dunno why but everything was messed up, this should be good

Team841 · Nov 3, 2023 · 0ac568b · 0ac568b
1 parent a40a04c
commit 0ac568b
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Showing 12 changed files with 201 additions and 61 deletions.
diff --git a/networktables.json b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,97 @@
+{
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
@@ -0,0 +1,45 @@
+{
+  "HALProvider": {
+    "Other Devices": {
+      "Talon FX (Pro)[1]/Fwd Limit": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (Pro)[3]/Fwd Limit": {
+        "header": {
+          "open": true
+        }
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Pose": "Field2d",
+      "/SmartDashboard/Module 0": "Mechanism2d",
+      "/SmartDashboard/Module 1": "Mechanism2d",
+      "/SmartDashboard/Module 2": "Mechanism2d",
+      "/SmartDashboard/Module 3": "Mechanism2d"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Drive": {
+        "open": true
+      },
+      "LiveWindow": {
+        "open": true
+      },
+      "Shuffleboard": {
+        "open": true
+      },
+      "SmartDashboard": {
+        "Module 3": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}
diff --git a/...n2023/Swerve23/Constants/ConstantsIO.java → ...am841/Swerve23/Constants/ConstantsIO.java b/...n2023/Swerve23/Constants/ConstantsIO.java → ...am841/Swerve23/Constants/ConstantsIO.java
@@ -43,6 +43,4 @@ public static final class CANID {
     // Pigeon
     public static final int kPigeon = 0;
   }
-
-
 }
diff --git a/...Swerve23/Constants/SubsystemManifest.java → ...Swerve23/Constants/SubsystemManifest.java b/...Swerve23/Constants/SubsystemManifest.java → ...Swerve23/Constants/SubsystemManifest.java
diff --git a/src/main/java/com/team841/Swerve23/Constants/Swerve.java b/src/main/java/com/team841/Swerve23/Constants/Swerve.java
@@ -20,69 +20,70 @@ public CustomSlotGains(double kP, double kI, double kD, double kV, double kS) {
   }
 
   private static final CustomSlotGains steerGains = new CustomSlotGains(100, 0, 0.05, 0, 0);
-    private static final CustomSlotGains driveGains = new CustomSlotGains(3, 0, 0, 0, 0);
+  private static final CustomSlotGains driveGains = new CustomSlotGains(3, 0, 0, 0, 0);
 
-    private static final double kCoupleRatio = 0.0;
-
-    private static final double kDriveGearRatio = 6.12;
-    private static final double kSteerGearRatio = 21.42;
-    private static final double kWheelRadiusInches = 3.5;
-    private static final int kPigeonId = 0;
-    private static final boolean kSteerMotorReversed = true;
-    private static final String kCANbusName = "Default Name";
-    private static final boolean kInvertLeftSide = false;
-    private static final boolean kInvertRightSide = false;
+  private static final double kCoupleRatio = 0.0;
 
+  private static final double kDriveGearRatio = 6.12;
+  private static final double kSteerGearRatio = 21.42;
+  private static final double kWheelRadiusInches = 3.5;
+  private static final int kPigeonId = 0;
+  private static final boolean kSteerMotorReversed = true;
+  private static final String kCANbusName = "Default Name";
+  private static final boolean kInvertLeftSide = false;
+  private static final boolean kInvertRightSide = false;
 
-    private static double kSteerInertia = 0.00001;
-    private static double kDriveInertia = 0.001;
+  private static double kSteerInertia = 0.00001;
+  private static double kDriveInertia = 0.001;
 
-    private static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
-            .withPigeon2Id(kPigeonId)
-            .withCANbusName(kCANbusName);
+  private static final SwerveDrivetrainConstants DrivetrainConstants =
+      new SwerveDrivetrainConstants().withPigeon2Id(kPigeonId).withCANbusName(kCANbusName);
 
