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Castor2026
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This commit is contained in:
Tyler Wilcox 2026-01-24 16:34:11 -05:00
parent f3798cf2d4
commit 220f6b6488
2 changed files with 94 additions and 5 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit 6f233e586fa8b5882c6346750677276c78c82ff7
Subproject commit 604e9e7cc50187f8233916384f4a5c1640f0fdc9

97
src/main/java/frc/robot/RobotContainer.java
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@ -6,8 +6,11 @@ package frc.robot;
import org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive.SwerveBuilder;
import org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive.SwerveDriveSubsystem;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants;
@ -31,6 +34,14 @@ public class RobotContainer {
public static SwerveDriveSubsystem driveSubsystem;
private double driveP = 0.5;
private double driveI = 0.0;
private double driveD = 0.0;
private double steerP = 0.5;
private double steerI = 0.0;
private double steerD = 0.0;
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the trigger bindings
@ -40,13 +51,75 @@ public class RobotContainer {
driveSubsystem = swerveBuilder
.withCanbusName("Drive")
.withPigeonId(2)
.withPigeonId(20)
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(1)
// There is a lot more in this object. But hopefully you get the point
.withDriveMotorId(12)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(3)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(10)
.withModuleLocation(new Translation2d(-1, 1))
.withModuleName("Front Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build()
).build();
)
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(5)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(6)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(4)
.withModuleLocation(new Translation2d(1, 1))
.withModuleName("Front Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(9)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(11)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(4)
.withModuleLocation(new Translation2d(1, -1))
.withModuleName("Back Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(8)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(2)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(7)
.withModuleLocation(new Translation2d(-1, -1))
.withModuleName("Back Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.build();
driveSubsystem.setDefaultCommand(getDriveCommand());
}
@ -69,6 +142,22 @@ public class RobotContainer {
m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
}
public Command getDriveCommand(){
return Commands.run(new Runnable() {
@Override
public void run() {
driveSubsystem.setChassisSpeedsFromJoystick(
m_driverController.getLeftX() * Math.abs(m_driverController.getLeftX()),
m_driverController.getLeftY() * Math.abs(m_driverController.getLeftY()),
m_driverController.getRightX() * Math.abs(m_driverController.getRightX()));
Logger.recordOutput("SwerveState", driveSubsystem.getModuleStates());
}
}, driveSubsystem);
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*