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Cleanup and fix usage of constants #163

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merged 1 commit into from
Jan 31, 2024
Merged

Cleanup and fix usage of constants #163

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13 changes: 6 additions & 7 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,11 @@

package frc.robot;

import com.pathplanner.lib.util.PIDConstants;

import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import swervelib.math.Matter;
import swervelib.parser.PIDFConfig;

/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean constants. This
Expand All @@ -24,16 +25,14 @@ public final class Constants
public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS);
public static final double LOOP_TIME = 0.13; //s, 20ms + 110ms sprk max velocity lag

public static final class Auton
public static final class AutonConstants
{

public static final PIDFConfig TranslationPID = new PIDFConfig(0.7, 0, 0);
public static final PIDFConfig angleAutoPID = new PIDFConfig(0.4, 0, 0.01);

public static final double MAX_ACCELERATION = 2;
public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, 0);
public static final PIDConstants ANGLE_PID = new PIDConstants(0.4, 0, 0.01);
}

public static final class Drivebase
public static final class DrivebaseConstants
{

// Hold time on motor brakes when disabled
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Robot.java
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Expand Up @@ -84,7 +84,7 @@ public void disabledInit()
@Override
public void disabledPeriodic()
{
if (disabledTimer.hasElapsed(Constants.Drivebase.WHEEL_LOCK_TIME))
if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME))
{
m_robotContainer.setMotorBrake(false);
disabledTimer.stop();
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8 changes: 3 additions & 5 deletions src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
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Expand Up @@ -8,7 +8,6 @@
import com.pathplanner.lib.path.PathConstraints;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
import com.pathplanner.lib.util.PIDConstants;
import com.pathplanner.lib.util.ReplanningConfig;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -22,6 +21,7 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
import frc.robot.Constants.AutonConstants;
import java.io.File;
import java.util.function.DoubleSupplier;
import swervelib.SwerveController;
Expand Down Expand Up @@ -105,11 +105,9 @@ public void setupPathPlanner()
this::getRobotVelocity, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
this::setChassisSpeeds, // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds
new HolonomicPathFollowerConfig( // HolonomicPathFollowerConfig, this should likely live in your Constants class
new PIDConstants(5.0, 0.0, 0.0),
AutonConstants.TRANSLATION_PID,
// Translation PID constants
new PIDConstants(swerveDrive.swerveController.config.headingPIDF.p,
swerveDrive.swerveController.config.headingPIDF.i,
swerveDrive.swerveController.config.headingPIDF.d),
AutonConstants.ANGLE_PID,
// Rotation PID constants
4.5,
// Max module speed, in m/s
Expand Down