-    private static final SwerveModuleConstantsFactory ConstantCreator = new SwerveModuleConstantsFactory()
-            .withDriveMotorGearRatio(kDriveGearRatio)
-            .withSteerMotorGearRatio(kSteerGearRatio)
-            .withWheelRadius(kWheelRadiusInches)
-            .withSlipCurrent(800)
-            .withSteerMotorGains(steerGains)
-            .withDriveMotorGains(driveGains)
-            .withSpeedAt12VoltsMps(6) // Theoretical free speed is 10 meters per second at 12v applied output
-            .withSteerInertia(kSteerInertia)
-            .withDriveInertia(kDriveInertia)
-            .withFeedbackSource(SwerveModuleSteerFeedbackType.FusedCANcoder)
-            .withCouplingGearRatio(kCoupleRatio) // Every 1 rotation of the azimuth results in couple ratio drive turns
-            .withSteerMotorInverted(kSteerMotorReversed);
+  private static final SwerveModuleConstantsFactory ConstantCreator =
+      new SwerveModuleConstantsFactory()
+          .withDriveMotorGearRatio(kDriveGearRatio)
+          .withSteerMotorGearRatio(kSteerGearRatio)
+          .withWheelRadius(kWheelRadiusInches)
+          .withSlipCurrent(800)
+          .withSteerMotorGains(steerGains)
+          .withDriveMotorGains(driveGains)
+          .withSpeedAt12VoltsMps(
+              6) // Theoretical free speed is 10 meters per second at 12v applied output
+          .withSteerInertia(kSteerInertia)
+          .withDriveInertia(kDriveInertia)
+          .withFeedbackSource(SwerveModuleSteerFeedbackType.FusedCANcoder)
+          .withCouplingGearRatio(
+              kCoupleRatio) // Every 1 rotation of the azimuth results in couple ratio drive turns
+          .withSteerMotorInverted(kSteerMotorReversed);
 
-    private static final int kFrontLeftDriveMotorId = 3;
-    private static final int kFrontLeftSteerMotorId = 4;
-    private static final int kFrontLeftEncoderId = 2;
-    private static final double kFrontLeftEncoderOffset = -0.521728515625;
+  private static final int kFrontLeftDriveMotorId = 3;
+  private static final int kFrontLeftSteerMotorId = 4;
+  private static final int kFrontLeftEncoderId = 2;
+  private static final double kFrontLeftEncoderOffset = -0.521728515625;
 
-    private static final double kFrontLeftXPosInches = 10.375;
-    private static final double kFrontLeftYPosInches = 10.375;
-    private static final int kFrontRightDriveMotorId = 1;
-    private static final int kFrontRightSteerMotorId = 2;
-    private static final int kFrontRightEncoderId = 0;
-    private static final double kFrontRightEncoderOffset = -0.169921875;
+  private static final double kFrontLeftXPosInches = 10.375;
+  private static final double kFrontLeftYPosInches = 10.375;
+  private static final int kFrontRightDriveMotorId = 1;
+  private static final int kFrontRightSteerMotorId = 2;
+  private static final int kFrontRightEncoderId = 0;
+  private static final double kFrontRightEncoderOffset = -0.169921875;
 
-    private static final double kFrontRightXPosInches = 10.375;
-    private static final double kFrontRightYPosInches = -10.375;
-    private static final int kBackLeftDriveMotorId = 5;
-    private static final int kBackLeftSteerMotorId = 6;
-    private static final int kBackLeftEncoderId = 3;
-    private static final double kBackLeftEncoderOffset = -0.3486328125;
+  private static final double kFrontRightXPosInches = 10.375;
+  private static final double kFrontRightYPosInches = -10.375;
+  private static final int kBackLeftDriveMotorId = 5;
+  private static final int kBackLeftSteerMotorId = 6;
+  private static final int kBackLeftEncoderId = 3;
+  private static final double kBackLeftEncoderOffset = -0.3486328125;
 
