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Merge pull request #1 from FairportRobotics/swerve 

Swerve
This commit is contained in:
Tyler Wilcox 2026-02-01 20:12:50 -05:00 committed by GitHub
parent 2afbef5052 6725d63ffc
commit defa76eae0
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8 changed files with 334 additions and 10 deletions
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3
.gitignore vendored
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@ -1,6 +1,9 @@
# This gitignore has been specially created by the WPILib team.
# If you remove items from this file, intellisense might break.
### Version Files ###
src/main/deploy/versionfile.txt
### C++ ###
# Prerequisites
*.d

32
build.gradle
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@ -101,9 +101,41 @@ deployArtifact.jarTask = jar
wpi.java.configureExecutableTasks(jar)
wpi.java.configureTestTasks(test)
def saveCommitTask = tasks.register("saveCommit") {
println "Current Version: " + getCheckedOutGitCommitHash();
def deployFolder = "$projectDir/src/main/deploy/"
def commitFile = new FileWriter(deployFolder + "versionfile.txt");
doLast {
commitFile.write(getCheckedOutGitCommitHash() + " - " + new Date().toString());
commitFile.close();
println "versionfile.txt written";
}
}
def getCheckedOutGitCommitHash() {
def gitFolder = "$projectDir/.git/"
def takeFromHash = 12
/*
* '.git/HEAD' contains either
* in case of detached head: the currently checked out commit hash
* otherwise: a reference to a file containing the current commit hash
*/
def head = new File(gitFolder + "HEAD").text.split(":") // .git/HEAD
def isCommit = head.length == 1 // e5a7c79edabbf7dd39888442df081b1c9d8e88fd
// def isRef = head.length > 1 // ref: refs/heads/master
if(isCommit) return head[0].trim().take(takeFromHash) // e5a7c79edabb
def refHead = new File(gitFolder + head[1].trim()) // .git/refs/heads/master
refHead.text.trim().take takeFromHash
}
// Configure string concat to always inline compile
tasks.withType(JavaCompile) {
options.compilerArgs.add '-XDstringConcat=inline'
dependsOn saveCommitTask
}
apply from: 'libs.gradle'

2
gradle.properties
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@ -1,4 +1,4 @@
frcYear = 2026
wpiVersion = 2026.1.1
wpiVersion = 2026.2.1
ctreVersion = 26.1.0

2
lib/RoboLib

@ -1 +1 @@
Subproject commit 12bef1b6a03a820e7a2d4f68e7f7375e040a9245
Subproject commit f90e2ac04d38a2dd1bd1dee233d691036d9d2bb3

97
simgui-ds.json Normal file
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@ -0,0 +1,97 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
],
"robotJoysticks": [
{
"guid": "030000004c050000cc09000011810000"
}
]
}

26
src/main/java/frc/robot/Robot.java
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@ -4,14 +4,17 @@
package frc.robot;
import java.io.File;
import java.io.FileNotFoundException;
import java.util.Scanner;
import org.fairportrobotics.frc.posty.PostyManager;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj2.command.Command;
@ -31,6 +34,19 @@ public class Robot extends LoggedRobot {
private RobotContainer m_robotContainer;
public static String getVersion() {
try {
Scanner scan = new Scanner(new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/versionfile.txt"));
String ver = scan.nextLine();
scan.close();
return ver;
} catch (FileNotFoundException e) {
e.printStackTrace();
}
return "";
}
/**
* This function is run when the robot is first started up and should be used
* for any
@ -40,6 +56,7 @@ public class Robot extends LoggedRobot {
public void robotInit() {
Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value
Logger.recordMetadata("Software Version", getVersion());
if (isReal()) {
Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
@ -50,6 +67,7 @@ public class Robot extends LoggedRobot {
// String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
// Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
// Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
}
// Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in
@ -57,6 +75,8 @@ public class Robot extends LoggedRobot {
Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
// be added.
Logger.recordOutput("Software Version", getVersion());
// Instantiate our RobotContainer. This will perform all our button bindings,
// and put our
// autonomous chooser on the dashboard.
@ -110,7 +130,7 @@ public class Robot extends LoggedRobot {
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
CommandScheduler.getInstance().schedule(m_autonomousCommand);
}
}

