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SFUnity · Nov 12, 2024 · d0d79e8 · d0d79e8
1 parent 3b215e5
commit d0d79e8
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Showing 5 changed files with 25 additions and 28 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -30,7 +30,8 @@ public class Drive extends SubsystemBase {
 
   Rotation2d rawGyroRotation = new Rotation2d();
 
- public SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(DriveConstants.kS, DriveConstants.kV, DriveConstants.kA);
+  public SimpleMotorFeedforward feedforward =
+      new SimpleMotorFeedforward(DriveConstants.kS, DriveConstants.kV, DriveConstants.kA);
 
   public Drive(DriveIO io, GyroIO gyroIO, PoseManager poseManager) {
     this.io = io;
@@ -113,16 +114,17 @@ public void driveVelocity(double leftMetersPerSec, double rightMetersPerSec) {
     double leftRadPerSec = leftMetersPerSec / DriveConstants.WHEEL_RADIUS;
     double rightRadPerSec = rightMetersPerSec / DriveConstants.WHEEL_RADIUS;
 
-    //TODO:pass in parameters
-   // setVelocity();
-    
+    // TODO:pass in parameters
+    // setVelocity();
+
   }
+
   public void setVelocity(double leftSpeedMetersPerSecond, double rightSpeedMetersPerSecond) {
     // Calculate the voltage needed for each side
     double leftFeedforward = feedforward.calculate(leftSpeedMetersPerSecond);
     double rightFeedforward = feedforward.calculate(rightSpeedMetersPerSecond);
 
     // Set the motor voltages with feedforward applied
-  io.differentialDrive(leftFeedforward, rightFeedforward);
-}
+    io.differentialDrive(leftFeedforward, rightFeedforward);
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.drive;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 
 public final class DriveConstants {
@@ -14,11 +13,8 @@ public final class DriveConstants {
   public static final DifferentialDriveKinematics kinematics =
       new DifferentialDriveKinematics(0.508);
 
-
-      //TODO: Tune THese
-    public static final double kS = 0;
-     public static final double kV = 0;
-      public static final double kA = 0;
-
-
+  // TODO: Tune THese
+  public static final double kS = 0;
+  public static final double kV = 0;
+  public static final double kA = 0;
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIO.java b/src/main/java/frc/robot/subsystems/drive/DriveIO.java
@@ -1,9 +1,7 @@
 package frc.robot.subsystems.drive;
 
-import org.littletonrobotics.junction.AutoLog;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import org.littletonrobotics.junction.AutoLog;
 
 public interface DriveIO {
   @AutoLog
@@ -17,14 +15,18 @@ public static class DriveIOInputs {
     public double rightAppliedVolts = 0.0;
     public double leftCurrentAmps = 0.0;
     public double rightCurrentAmps = 0.0;
-
-     SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(DriveConstants.kS, DriveConstants.kV, DriveConstants.kA);
+
+    SimpleMotorFeedforward feedforward =
+        new SimpleMotorFeedforward(DriveConstants.kS, DriveConstants.kV, DriveConstants.kA);
   }
 
   default void updateInputs(DriveIOInputs inputs) {}
 
   default void arcadeDrive(double xSpeed, double omegaRotation) {}
-  default void setVelocity(){};
-  default void differentialDrive(double leftSpeed, double rightSpeed){};
-
+
+  default void setVelocity() {}
+  ;
+
+  default void differentialDrive(double leftSpeed, double rightSpeed) {}
+  ;
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOReal.java b/src/main/java/frc/robot/subsystems/drive/DriveIOReal.java
@@ -38,8 +38,9 @@ public void arcadeDrive(double xSpeed, double omegaRotation) {
       driveTrain.arcadeDrive(xSpeed, omegaRotation);
     }
   }
-  @Override 
-  public void differentialDrive(double leftSpeed, double rightSpeed){
+
+  @Override
+  public void differentialDrive(double leftSpeed, double rightSpeed) {
     driveTrain.tankDrive(leftSpeed, rightSpeed);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
@@ -14,16 +14,12 @@
 package frc.robot.subsystems.drive;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public class DriveIOSim implements DriveIO {
   private DifferentialDrivetrainSim sim =