-    private static final double kBackLeftXPosInches = -10.375;
-    private static final double kBackLeftYPosInches = 10.375;
-    private static final int kBackRightDriveMotorId = 7;
-    private static final int kBackRightSteerMotorId = 8;
-    private static final int kBackRightEncoderId = 4;
-    private static final double kBackRightEncoderOffset = -0.784423828125;
+  private static final double kBackLeftXPosInches = -10.375;
+  private static final double kBackLeftYPosInches = 10.375;
+  private static final int kBackRightDriveMotorId = 7;
+  private static final int kBackRightSteerMotorId = 8;
+  private static final int kBackRightEncoderId = 4;
+  private static final double kBackRightEncoderOffset = -0.784423828125;
 
-    private static final double kBackRightXPosInches = -10.375;
-    private static final double kBackRightYPosInches = -10.375;
+  private static final double kBackRightXPosInches = -10.375;
+  private static final double kBackRightYPosInches = -10.375;
 
   private static final SwerveModuleConstants FrontLeft =
       ConstantCreator.createModuleConstants(

diff --git a/src/main/java/com/team841/Swerve23/ControlBoard/xBoxController.java b/src/main/java/com/team841/Swerve23/ControlBoard/xBoxController.java
@@ -1,5 +1,3 @@
 package com.team841.Swerve23.ControlBoard;
 
-public class xBoxController {
-    ;
-}
+public class xBoxController {}
diff --git a/...season2023/Swerve23/Drive/Drivetrain.java → ...om/team841/Swerve23/Drive/Drivetrain.java b/...season2023/Swerve23/Drive/Drivetrain.java → ...om/team841/Swerve23/Drive/Drivetrain.java
diff --git a/.../team841/offseason2023/Swerve23/Main.java → src/main/java/com/team841/Swerve23/Main.java b/.../team841/offseason2023/Swerve23/Main.java → src/main/java/com/team841/Swerve23/Main.java
diff --git a/...team841/offseason2023/Swerve23/Robot.java → ...main/java/com/team841/Swerve23/Robot.java b/...team841/offseason2023/Swerve23/Robot.java → ...main/java/com/team841/Swerve23/Robot.java
diff --git a/...ffseason2023/Swerve23/RobotContainer.java → .../com/team841/Swerve23/RobotContainer.java b/...ffseason2023/Swerve23/RobotContainer.java → .../com/team841/Swerve23/RobotContainer.java
@@ -5,7 +5,6 @@
 import com.team841.Swerve23.Constants.ConstantsIO;
 import com.team841.Swerve23.Constants.SubsystemManifest;
 import com.team841.Swerve23.Drive.Drivetrain;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -19,7 +18,8 @@ public class RobotContainer {
   final double MaxAngularRate = Math.PI; // Half a rotation per second max angular velocity
 
   /* Setting up bindings for necessary control of the swerve drive platform */
-  CommandPS4Controller joystick = new CommandPS4Controller(ConstantsIO.OI.driverPortLeft); // My joystick
+  CommandPS4Controller joystick =
+      new CommandPS4Controller(ConstantsIO.OI.driverPortLeft); // My joystick
   Drivetrain drivetrain = SubsystemManifest.drivetrain; // My drivetrain
   SwerveRequest.FieldCentric drive =
       new SwerveRequest.FieldCentric().withIsOpenLoop(true); // I want field-centric

diff --git a/...841/offseason2023/util/tunableNumber.java → ...a/com/team841/lib/util/tunableNumber.java b/...841/offseason2023/util/tunableNumber.java → ...a/com/team841/lib/util/tunableNumber.java
@@ -1,4 +1,4 @@
-package com.team841.offseason2023.util;
+package com.team841.lib.util;
 
 import com.team841.Swerve23.Constants.ConstantsIO;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-Original file line number
+Diff line change
@@ Expand Up / @@ -43,6 +43,4 @@ public static final class CANID { @@
         // Pigeon
         public static final int kPigeon = 0;
       }
     }