From d6b52ed6cfe6d28f31eb280dc1b7af497837b3a9 Mon Sep 17 00:00:00 2001 From: michaelx0281 <69123340+michaelx0281@users.noreply.github.com> Date: Mon, 18 Nov 2024 16:53:18 -0500 Subject: [PATCH] there is an error--IDK WHY ATHERE IS AN ERROR --- .../sciborgs1155/robot/drive/TalonModule.java | 101 +++++++----------- 1 file changed, 39 insertions(+), 62 deletions(-) diff --git a/src/main/java/org/sciborgs1155/robot/drive/TalonModule.java b/src/main/java/org/sciborgs1155/robot/drive/TalonModule.java index e211354..beeb7df 100644 --- a/src/main/java/org/sciborgs1155/robot/drive/TalonModule.java +++ b/src/main/java/org/sciborgs1155/robot/drive/TalonModule.java @@ -6,6 +6,8 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.NeutralModeValue; @@ -19,6 +21,8 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.motorcontrol.Talon; + import java.util.Set; import monologue.Annotations.Log; import org.sciborgs1155.lib.SparkUtils; @@ -31,16 +35,18 @@ public class TalonModule implements ModuleIO { private final TalonFX driveMotor; // Kraken X60 - private final CANSparkMax turnMotor; // NEO 550 + private final TalonFX turnMotor; // Kraken X60 -- NEW private final StatusSignal drivePos; private final StatusSignal driveVelocity; - private final SparkAbsoluteEncoder turningEncoder; + // private final SparkAbsoluteEncoder turningEncoder; private final VelocityVoltage velocityOut = new VelocityVoltage(0); + private final PositionVoltage radiansOut = new PositionVoltage(0); - private final SparkPIDController turnPID; + // private final SparkPIDController turnPID; private final SimpleMotorFeedforward driveFF; + private final SimpleMotorFeedforward turnFF; private final Rotation2d angularOffset; @@ -52,73 +58,46 @@ public class TalonModule implements ModuleIO { public TalonModule(int drivePort, int turnPort, Rotation2d angularOffset, String name) { driveMotor = new TalonFX(drivePort); + turnMotor = new TalonFX(turnPort); + drivePos = driveMotor.getPosition(); driveVelocity = driveMotor.getVelocity(); driveFF = new SimpleMotorFeedforward(Driving.FF.TALON.S, Driving.FF.TALON.V, Driving.FF.TALON.A); + turnFF = + new SimpleMotorFeedforward(Turning.FF.S, Turning.FF.V, Turning.FF.A); drivePos.setUpdateFrequency(1 / SENSOR_PERIOD.in(Seconds)); driveVelocity.setUpdateFrequency(1 / SENSOR_PERIOD.in(Seconds)); - TalonFXConfiguration talonConfig = new TalonFXConfiguration(); + TalonFXConfiguration talonDriveConfig = new TalonFXConfiguration(); + TalonFXConfiguration talonTurnConfig = new TalonFXConfiguration(); // reset config - driveMotor.getConfigurator().apply(talonConfig); + driveMotor.getConfigurator().apply(talonDriveConfig); + turnMotor.getConfigurator().apply(talonTurnConfig); - talonConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; - talonConfig.Feedback.SensorToMechanismRatio = Driving.POSITION_FACTOR.in(Meters); - talonConfig.CurrentLimits.SupplyCurrentLimit = Driving.CURRENT_LIMIT.in(Amps); - talonConfig.Slot0.kP = Driving.PID.TALON.P; - talonConfig.Slot0.kI = Driving.PID.TALON.I; - talonConfig.Slot0.kD = Driving.PID.TALON.D; + talonDriveConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + talonDriveConfig.Feedback.SensorToMechanismRatio = Driving.POSITION_FACTOR.in(Meters); + talonDriveConfig.CurrentLimits.SupplyCurrentLimit = Driving.CURRENT_LIMIT.in(Amps); - driveMotor.getConfigurator().apply(talonConfig); + talonTurnConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + talonTurnConfig.Feedback.SensorToMechanismRatio = Turning.POSITION_FACTOR.in(Radians); + talonTurnConfig.CurrentLimits.SupplyCurrentLimit = Turning.CURRENT_LIMIT.in(Amps); - TalonUtils.addMotor(driveMotor); + talonDriveConfig.Slot0.kP = Driving.PID.TALON.P; + talonDriveConfig.Slot0.kI = Driving.PID.TALON.I; + talonDriveConfig.Slot0.kD = Driving.PID.TALON.D; + + talonTurnConfig.Slot0.kP = Turning.PID.P; + talonTurnConfig.Slot0.kI = Turning.PID.I; + talonTurnConfig.Slot0.kD = Turning.PID.D; - turnMotor = new CANSparkMax(turnPort, MotorType.kBrushless); - turningEncoder = turnMotor.getAbsoluteEncoder(); - turnPID = turnMotor.getPIDController(); - - check(turnMotor, turnMotor.restoreFactoryDefaults()); - - check(turnMotor, turnPID.setP(Turning.PID.P)); - check(turnMotor, turnPID.setI(Turning.PID.I)); - check(turnMotor, turnPID.setD(Turning.PID.D)); - check(turnMotor, turnPID.setPositionPIDWrappingEnabled(true)); - check(turnMotor, turnPID.setPositionPIDWrappingMinInput(-Math.PI)); - check(turnMotor, turnPID.setPositionPIDWrappingMaxInput(Math.PI)); - check(turnMotor, turnPID.setFeedbackDevice(turningEncoder)); - - check(turnMotor, turnMotor.setIdleMode(IdleMode.kBrake)); - check(turnMotor, turnMotor.setSmartCurrentLimit((int) Turning.CURRENT_LIMIT.in(Amps))); - turningEncoder.setInverted(Turning.ENCODER_INVERTED); - check(turnMotor); - check( - turnMotor, turningEncoder.setPositionConversionFactor(Turning.POSITION_FACTOR.in(Radians))); - check( - turnMotor, - turningEncoder.setVelocityConversionFactor(Turning.VELOCITY_FACTOR.in(RadiansPerSecond))); - check(turnMotor, turningEncoder.setAverageDepth(2)); - check( - turnMotor, - SparkUtils.configureFrameStrategy( - turnMotor, - Set.of(Data.POSITION, Data.VELOCITY, Data.APPLIED_OUTPUT), - Set.of(Sensor.ABSOLUTE), - false)); - SparkUtils.addChecker( - () -> - check( - turnMotor, - SparkUtils.configureFrameStrategy( - turnMotor, - Set.of(Data.POSITION, Data.VELOCITY, Data.APPLIED_OUTPUT), - Set.of(Sensor.ABSOLUTE), - false))); - check(turnMotor, turnMotor.burnFlash()); - - register(turnMotor); + driveMotor.getConfigurator().apply(talonDriveConfig); + turnMotor.getConfigurator().apply(talonTurnConfig); + + TalonUtils.addMotor(driveMotor); + TalonUtils.addMotor(turnMotor); resetEncoders(); @@ -153,11 +132,7 @@ public double driveVelocity() { @Override public Rotation2d rotation() { - lastRotation = - SparkUtils.wrapCall( - turnMotor, - Rotation2d.fromRadians(turningEncoder.getPosition()).minus(angularOffset)) - .orElse(lastRotation); + lastRotation = Rotation2d.fromRadians(turnMotor.getRotorPosition().getValueAsDouble()).minus(angularOffset); return lastRotation; } @@ -189,7 +164,9 @@ public void setDriveSetpoint(double velocity) { @Override public void setTurnSetpoint(double angle) { - turnPID.setReference(angle, ControlType.kPosition); + turnMotor.setControl( + radiansOut.withPosition(angle).withFeedForward(turnFF.calculate(angle)); + ) } @Override