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Merge pull request #66 from DeepBlueRobotics/merge-actual-dt-characte…
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…rization

Merge actual-dt-characterization, dt-characterization, and swim-shady-dt
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@FriedLongJohns
FriedLongJohns authored May 12, 2024
2 parents 7fb295c + aee3463 commit db6f168
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Showing 4 changed files with 490 additions and 31 deletions.
26 changes: 22 additions & 4 deletions simgui.json
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
"types": {
"/FMSInfo": "FMSInfo",
"/Shuffleboard/Auto Chooser Tab/SendableChooser[0]": "String Chooser",
"/Shuffleboard/Auto Chooser Tab/SendableChooser[1]": "String Chooser",
"/Shuffleboard/arm SysID/dynamic backward": "Command",
"/Shuffleboard/arm SysID/dynamic forward": "Command",
"/Shuffleboard/arm SysID/quasistatic backward": "Command",
Expand All @@ -45,6 +46,7 @@
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/Intake Shooter": "Subsystem",
"/SmartDashboard/SendableChooser[0]": "String Chooser",
"/SmartDashboard/SendableChooser[1]": "String Chooser",
"/SmartDashboard/moveClimber": "Command"
},
"windows": {
Expand All @@ -59,22 +61,38 @@
"left": 150,
"right": 2961,
"top": 79,
"width": 16.541748046875
"width": 16.541748046875,
"window": {
"visible": true
}
}
}
},
"NetworkTables": {
"persistent": {
"SmartDashboard": {
"open": true
}
},
"retained": {
"Shuffleboard": {
"open": true
}
},
"transitory": {
"Shuffleboard": {
"open": true
},
"SmartDashboard": {
"Arm": {
"open": true
},
"BL": {
"open": true
},
"BR": {
"open": true
},
"CONFIG overrides": {
"open": true
},
"FL": {
"open": true
},
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11 changes: 11 additions & 0 deletions src/main/java/org/carlmontrobotics/Config.java
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Expand Up @@ -22,13 +22,24 @@ public abstract class Config implements Sendable {

// Add additional config settings by declaring a protected field, and...
protected boolean exampleFlagEnabled = false;
protected boolean swimShady = false;
protected boolean setupSysId = false;

// ...a public getter starting with "is" for booleans or "get" for other types.
// Do NOT remove this example. It is used by unit tests.

public boolean isExampleFlagEnabled() {
return exampleFlagEnabled;
}

public boolean isSwimShady() {
return swimShady;
}

public boolean isSysIdTesting() {
return setupSysId;
}

// --- For clarity, place additional config settings ^above^ this line ---

private static class MethodResult {
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49 changes: 29 additions & 20 deletions src/main/java/org/carlmontrobotics/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
package org.carlmontrobotics;

import org.carlmontrobotics.lib199.swerve.SwerveConfig;
import static org.carlmontrobotics.Config.CONFIG;

import com.pathplanner.lib.path.PathConstraints;
import com.pathplanner.lib.util.ReplanningConfig;
Expand Down Expand Up @@ -194,8 +195,10 @@ public static final class Drivetrainc {

// #region Subsystem Constants

public static final double wheelBase = Units.inchesToMeters(16.75);
public static final double trackWidth = Units.inchesToMeters(23.75);
public static final double wheelBase = CONFIG.isSwimShady() ? Units.inchesToMeters(19.75)
: Units.inchesToMeters(16.75);
public static final double trackWidth = CONFIG.isSwimShady() ? Units.inchesToMeters(28.75)
: Units.inchesToMeters(23.75);
// "swerveRadius" is the distance from the center of the robot to one of the
// modules
public static final double swerveRadius = Math.sqrt(Math.pow(wheelBase / 2, 2) + Math.pow(trackWidth / 2, 2));
Expand Down Expand Up @@ -232,7 +235,8 @@ public static final class Drivetrainc {
// public static final boolean[] reversed = {true, true, true, true};
// Determine correct turnZero constants (FL, FR, BL, BR)
public static final double[] turnZeroDeg = RobotBase.isSimulation() ? new double[] {-90.0, -90.0, -90.0, -90.0 }
: new double[] { -48.6914, 63.3691, 94.1309, -6.7676 };/* real values here */
: (CONFIG.isSwimShady() ? new double[] { 85.7812, 85.0782, -96.9433, -162.9492 }
: new double[] { -48.6914, 63.3691, 94.1309, -6.7676 });/* real values here */

