Merge pull request #1 from MilwaukeeCyberCheese/feat/swerve

chore: very badly written commit with the vast majority of the conten…

Author: HENRYMARTIN5

simgui-ds.json

@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
   ]
 }

src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+    "angleJoystickRadiusDeadband": 0.5,
+    "heading": {
+      "p": 0.4,
+      "i": 0,
+      "d": 0.01
+    }
+  }

src/main/deploy/swerve/modules/backleft.json

@@ -0,0 +1,27 @@
+{
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 5,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo550",
+    "id": 6,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "attached",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": true,
+  "absoluteEncoderOffset": 0,
+  "location": {
+    "front": -14,
+    "left": 14
+  }
+}

src/main/deploy/swerve/modules/backright.json

@@ -0,0 +1,27 @@
+{
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 7,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo550",
+    "id": 8,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "attached",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  },
+  "absoluteEncoderInverted": true,
+  "absoluteEncoderOffset": 100,
+  "location": {
+    "front": -14,
+    "left": -14
+  }
+}

src/main/deploy/swerve/modules/frontleft.json

@@ -0,0 +1,27 @@
+{
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 1,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo550",
+    "id": 2,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "attached",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  },
+  "absoluteEncoderInverted": true,
+  "absoluteEncoderOffset": -90,
+  "location": {
+    "front": 14,
+    "left": 14
+  }
+}

src/main/deploy/swerve/modules/frontright.json

@@ -0,0 +1,27 @@
+{
+  "drive": {
+    "type": "sparkmax_neo",
+    "id": 11,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax_neo550",
+    "id": 12,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "attached",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderInverted": true,
+  "absoluteEncoderOffset": 180,
+  "location": {
+    "front": 14,
+    "left": -14
+  }
+}

src/main/deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,23 @@
+{
+    "conversionFactors": {
+      "angle": {
+        "gearRatio": 46.42,
+        "factor": 0
+      },
+      "drive": {
+        "gearRatio": 5.50,
+        "diameter": 3,
+        "factor": 0
+      }
+    },
+    "currentLimit": {
+      "drive": 60,
+      "angle": 20
+    },
+    "rampRate": {
+      "drive": 0.25,
+      "angle": 0.20
+    },
+    "optimalVoltage": 12,
+    "wheelGripCoefficientOfFriction": 1.19
+  }

src/main/deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+    "drive": {
+      "p": 0.00005,
+      "i": 0.000001,
+      "d": 0,
+      "f": 0,
+      "iz": 0
+    },
+    "angle": {
+      "p": 0.0098,
+      "i": 0,
+      "d": 0,
+      "f": 0,
+      "iz": 0
+    }
+  }

src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,14 @@
+{
+    "imu": {
+      "type": "navx_usb",
+      "id": 0,
+      "canbus": null
+    },
+    "invertedIMU": false,
+    "modules": [
+      "frontleft.json",
+      "frontright.json",
+      "backleft.json",
+      "backright.json"
+    ]
+  }

src/main/java/frc/robot/Constants.java

@@ -4,6 +4,13 @@
 
 package frc.robot;
 
+import java.io.File;
+
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Filesystem;
+import swervelib.math.Matter;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -13,7 +20,32 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static class OperatorConstants {
+  public static final double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound
+  public static final Matter CHASSIS    = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS);
+  public static final double LOOP_TIME  = 0.13; //s, 20ms + 110ms sprk max velocity lag
+  public static final double MAX_SPEED  = Units.feetToMeters(14.5);
+
+  public static final class DrivebaseConstants
+  {
+
+    // Hold time on motor brakes when disabled
+    public static final double WHEEL_LOCK_TIME = 10; // seconds
+  }
+
+
+  public static class SwerveConstants {
+    public static final double kMaximumSpeed = Units.feetToMeters(4.5);
+    public static final File kSwerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
+  }
+
+  public static class OperatorConstants
+  {
     public static final int kDriverControllerPort = 0;
+
+    // Joystick Deadband
+    public static final double DEADBAND        = 0.1;
+    public static final double LEFT_Y_DEADBAND = 0.1;
+    public static final double RIGHT_X_DEADBAND = 0.1;
+    public static final double TURN_CONSTANT    = 6;
   }
 }