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RoboLib
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Started Magic Motion and added current limits

This commit is contained in:
Tyler Wilcox 2026-04-03 15:54:54 -04:00
parent 0584a07e80
commit 840c851253
1 changed files with 10 additions and 1 deletions
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11
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
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@ -10,6 +10,7 @@ import com.ctre.phoenix6.configs.MotionMagicConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.CANcoder;
@ -31,7 +32,7 @@ public class SwerveModule {
private final int CAN_UPDATE_FREQUENCY = 150; private final int CAN_UPDATE_FREQUENCY = 150;
private final double STEER_MAX_CURRENT = 60; private final double STEER_MAX_CURRENT = 60;
private final double DRIVE_MAX_CURRENT = 80; private final double DRIVE_MAX_CURRENT = 40;
private final double gearRatio; private final double gearRatio;
private final double wheelDiameterInMeters; private final double wheelDiameterInMeters;
@ -40,6 +41,7 @@ public class SwerveModule {
private TalonFX driveMotor; private TalonFX driveMotor;
private VelocityVoltage driveRequest = new VelocityVoltage(0); private VelocityVoltage driveRequest = new VelocityVoltage(0);
// private MotionMagicVelocityVoltage driveRequest = new MotionMagicVelocityVoltage(0);
private TalonFXSimState driveSim; private TalonFXSimState driveSim;
private TalonFX steerMotor; private TalonFX steerMotor;
@ -195,7 +197,14 @@ public class SwerveModule {
.withKI(kI) .withKI(kI)
.withKD(kD) .withKD(kD)
.withKV(kV) .withKV(kV)
.withKS(0)
.withKA(0)
) )
.withMotionMagic(
new MotionMagicConfigs()
.withMotionMagicAcceleration(400)
.withMotionMagicJerk(4000)
)
.withMotorOutput( .withMotorOutput(
new MotorOutputConfigs() new MotorOutputConfigs()
.withInverted(driveInverted ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive) .withInverted(driveInverted ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive)