Optimize Swerve Module and more 2nd order kinematics #63
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
… of time in SwerveModule, may need to remove redundancy in TalonFXSwerve and TalonSRXSwerve. Moved antiJitter function to SwerveMath. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
… the SparkMaxSwerve.setReference function. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
… passed to the motor controllers. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Closed
…Removing feedforward from steering motor. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
# for free
to join this conversation on GitHub.
Already have an account?
# to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This does not affect anything in sim but that could be incorrect for reality and needs to be tested on both Neo's and Falcons before merging. The optimizations do increase redundancy on Falcon motors since the function
placeInScope0to360has been upstreamed intoSwerveMathlike @7910f6ba7ee4 originally wanted. The module angles are now optimized regardless of motor type too which means utilization ofplaceInScope0to360can be removed fromTalonFXSwerveandTalonSRXSwervesafely possibly.There is one magic number in here for optimization which I do not recognize that is used for integration of the
omegaRadPerSecondwhen calculating the approximate offset of the module's angle using second order kinematics. This change may break some of 3d odometry as well.