibrateGyro(10000);
m_motorR_follower.follow(m_motorR_leader);
m_motorL_follower.follow(m_motorL_leader);
m_motorR_leader.setInverted(true);
m_encoderL.setReverseDirection(true);
m_encoderL.setDistancePerPulse(Math.PI * Constants.WheelDiameter / Constants.EncoderResolution);
m_encoderR.setDistancePerPulse(Math.PI * Constants.WheelDiameter / Constants.EncoderResolution);
m_encoderL.reset();
m_encoderR.reset();
m_odometry = new DifferentialDriveOdometry(
m_gyro.toRotation2d(),
Constants.encoderL.getDistance(),
Constants.encoderR.getDistance());
}
// speed - linear velocity in m/s
// rot - angular velocity in rad/s
public void arcade(double speed, double rot)
{
speed(m_kinematics.toWheelSpeeds(new ChassisSpeeds(speed, 0.0, rot)));
}
// in m/s
public void tank(double left, double right)
{
speed(new DifferentialDriveWheelSpeeds(left, right));
}
public void speed(DifferentialDriveWheelSpeeds speeds)
{
voltage(
m_pidL.calculate(m_encoderL.getRate(), speeds.leftMetersPerSecond)
+ m_feedforward.calculate(speeds.leftMetersPerSecond),
m_pidR.calculate(m_encoderR.getRate(), speeds.rightMetersPerSecond)
+ m_feedforward.calculate(speeds.rightMetersPerSecond)
);
}
public void voltage(double leftVolts, double rightVolts)
{
m_motorL_leader.setVoltage(leftVolts);
m_motorR_leader.setVoltage(rightVolts);
}
public Pose2d pose2d()
{
return m_odometry.getPoseMeters();
}
public void reset()
{
m_gyro.reset();
m_encoderL.reset();
m_encoderR.reset();
m_odometry = new DifferentialDriveOdometry(
m_gyro.toRotation2d(),
Constants.encoderL.getDistance(),
Constants.encoderR.getDistance());
}
@Override
public void periodic()
{
m_gyro.update();
m_odometry.update(
m_gyro.toRotation2d(),
m_encoderL.getDistance(),
m_encoderR.getDistance());
}
@Override
public void simulationPeriodic() {
// This method will be called once per scheduler run during simulation
}
public Command trajectory(Trajectory trajectory)
{
// TOOD: Implement
// return this.runOnce(...)
return Commands.none();
}
public Command sysIdQausistatic(SysIdRoutine.Direction direction)
{
return m_sysIdRoutine.quasistatic(direction);
}
public Command sysIdDynamic(SysIdRoutine.Direction direction)
{
return m_sysIdRoutine.dynamic(direction);
}
}
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