16
src/main/java/frc/robot/RobotContainer.java
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@ -4,13 +4,14 @@
package frc.robot;
import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.Autos;
import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.Autos;
import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.ExampleSubsystem;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
@ -26,10 +27,15 @@ public class RobotContainer {
private final CommandXboxController m_driverController =
new CommandXboxController(OperatorConstants.kDriverControllerPort);
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the trigger bindings
configureBindings();
}
/**
@ -48,7 +54,7 @@ public class RobotContainer {
// Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
// cancelling on release.
m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
// m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
}
/**

166
src/main/java/frc/robot/subsystems/DriveSubsystem.java Normal file
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@ -0,0 +1,166 @@
package frc.robot.subsystems;
import org.fairportrobotics.frc.posty.TestableSubsystem;
import org.fairportrobotics.frc.posty.test.PostTest;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder;
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem;
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
import org.littletonrobotics.junction.Logger;
import com.fasterxml.jackson.annotation.JsonCreator.Mode;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
public class DriveSubsystem extends TestableSubsystem {
private SwerveBuilder swerveBuilder = new SwerveBuilder();
private SwerveDriveSystem driveSystem;
private double driveP = 0.1;
private double driveI = 0.0;
private double driveD = 0.01;
private double driveKV = 0.2;
private double steerP = 20;
private double steerI = 0;
private double steerD = 0.0;
private double steerKV = 0;
public DriveSubsystem(CommandXboxController xboxController) {
driveSystem = swerveBuilder
.withCanbusName("Drive")
.withPigeonId(20)
.withMaxLinearVelocity(3.0)
.withMaxAngularVelocity(Math.PI * 2)
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(12)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withDriveKV(driveKV)
.withSteerMotorId(3)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerKV(steerKV)
.withSteerOffset(0.359375)
.withSteerEncoderId(10)
.withModuleLocation(new Translation2d(1, 1))
.withModuleName("Front Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(5)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withDriveKV(driveKV)
.withDriveInverted()
.withSteerMotorId(6)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerKV(steerKV)
.withSteerOffset(0.406494)
.withSteerEncoderId(1)
.withModuleLocation(new Translation2d(1, -1))
.withModuleName("Front Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(8)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withDriveKV(driveKV)
.withSteerMotorId(2)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerKV(steerKV)
.withSteerOffset(0.211670)
.withSteerEncoderId(7)
.withModuleLocation(new Translation2d(-1, 1))
.withModuleName("Back Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(9)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withDriveKV(driveKV)
.withDriveInverted()
.withSteerMotorId(11)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerKV(steerKV)
.withSteerOffset(-0.235107)
.withSteerEncoderId(4)
.withModuleLocation(new Translation2d(-1, -1))
.withModuleName("Back Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.build();
this.setDefaultCommand(Commands.run(new Runnable() {
@Override
public void run() {
driveSystem.setChassisSpeedsFromJoystickRobotRelative(
-(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())),
-(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())),
-(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4))));
// driveSubsystem.setChassisSpeed(new ChassisSpeeds(1, 0, 0));
Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose());
}
}, this));
}
@Override
public void periodic() {
super.periodic();
driveSystem.periodic();
}
@Override
public void simulationPeriodic() {
super.simulationPeriodic();
driveSystem.simulationPeriodic();
}
@PostTest()
public void DriveSubsystem_CanDevicesConnected(){
SwerveModule[] modules = driveSystem.getModules();
for(int i=0;i < modules.length; i++){
assertThat(modules[i].getDriveMotor().isConnected()).as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
assertThat(modules[i].getSteerMotor().isConnected()).as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
assertThat(modules[i].getSteerEncoder().isConnected()).as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
}
assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue();
}
}