Fixed bugs and bumped last stuff to 2024

frc-5160-the-chargers · Jan 11, 2024 · ee7f4b7 · ee7f4b7
1 parent 8e4c95b
commit ee7f4b7
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Showing 7 changed files with 47 additions and 33 deletions.
diff --git a/src/main/java/frc/chargerlibexternal/builddata/ChargerLibBuildConstants.java b/src/main/java/frc/chargerlibexternal/builddata/ChargerLibBuildConstants.java
@@ -7,12 +7,12 @@ public final class ChargerLibBuildConstants {
 	public static final String MAVEN_GROUP = "frc.chargers";
 	public static final String MAVEN_NAME = "ChargerLib";
 	public static final String VERSION = "1.0.0";
-	public static final int GIT_REVISION = 263;
-	public static final String GIT_SHA = "6bb441ebd5b1c371fa0748f56df6dccb49fd3469";
-	public static final String GIT_DATE = "2024-01-09T16:23:13Z";
+	public static final int GIT_REVISION = 264;
+	public static final String GIT_SHA = "8e4c95b743ed5868a6845f080b865f9124e386e9";
+	public static final String GIT_DATE = "2024-01-10T21:55:23Z";
 	public static final String GIT_BRANCH = "master";
-	public static final String BUILD_DATE = "2024-01-09T22:00:16Z";
-	public static final long BUILD_UNIX_TIME = 1704855616439L;
+	public static final String BUILD_DATE = "2024-01-10T22:08:12Z";
+	public static final long BUILD_UNIX_TIME = 1704942492477L;
 	public static final int DIRTY = 1;
 
 	private ChargerLibBuildConstants(){}

diff --git a/src/main/kotlin/frc/chargers/constants/drivetrain/TopLevelConstants.kt b/src/main/kotlin/frc/chargers/constants/drivetrain/TopLevelConstants.kt
@@ -5,8 +5,6 @@ import com.batterystaple.kmeasure.units.grams
 import com.batterystaple.kmeasure.units.kilo
 import com.batterystaple.kmeasure.units.meters
 import com.batterystaple.kmeasure.units.seconds
-import frc.chargers.utils.math.units.Inertia
-import frc.chargers.utils.math.units.times
 
 /*
 Note: @PublishedApi makes internal values accessible to inline functions.
@@ -21,13 +19,7 @@ internal val DEFAULT_MAX_MODULE_SPEED: Velocity = 4.5.ofUnit(meters / seconds)
 internal const val DEFAULT_GEAR_RATIO: Double = 1.0
 
 @PublishedApi
-internal val DEFAULT_SWERVE_TURN_INERTIA: Inertia = 0.025.ofUnit(kilo.grams * meters * meters)
+internal val DEFAULT_SWERVE_TURN_INERTIA: MomentOfInertia = 0.025.ofUnit(kilo.grams * (meters * meters) )
 
 @PublishedApi
-internal val DEFAULT_SWERVE_DRIVE_INERTIA: Inertia = 0.004096955.ofUnit(kilo.grams * meters * meters)
-
-
-internal const val DEFAULT_MAX_STEERING_POWER: Double = 0.3
-
-
-internal val DEFAULT_MAX_STEERING_VELOCITY: AngularVelocity = AngularVelocity(0.3)
+internal val DEFAULT_SWERVE_DRIVE_INERTIA: MomentOfInertia = 0.004096955.ofUnit(kilo.grams * (meters * meters) )
diff --git a/.../kotlin/frc/chargers/hardware/subsystems/differentialdrive/BasicDifferentialDrivetrain.kt b/.../kotlin/frc/chargers/hardware/subsystems/differentialdrive/BasicDifferentialDrivetrain.kt
@@ -1,7 +1,7 @@
 package frc.chargers.hardware.subsystems.differentialdrive
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive
-import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup
+import edu.wpi.first.wpilibj.motorcontrol.MotorController
 import edu.wpi.first.wpilibj2.command.SubsystemBase
 
 
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase
  * @see DifferentialDrivetrain
  */
 public open class BasicDifferentialDrivetrain(
-    leftMotors: MotorControllerGroup,
-    rightMotors: MotorControllerGroup,
+    leftMotors: MotorController,
+    rightMotors: MotorController,
     invertMotors: Boolean = false,
     protected val powerScale: Double = 1.0,
     protected val rotationScale: Double = 1.0,

