Improve swerve sim inertias and fix C++ ApplyRequest

CrossTheRoadElec · Nov 4, 2024 · 3e50ff7 · 3e50ff7
1 parent 53fa17b
commit 3e50ff7
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Showing 7 changed files with 12 additions and 12 deletions.
diff --git a/cpp/SwerveWithChoreo/src/main/include/generated/TunerConstants.h b/cpp/SwerveWithChoreo/src/main/include/generated/TunerConstants.h
@@ -73,8 +73,8 @@ class TunerConstants {
 
 
     // These are only used for simulation
-    static constexpr units::kilogram_square_meter_t kSteerInertia = 0.00001_kg_sq_m;
-    static constexpr units::kilogram_square_meter_t kDriveInertia = 0.001_kg_sq_m;
+    static constexpr units::kilogram_square_meter_t kSteerInertia = 0.01_kg_sq_m;
+    static constexpr units::kilogram_square_meter_t kDriveInertia = 0.01_kg_sq_m;
     // Simulated voltage necessary to overcome friction
     static constexpr units::volt_t kSteerFrictionVoltage = 0.25_V;
     static constexpr units::volt_t kDriveFrictionVoltage = 0.25_V;

diff --git a/cpp/SwerveWithChoreo/src/main/include/subsystems/CommandSwerveDrivetrain.h b/cpp/SwerveWithChoreo/src/main/include/subsystems/CommandSwerveDrivetrain.h
@@ -192,7 +192,7 @@ class CommandSwerveDrivetrain : public frc2::SubsystemBase, public swerve::Swerv
      */
     template <typename RequestSupplier>
         requires std::derived_from<
-            std::invoke_result_t<RequestSupplier>,
+            std::remove_reference_t<std::invoke_result_t<RequestSupplier>>,
             swerve::requests::SwerveRequest>
     frc2::CommandPtr ApplyRequest(RequestSupplier request)
     {

diff --git a/cpp/SwerveWithPathPlanner/src/main/include/generated/TunerConstants.h b/cpp/SwerveWithPathPlanner/src/main/include/generated/TunerConstants.h
@@ -73,8 +73,8 @@ class TunerConstants {
 
 
     // These are only used for simulation
-    static constexpr units::kilogram_square_meter_t kSteerInertia = 0.00001_kg_sq_m;
-    static constexpr units::kilogram_square_meter_t kDriveInertia = 0.001_kg_sq_m;
+    static constexpr units::kilogram_square_meter_t kSteerInertia = 0.01_kg_sq_m;
+    static constexpr units::kilogram_square_meter_t kDriveInertia = 0.01_kg_sq_m;
     // Simulated voltage necessary to overcome friction
     static constexpr units::volt_t kSteerFrictionVoltage = 0.25_V;
     static constexpr units::volt_t kDriveFrictionVoltage = 0.25_V;

diff --git a/cpp/SwerveWithPathPlanner/src/main/include/subsystems/CommandSwerveDrivetrain.h b/cpp/SwerveWithPathPlanner/src/main/include/subsystems/CommandSwerveDrivetrain.h
@@ -190,7 +190,7 @@ class CommandSwerveDrivetrain : public frc2::SubsystemBase, public swerve::Swerv
      */
     template <typename RequestSupplier>
         requires std::derived_from<
-            std::invoke_result_t<RequestSupplier>,
+            std::remove_reference_t<std::invoke_result_t<RequestSupplier>>,
             swerve::requests::SwerveRequest>
     frc2::CommandPtr ApplyRequest(RequestSupplier request)
     {

diff --git a/java/SwerveWithChoreo/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithChoreo/src/main/java/frc/robot/generated/TunerConstants.java
@@ -83,8 +83,8 @@ public class TunerConstants {
 
 
     // These are only used for simulation
-    private static final double kSteerInertia = 0.00001;
-    private static final double kDriveInertia = 0.001;
+    private static final double kSteerInertia = 0.01;
+    private static final double kDriveInertia = 0.01;
     // Simulated voltage necessary to overcome friction
     private static final Voltage kSteerFrictionVoltage = Volts.of(0.25);
     private static final Voltage kDriveFrictionVoltage = Volts.of(0.25);

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java
@@ -83,8 +83,8 @@ public class TunerConstants {
 
 
     // These are only used for simulation
-    private static final double kSteerInertia = 0.00001;
-    private static final double kDriveInertia = 0.001;
+    private static final double kSteerInertia = 0.01;
+    private static final double kDriveInertia = 0.01;
     // Simulated voltage necessary to overcome friction
     private static final Voltage kSteerFrictionVoltage = Volts.of(0.25);
     private static final Voltage kDriveFrictionVoltage = Volts.of(0.25);

diff --git a/python/SwerveWithPathPlanner/generated/tuner_constants.py b/python/SwerveWithPathPlanner/generated/tuner_constants.py
@@ -80,8 +80,8 @@ class TunerConstants:
     _pigeon_id = 1
 
     # These are only used for simulation
-    _steer_inertia: units.kilogram_square_meter = 0.00001
-    _drive_inertia: units.kilogram_square_meter = 0.001
+    _steer_inertia: units.kilogram_square_meter = 0.01
+    _drive_inertia: units.kilogram_square_meter = 0.01
     # Simulated voltage necessary to overcome friction
     _steer_friction_voltage: units.volt = 0.25
     _drive_friction_voltage: units.volt = 0.25