Merge branch 'main' of https://github.com/Team334/R2024

Team334 · Jan 20, 2024 · 6267e0b · 6267e0b
2 parents 2dcba87 + 3f69a00
commit 6267e0b
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Showing 6 changed files with 12 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -42,8 +42,8 @@ public static class CAN {
   public static class Speeds {
     public static final double SWERVE_DRIVE_COEFF = 0.3;
 
-    public static final double SWERVE_DRIVE_MAX_SPEED = 2.88; // TODO: Get this value
-    public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI; // Todo: Get this value
+    public static final double SWERVE_DRIVE_MAX_SPEED = 8.78; // TODO: Get this value
+    public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 2; // Todo: Get this value
   }
 
   public static class Physical {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -73,11 +73,9 @@ public RobotContainer() {
   // to configure button bindings
   private void configureBindings() {
     _driveController.R1().onTrue(new ToggleSwerveOrient(_swerveDrive));
-    _driveController.L1().onTrue(new ResetGyro(_swerveDrive));
-    _driveController.cross().onTrue(new ResetPose(_swerveDrive));
+    _driveController.square().onTrue(new ResetPose(_swerveDrive));
     _driveController.circle().whileTrue(new Shooter(_shooterSubsystem));
-
-    _driveController.square().whileTrue(new BrakeSwerve(_swerveDrive, 0));
+    _driveController.cross().whileTrue(new BrakeSwerve(_swerveDrive, 0));
   }
 
   /** @return The Command to schedule for auton. */

diff --git a/src/main/java/frc/robot/commands/swerve/TeleopDrive.java b/src/main/java/frc/robot/commands/swerve/TeleopDrive.java
@@ -53,8 +53,8 @@ public void execute() {
 
     // drive the swerve chassis subsystem
     _swerveDrive.driveChassis(new ChassisSpeeds(
-      xSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED,
-      ySpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED,
+      xSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
+      ySpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
       rotationSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_ANGULAR_SPEED
     ));
   }

diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
@@ -168,8 +168,10 @@ public void periodic() {
     _field.setRobotPose(_pose);
     SmartDashboard.putData("FIELD", _field);
 
-    _robotSpeed = Math.sqrt(Math.pow(getRobotRelativeSpeeds().vxMetersPerSecond, 2)  + Math.pow(getRobotRelativeSpeeds().vyMetersPerSecond, 2));
-    SmartDashboard.putNumber("DRIVE SPEED (m/s)", _robotSpeed);
+    _robotSpeed = Math.sqrt(Math.pow(getRobotRelativeSpeeds().vxMetersPerSecond, 2)  + Math.pow(getRobotRelativeSpeeds().vyMetersPerSecond, 2)); 
+
+    SmartDashboard.putNumber("ANGULAR SPEED", getRobotRelativeSpeeds().omegaRadiansPerSecond / Math.PI);
+    SmartDashboard.putNumber("DRIVE SPEED (m/s)", _robotSpeed); 
   }
 
   /**

diff --git a/src/main/java/frc/robot/utils/SwerveModule.java b/src/main/java/frc/robot/utils/SwerveModule.java
@@ -110,7 +110,7 @@ public void setState(SwerveModuleState state) {
         double rotation_volts = -MathUtil.clamp(_rotationController.calculate(getAngle(), state.angle.getDegrees()), -1.5, 1.5);
 
         double drive_pid = _driveController.calculate(getDriveVelocity(), speed);
-        double drive_output = (speed / Constants.Speeds.SWERVE_DRIVE_MAX_SPEED) * Constants.Speeds.SWERVE_DRIVE_COEFF;
+        double drive_output = (speed / Constants.Speeds.SWERVE_DRIVE_MAX_SPEED);
         drive_output += drive_pid;
 
         rotate(rotation_volts / RobotController.getBatteryVoltage());

diff --git a/src/main/java/frc/robot/utils/TalonFXConfig.java b/src/main/java/frc/robot/utils/TalonFXConfig.java
@@ -37,7 +37,7 @@ public static TalonFXConfiguration configureFalcon(TalonFX falcon, boolean inver
 
 
         config.MotorOutput.DutyCycleNeutralDeadband = 0.01;
-        config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+        config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
 
         config.MotorOutput.Inverted = invert ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;