formatting and pp vendor dep

frc2053 · Nov 12, 2024 · 1b235a9 · 1b235a9
1 parent 3da8eba
commit 1b235a9
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Showing 5 changed files with 78 additions and 7 deletions.
diff --git a/src/main/cpp/str/swerve/SwerveDrive.cpp b/src/main/cpp/str/swerve/SwerveDrive.cpp
@@ -12,10 +12,10 @@
 #include "frc/Alert.h"
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform3d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/SwerveModuleState.h"
 #include "frc/smartdashboard/SmartDashboard.h"
+#include "str/DriverstationUtils.h"
 #include "str/swerve/SwerveModuleHelpers.h"
 #include "units/angle.h"
 #include "units/angular_velocity.h"
@@ -26,7 +26,8 @@ using namespace str::swerve;
 
 SwerveDrive::SwerveDrive()
     : imuConfigAlert{imuConfigAlertStr, frc::Alert::AlertType::kError},
-      imuOptimizeAlert{imuOptimizeAlertStr, frc::Alert::AlertType::kError} {
+      imuOptimizeAlert{imuOptimizeAlertStr, frc::Alert::AlertType::kError},
+      imuZeroAlert(imuZeroAlertStr, frc::Alert::AlertType::kError) {
   ConfigureImu();
   SetupSignals();
   frc::SmartDashboard::PutData("SwerveField", &swerveField);
@@ -185,6 +186,23 @@ units::radian_t SwerveDrive::GetYawFromImu() const {
   return yawLatencyComped;
 }
 
+void SwerveDrive::ZeroYaw() {
+  units::radian_t targetAngle = 0_rad;
+  if (str::IsOnRed()) {
+    targetAngle = 180_deg;
+  } else {
+    targetAngle = 0_deg;
+  }
+  imuZeroAlert.Set(!imu.SetYaw(targetAngle).IsOK());
+}
+
+void SwerveDrive::ResetPose(const frc::Pose2d& resetPose) {
+  odom.ResetPosition(frc::Rotation2d{GetYawFromImu()}, modulePositions,
+                     resetPose);
+  poseEstimator.ResetPosition(frc::Rotation2d{GetYawFromImu()}, modulePositions,
+                              resetPose);
+}
+
 void SwerveDrive::DriveFieldRelative(units::meters_per_second_t xVel,
                                      units::meters_per_second_t yVel,
                                      units::radians_per_second_t omega,
@@ -333,4 +351,4 @@ std::array<units::radian_t, 4>
 SwerveDrive::GetModuleDriveOutputShaftPositions() {
   return {modules[0].GetOutputShaftTurns(), modules[1].GetOutputShaftTurns(),
           modules[2].GetOutputShaftTurns(), modules[3].GetOutputShaftTurns()};
-}
+}
diff --git a/src/main/cpp/subsystems/Drive.cpp b/src/main/cpp/subsystems/Drive.cpp
@@ -264,4 +264,4 @@ frc2::CommandPtr Drive::WheelRadius(frc2::sysid::Direction dir) {
                  },
                  {this}))
       .WithName("Wheel Radius Calculation");
-}
+}
diff --git a/src/main/include/str/swerve/SwerveDrive.h b/src/main/include/str/swerve/SwerveDrive.h
@@ -48,7 +48,8 @@ class SwerveDrive {
              units::radians_per_second_t omega, bool openLoop);
 
   units::radian_t GetYawFromImu() const;
-
+  void ZeroYaw();
+  void ResetPose(const frc::Pose2d& resetPose);
   str::swerve::SteerGains GetSteerGains() const;
   void SetSteerGains(str::swerve::SteerGains newGains);
   str::swerve::DriveGains GetDriveGains() const;
@@ -109,8 +110,11 @@ class SwerveDrive {
 
   static constexpr std::string_view imuConfigAlertStr = "Imu Configuration";
   static constexpr std::string_view imuOptimizeAlertStr = "Imu Optimization";
+  static constexpr std::string_view imuZeroAlertStr = "Imu Zeroing";
+
   frc::Alert imuConfigAlert;
   frc::Alert imuOptimizeAlert;
+  frc::Alert imuZeroAlert;
 
   frc::Field2d swerveField{};
   std::shared_ptr<nt::NetworkTable> nt{

diff --git a/src/main/include/str/swerve/SwerveModuleHelpers.h b/src/main/include/str/swerve/SwerveModuleHelpers.h
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <frc/filter/SlewRateLimiter.h>
 #include <frc/system/plant/DCMotor.h>
 #include <str/GainTypes.h>
 #include <str/Units.h>
@@ -19,7 +20,6 @@
 
 #include "units/angular_velocity.h"
 #include "units/velocity.h"
-#include <frc/filter/SlewRateLimiter.h>
 
 namespace str::swerve {
 struct ModuleConstants {
@@ -92,7 +92,17 @@ struct SteerGains {
   str::gains::radial::turn_amp_ki_unit_t kI;
   str::gains::radial::turn_amp_kd_unit_t kD;
 
-  SteerGains() = delete;
+  SteerGains& operator=(const SteerGains& other) = default;
+  SteerGains(const SteerGains& other)
+      : motionMagicCruiseVel{other.motionMagicCruiseVel},
+        motionMagicExpoKa{other.motionMagicExpoKa},
+        motionMagicExpoKv{other.motionMagicExpoKv},
+        kA{other.kA},
+        kV{other.kV},
+        kS{other.kS},
+        kP{other.kP},
+        kI{other.kI},
+        kD{other.kD} {}
   SteerGains(units::turns_per_second_t mmCv,
              str::gains::radial::turn_volt_ka_unit_t mmKa,
              str::gains::radial::turn_volt_kv_unit_t mmKv,
@@ -136,6 +146,7 @@ struct DriveGains {
   str::gains::radial::turn_amp_ki_unit_t kI;
   str::gains::radial::turn_amp_kd_unit_t kD;
 
+  DriveGains& operator=(const DriveGains& other) = default;
   DriveGains(const DriveGains& other)
       : kA{other.kA},
         kV{other.kV},

diff --git a/vendordeps/PathplannerLib-beta.json b/vendordeps/PathplannerLib-beta.json
@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-beta.json",
+    "name": "PathplannerLib",
+    "version": "2025.0.0-beta-4",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2025.0.0-beta-4"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2025.0.0-beta-4",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "osxuniversal",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
-Original file line number
+Diff line change
@@ Expand Up @@
                      },
                      {this}))
           .WithName("Wheel Radius Calculation");
-    }
+    }