diff --git a/...otlin/frc/chargers/hardware/subsystems/differentialdrive/EncoderDifferentialDrivetrain.kt b/...otlin/frc/chargers/hardware/subsystems/differentialdrive/EncoderDifferentialDrivetrain.kt
@@ -10,35 +10,37 @@ import com.pathplanner.lib.auto.AutoBuilder
 import edu.wpi.first.math.kinematics.ChassisSpeeds
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds
+import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim
 import edu.wpi.first.wpilibj2.command.SubsystemBase
 import frc.chargers.advantagekitextensions.LoggableInputsProvider
+import frc.chargers.constants.drivetrain.DiffDriveControlData
 import frc.chargers.constants.drivetrain.DiffDriveHardwareData
 import frc.chargers.controls.SetpointSupplier
-import frc.chargers.controls.pid.SuperPIDController
-import frc.chargers.hardware.configuration.HardwareConfiguration
-import frc.chargers.hardware.motorcontrol.ctre.ChargerTalonFXConfiguration
-import frc.chargers.hardware.sensors.imu.gyroscopes.HeadingProvider
-import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIO
-import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIOReal
-import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIOSim
-import frc.chargers.constants.drivetrain.DiffDriveControlData
 import frc.chargers.controls.feedforward.Feedforward
+import frc.chargers.controls.pid.SuperPIDController
 import frc.chargers.framework.ChargerRobot
 import frc.chargers.hardware.configuration.HardwareConfigurable
+import frc.chargers.hardware.configuration.HardwareConfiguration
 import frc.chargers.hardware.motorcontrol.EncoderMotorController
 import frc.chargers.hardware.motorcontrol.ctre.ChargerTalonFX
+import frc.chargers.hardware.motorcontrol.ctre.ChargerTalonFXConfiguration
 import frc.chargers.hardware.motorcontrol.rev.ChargerSparkMax
 import frc.chargers.hardware.motorcontrol.rev.ChargerSparkMaxConfiguration
 import frc.chargers.hardware.sensors.RobotPoseMonitor
 import frc.chargers.hardware.sensors.VisionPoseSupplier
+import frc.chargers.hardware.sensors.imu.gyroscopes.HeadingProvider
+import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIO
+import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIOReal
+import frc.chargers.hardware.subsystems.differentialdrive.lowlevel.DiffDriveIOSim
 import frc.chargers.utils.a
 import frc.chargers.wpilibextensions.geometry.ofUnit
 import frc.chargers.wpilibextensions.geometry.twodimensional.UnitPose2d
 import frc.chargers.wpilibextensions.kinematics.ChassisSpeeds
 import org.littletonrobotics.junction.Logger.recordOutput
 
+
 private val standardLogInputs = LoggableInputsProvider(namespace = "Drivetrain(Differential)")
 
 
@@ -163,6 +165,16 @@ public class EncoderDifferentialDrivetrain(
         selfSustain = true,
     )
 
+    private fun shouldFlipAlliance(): Boolean{
+        // Boolean supplier that controls when the path will be mirrored for the red alliance
+        // This will flip the path being followed to the red side of the field.
+        // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+        val alliance = DriverStation.getAlliance()
+        return if (alliance.isPresent) {
+            alliance.get() == DriverStation.Alliance.Red
+        } else false
+    }
+
 
     /* Public API */
 
@@ -177,6 +189,7 @@ public class EncoderDifferentialDrivetrain(
                     { speeds: ChassisSpeeds -> velocityDrive(speeds) },
                     ChargerRobot.LOOP_PERIOD.inUnit(seconds),
                     controlData.pathReplanConfig,
+                    ::shouldFlipAlliance,
                     this
                 )
             }
@@ -188,6 +201,7 @@ public class EncoderDifferentialDrivetrain(
                     { currentSpeeds },
                     { speeds: ChassisSpeeds -> velocityDrive(speeds) },
                     controlData.pathReplanConfig,
+                    ::shouldFlipAlliance,
                     this
                 )
             }

diff --git a/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/EncoderHolonomicDrivetrain.kt b/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/EncoderHolonomicDrivetrain.kt
@@ -31,6 +31,7 @@ import frc.chargers.wpilibextensions.geometry.twodimensional.UnitTranslation2d
 import frc.chargers.wpilibextensions.geometry.twodimensional.asRotation2d
 import frc.chargers.wpilibextensions.kinematics.*
 import org.littletonrobotics.junction.Logger.*
+import java.util.Optional
 import kotlin.math.pow
 
 
@@ -274,6 +275,13 @@ public class EncoderHolonomicDrivetrain(
                 kotlin.math.sqrt(hardwareData.trackWidth.inUnit(meters).pow(2) + hardwareData.wheelBase.inUnit(meters).pow(2)),
                 controlData.pathReplanConfig
             ),
+            {
+                when (val alliance = DriverStation.getAlliance()){
+                    Optional.empty<DriverStation.Alliance>() -> false
+
+                    else -> alliance.get() == DriverStation.Alliance.Red
+                }
+            },
             this
         )
     }
@@ -285,7 +293,7 @@ public class EncoderHolonomicDrivetrain(
     /**
      * The pose estimator of the [EncoderHolonomicDrivetrain].
      *
-     * This can be changed to a different pose monitor if nessecary.
+     * This can be changed to a different pose monitor if necessary.
      */
     public var poseEstimator: RobotPoseMonitor = SwervePoseMonitor(
         drivetrain = this,

diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
@@ -1,7 +1,7 @@
 {
     "fileName": "NavX.json",
     "name": "NavX",
-    "version": "2024.0.1-beta-4",
+    "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-java",
-            "version": "2024.0.1-beta-4"
+            "version": "2024.1.0"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-cpp",
-            "version": "2024.0.1-beta-4",
+            "version": "2024.1.0",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-4",
+    "version": "2024.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-4"
+            "version": "2024.1.2"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-4",
+            "version": "2024.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,