From db4295997125e9935bc8fe9c0b20060f8cc671d0 Mon Sep 17 00:00:00 2001 From: kredcool Date: Sat, 20 Jan 2024 16:25:42 -0500 Subject: [PATCH] all must be inverted bause rev --- .gitignore | 3 +++ rio/components/drivetrain.py | 14 +++++++++----- rio/components/mikeSwerveModule.py | 2 +- rio/constants/robotHardware.yaml | 6 +++--- rio/simgui-window.json | 10 +++++----- rio/tests/logs/FRC_20240120_210407.wpilog | Bin 0 -> 90721 bytes rio/tests/logs/FRC_20240120_210513.wpilog | Bin 0 -> 90180 bytes rio/tests/logs/FRC_20240120_210521.wpilog | Bin 0 -> 90721 bytes rio/tests/logs/FRC_20240120_211051.wpilog | Bin 0 -> 90721 bytes 9 files changed, 21 insertions(+), 14 deletions(-) create mode 100644 rio/tests/logs/FRC_20240120_210407.wpilog create mode 100644 rio/tests/logs/FRC_20240120_210513.wpilog create mode 100644 rio/tests/logs/FRC_20240120_210521.wpilog create mode 100644 rio/tests/logs/FRC_20240120_211051.wpilog diff --git a/.gitignore b/.gitignore index 5e50bbe8..74acd7d6 100644 --- a/.gitignore +++ b/.gitignore @@ -168,3 +168,6 @@ networktables.json # Add to tree but only when neccicary (adding a map or smthn) simgui-window.json + +# sysid ignores +*.SysId diff --git a/rio/components/drivetrain.py b/rio/components/drivetrain.py index f223ce4c..b4683122 100644 --- a/rio/components/drivetrain.py +++ b/rio/components/drivetrain.py @@ -107,7 +107,7 @@ def periodic(self) -> None: like updating the dashboard and maintaining odometry. """ - # Update the odometry in the periodic block + # Update the odometry in the periodic bloc self.odometry.update( Rotation2d.fromDegrees(self.gyro.getAngle()), ( @@ -117,16 +117,20 @@ def periodic(self) -> None: self.rearRight.getPosition(), ), ) - + # desired self.sd.putNumber("Swerve/FL", self.frontLeft.desiredState.angle.degrees()) self.sd.putNumber("Swerve/FR", self.frontRight.desiredState.angle.degrees()) self.sd.putNumber("Swerve/RL", self.rearLeft.desiredState.angle.degrees()) self.sd.putNumber("Swerve/RR", self.rearRight.desiredState.angle.degrees()) - logging.info(f"FR Swerve module setpoint {self.frontRight.desiredState.angle.degrees()}, actual is {self.frontRight.getPosition().angle.degrees()}") + # actual + self.sd.putNumber("Swerve/FL", self.frontLeft.getState().angle.degrees()) + self.sd.putNumber("Swerve/FR", self.frontRight.getState().angle.degrees()) + self.sd.putNumber("Swerve/RL", self.rearLeft.getState().angle.degrees()) + self.sd.putNumber("Swerve/RR", self.rearRight.getState().angle.degrees()) - # print( - # f"FL: {self.frontLeft.turningEncoder.getPosition()} FR: {self.frontRight.turningEncoder.getPosition()} RL: {self.rearLeft.turningEncoder.getPosition()} RR: {self.rearRight.turningEncoder.getPosition()}" + # logging.info( + # f"FR Swerve module setpoint {self.frontLeft.desiredState.angle.degrees()}, actual is {self.frontLeft.getPosition().angle.degrees(),} .getPosition is {self.frontLeft.getPosition()}" # ) def getPose(self) -> Pose2d: diff --git a/rio/components/mikeSwerveModule.py b/rio/components/mikeSwerveModule.py index 13512086..91490f4e 100644 --- a/rio/components/mikeSwerveModule.py +++ b/rio/components/mikeSwerveModule.py @@ -62,7 +62,7 @@ def __init__(self, swerveConfig: dict, moduleConfig: str) -> None: ) # Uncomment to invert the encoders - # self.turningEncoder.setInverted(true) + self.turningEncoder.setInverted(True) # Enable PID wrap around for the turning motor. This will allow the PID # controller to go through 0 to get to the setpoint i.e. going from 350 degrees diff --git a/rio/constants/robotHardware.yaml b/rio/constants/robotHardware.yaml index 5041b20f..10eaed53 100644 --- a/rio/constants/robotHardware.yaml +++ b/rio/constants/robotHardware.yaml @@ -7,8 +7,8 @@ swerve: Pose: [-1, 1] # Configured Never by Nobody frontRight: - CANSteerID: 6 # Configured 1/19 by Keegan - CANDriveID: 5 # Configured 1/19 by Keegan + CANSteerID: 99 # 6 Configured 1/19 by Keegan + CANDriveID: 98 # 5 Configured 1/19 by Keegan Pose: [1, 1] # Configured Never by Nobody rearLeft: @@ -29,7 +29,7 @@ swerve: kDrivingMinOutput: -1 # Configured Never by Nobody kDrivingMaxOutput: 1 # Configured Never by Nobody - kTurningP: 0.265 # Updated 1/19 by Keegan + kTurningP: 2.65 # Updated 1/19 by Keegan kTurningI: 0.012 # Configured Never by Nobody kTurningD: 1.5 # Configured Never by Nobody kTurningFF: 0 # Configured Never by Nobody diff --git a/rio/simgui-window.json b/rio/simgui-window.json index 8d9fa485..34083bbe 100644 --- a/rio/simgui-window.json +++ b/rio/simgui-window.json @@ -26,12 +26,12 @@ "###FMS": { "Collapsed": "0", "Pos": "5,540", - "Size": "32,35" + "Size": "283,146" }, "###Joysticks": { "Collapsed": "0", "Pos": "250,465", - "Size": "32,35" + "Size": "796,138" }, "###NetworkTables": { "Collapsed": "0", @@ -51,12 +51,12 @@ "###System Joysticks": { "Collapsed": "0", "Pos": "16,322", - "Size": "32,35" + "Size": "192,218" }, "###Timing": { "Collapsed": "0", "Pos": "7,129", - "Size": "32,35" + "Size": "135,173" }, "Debug##Default": { "Collapsed": "0", @@ -66,7 +66,7 @@ "Robot State": { "Collapsed": "0", "Pos": "5,20", - "Size": "32,35" + "Size": "92,99" } } } diff --git a/rio/tests/logs/FRC_20240120_210407.wpilog b/rio/tests/logs/FRC_20240120_210407.wpilog new file mode 100644 index 0000000000000000000000000000000000000000..ee43dc95bf2ed83f1b4408ee106f5c08d706aa3a GIT binary patch literal 90721 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