FairportRobotics
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RoboLib
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Reorganization

This commit is contained in:
Tyler Wilcox 2026-01-30 22:25:01 -05:00
parent 8defb590f4
commit 817515901c
3 changed files with 23 additions and 7 deletions
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4
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java
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@ -57,8 +57,8 @@ public class SwerveBuilder {
return this; return this;
} }
public SwerveDriveSubsystem build() { public SwerveDriveSystem build() {
return new SwerveDriveSubsystem(pigeonId, canBusObj, maxLinearVelMetersSecond, maxAngularVelRadiansSecond, return new SwerveDriveSystem(pigeonId, canBusObj, maxLinearVelMetersSecond, maxAngularVelRadiansSecond,
modules.toArray(size -> new SwerveModule[size])); modules.toArray(size -> new SwerveModule[size]));
} }

12
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java → lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
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@ -16,9 +16,10 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class SwerveDriveSubsystem extends SubsystemBase{ public class SwerveDriveSystem implements Subsystem{
private SwerveDriveKinematics driveKiniematics; private SwerveDriveKinematics driveKiniematics;
private ChassisSpeeds chassisSpeeds; private ChassisSpeeds chassisSpeeds;
@ -35,7 +36,7 @@ public class SwerveDriveSubsystem extends SubsystemBase{
private double mLastSimTime = 0; private double mLastSimTime = 0;
public SwerveDriveSubsystem(int pigeonId, CANBus canBus, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){ public SwerveDriveSystem(int pigeonId, CANBus canBus, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){
MAX_LINEAR_SPEED = maxLinearVelMetersSecond; MAX_LINEAR_SPEED = maxLinearVelMetersSecond;
MAX_ANGULAR_SPEED = maxAngularVelRadiansSecond; MAX_ANGULAR_SPEED = maxAngularVelRadiansSecond;
@ -54,7 +55,6 @@ public class SwerveDriveSubsystem extends SubsystemBase{
@Override @Override
public void periodic() { public void periodic() {
super.periodic();
SwerveModuleState[] moduleStates = driveKiniematics.toSwerveModuleStates(chassisSpeeds); SwerveModuleState[] moduleStates = driveKiniematics.toSwerveModuleStates(chassisSpeeds);
for(int i=0; i<modules.length;i++){ for(int i=0; i<modules.length;i++){
@ -71,8 +71,6 @@ public class SwerveDriveSubsystem extends SubsystemBase{
@Override @Override
public void simulationPeriodic() { public void simulationPeriodic() {
super.simulationPeriodic();
double deltaTimeSecond = (mLastSimTime - Utils.getCurrentTimeSeconds()); double deltaTimeSecond = (mLastSimTime - Utils.getCurrentTimeSeconds());
if(mLastSimTime != 0){ if(mLastSimTime != 0){
@ -107,6 +105,10 @@ public class SwerveDriveSubsystem extends SubsystemBase{
return gyro.getRoll().getValue(); return gyro.getRoll().getValue();
} }
public Pigeon2 getGyro(){
return gyro;
}
public void setChassisSpeed(ChassisSpeeds chassisSpeeds){ public void setChassisSpeed(ChassisSpeeds chassisSpeeds){
this.setChassisSpeed(chassisSpeeds, new Translation2d()); this.setChassisSpeed(chassisSpeeds, new Translation2d());
} }

14
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
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@ -39,8 +39,10 @@ public class SwerveModule {
private TalonFX driveMotor; private TalonFX driveMotor;
private VelocityVoltage driveRequest = new VelocityVoltage(0); private VelocityVoltage driveRequest = new VelocityVoltage(0);
private TalonFX steerMotor; private TalonFX steerMotor;
private MotionMagicVoltage steerRequest = new MotionMagicVoltage(0); private MotionMagicVoltage steerRequest = new MotionMagicVoltage(0);
private CANcoder steerEncoder; private CANcoder steerEncoder;
private String moduleName; private String moduleName;
@ -138,6 +140,18 @@ public class SwerveModule {
requestedModuleState = state; requestedModuleState = state;
} }
public TalonFX getSteerMotor(){
return steerMotor;
}
public TalonFX getDriveMotor(){
return driveMotor;
}
public CANcoder getSteerEncoder(){
return steerEncoder;
}
public SwerveModuleState getRequestedModuleState(){ public SwerveModuleState getRequestedModuleState(){
return requestedModuleState; return requestedModuleState;
} }