// kP, kI, and kD constants for turn motor controllers in the order of
// front-left, front-right, back-left, back-right.
Expand All @@ -254,11 +258,14 @@ public static final class Drivetrainc {
// Forward: 1.72, 1.71, 1.92, 1.94
// Backward: 1.92, 1.92, 2.11, 1.89
// Order of modules: (FL, FR, BL, BR)
public static final double[] drivekP = { 1.75, 1.75, 1.75, .75 }; // {1.82/100, 1.815/100, 2.015/100,
public static final double[] drivekP = CONFIG.isSwimShady() ? new double[] { 2.8, 2.8, 2.8, 2.8 }
: new double[] { 1.75, 1.75, 1.75, .75 }; // {1.82/100, 1.815/100, 2.015/100,
// 1.915/100};
public static final double[] drivekI = { 0, 0, 0, 0 };
public static final double[] drivekD = { 0, 0, 0, 0 };
public static final boolean[] driveInversion = { true, false, true, false };
public static final boolean[] driveInversion = (CONFIG.isSwimShady()
? new boolean[] { false, false, false, false }
: new boolean[] { true, false, true, false });
public static final boolean[] turnInversion = { true, true, true, true };
// kS
public static final double[] kForwardVolts = { 0.26744, 0.31897, 0.27967, 0.2461 };
Expand All @@ -280,9 +287,11 @@ public static final class Drivetrainc {
public static final boolean isGyroReversed = true;

// PID values are listed in the order kP, kI, and kD
public static final double[] xPIDController = { 2, 0.0, 0.0 };
public static final double[] yPIDController = { 2, 0.0, 0.0 };
public static final double[] thetaPIDController = { 0.05, 0.0, 0.00 };
public static final double[] xPIDController = CONFIG.isSwimShady() ? new double[] { 4, 0.0, 0.0 }
: new double[] { 2, 0.0, 0.0 };
public static final double[] yPIDController = xPIDController;
public static final double[] thetaPIDController = CONFIG.isSwimShady() ? new double[] { 0.10, 0.0, 0.001 }
: new double[] { 0.05, 0.0, 0.00 };

public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu,
autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels,
Expand All @@ -296,20 +305,20 @@ public static final class Drivetrainc {

// #region Ports

public static final int driveFrontLeftPort = 11; //
public static final int driveFrontRightPort = 19; //
public static final int driveBackLeftPort = 14; //
public static final int driveBackRightPort = 17; // correct
public static final int driveFrontLeftPort = CONFIG.isSwimShady() ? 8 : 11; //
public static final int driveFrontRightPort = CONFIG.isSwimShady() ? 13 : 19; //
public static final int driveBackLeftPort = CONFIG.isSwimShady() ? 5 : 14; //
public static final int driveBackRightPort = CONFIG.isSwimShady() ? 11 : 17; // correct

public static final int turnFrontLeftPort = 12; //
public static final int turnFrontRightPort = 20; // 20
public static final int turnBackLeftPort = 15; //
public static final int turnBackRightPort = 16; // correct
public static final int turnFrontLeftPort = CONFIG.isSwimShady() ? 7 : 12; //
public static final int turnFrontRightPort = CONFIG.isSwimShady() ? 14 : 20; // 20
public static final int turnBackLeftPort = CONFIG.isSwimShady() ? 6 : 15; //
public static final int turnBackRightPort = CONFIG.isSwimShady() ? 12 : 16; // correct

public static final int canCoderPortFL = 0;
public static final int canCoderPortFR = 3;
public static final int canCoderPortBL = 2;
public static final int canCoderPortBR = 1;
public static final int canCoderPortFL = CONFIG.isSwimShady() ? 4 : 0;
public static final int canCoderPortFR = CONFIG.isSwimShady() ? 2 : 3;
public static final int canCoderPortBL = CONFIG.isSwimShady() ? 3 : 2;
public static final int canCoderPortBR = CONFIG.isSwimShady() ? 1 : 1;

// #endregion

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