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Implemented swerve for the 2025 comp chassis Generated constants for the 2025 comp bot Fixed Mac Address issues --------- Co-authored-by: RobototesProgrammers <[email protected]> Co-authored-by: iamawesomecat <[email protected]>
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src/main/java/frc/robot/generated/CompTunerConstants.java
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| package frc.robot.generated; | ||
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| import static edu.wpi.first.units.Units.*; | ||
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| import com.ctre.phoenix6.CANBus; | ||
| import com.ctre.phoenix6.configs.*; | ||
| import com.ctre.phoenix6.hardware.*; | ||
| import com.ctre.phoenix6.signals.*; | ||
| import com.ctre.phoenix6.swerve.*; | ||
| import com.ctre.phoenix6.swerve.SwerveModuleConstants.*; | ||
| import edu.wpi.first.math.Matrix; | ||
| import edu.wpi.first.math.numbers.N1; | ||
| import edu.wpi.first.math.numbers.N3; | ||
| import edu.wpi.first.units.measure.*; | ||
| import frc.robot.subsystems.drivebase.CommandSwerveDrivetrain; | ||
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| // Generated by the Tuner X Swerve Project Generator | ||
| // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html | ||
| public class CompTunerConstants { | ||
| // Both sets of gains need to be tuned to your individual robot. | ||
|
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| // The steer motor uses any SwerveModule.SteerRequestType control request with the | ||
| // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput | ||
| private static final Slot0Configs steerGains = | ||
| new Slot0Configs() | ||
| .withKP(100) | ||
| .withKI(0) | ||
| .withKD(1) | ||
| .withKS(0.1) | ||
| .withKV(2.33) | ||
| .withKA(0) | ||
| .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); | ||
| // When using closed-loop control, the drive motor uses the control | ||
| // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput | ||
| private static final Slot0Configs driveGains = | ||
| new Slot0Configs().withKP(0.1).withKI(0).withKD(0).withKS(0).withKV(0.124); | ||
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| // The closed-loop output type to use for the steer motors; | ||
| // This affects the PID/FF gains for the steer motors | ||
| private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage; | ||
| // The closed-loop output type to use for the drive motors; | ||
| // This affects the PID/FF gains for the drive motors | ||
| private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage; | ||
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| // The type of motor used for the drive motor | ||
| private static final DriveMotorArrangement kDriveMotorType = | ||
| DriveMotorArrangement.TalonFX_Integrated; | ||
| // The type of motor used for the drive motor | ||
| private static final SteerMotorArrangement kSteerMotorType = | ||
| SteerMotorArrangement.TalonFX_Integrated; | ||
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| // The remote sensor feedback type to use for the steer motors; | ||
| // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* | ||
| private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; | ||
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| // The stator current at which the wheels start to slip; | ||
| // This needs to be tuned to your individual robot | ||
| private static final Current kSlipCurrent = Amps.of(120.0); | ||
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| // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. | ||
| // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. | ||
| private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration(); | ||
| private static final TalonFXConfiguration steerInitialConfigs = | ||
| new TalonFXConfiguration() | ||
| .withCurrentLimits( | ||
| new CurrentLimitsConfigs() | ||
| // Swerve azimuth does not require much torque output, so we can set a relatively | ||
| // low | ||
| // stator current limit to help avoid brownouts without impacting performance. | ||
| .withStatorCurrentLimit(Amps.of(60)) | ||
| .withStatorCurrentLimitEnable(true)); | ||
| private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration(); | ||
| // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs | ||
| private static final Pigeon2Configuration pigeonConfigs = null; | ||
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| // CAN bus that the devices are located on; | ||
| // All swerve devices must share the same CAN bus | ||
| public static final CANBus kCANBus = new CANBus("Drivebase", "./logs/example.hoot"); | ||
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| // Theoretical free speed (m/s) at 12 V applied output; | ||
| // This needs to be tuned to your individual robot | ||
| public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.96); | ||
|
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| // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; | ||
| // This may need to be tuned to your individual robot | ||
| private static final double kCoupleRatio = 3.125; | ||
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| private static final double kDriveGearRatio = 5.357142857142857; | ||
| private static final double kSteerGearRatio = 18.75; | ||
| private static final Distance kWheelRadius = Inches.of(2); | ||
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| private static final boolean kInvertLeftSide = false; | ||
| private static final boolean kInvertRightSide = true; | ||
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| private static final int kPigeonId = 10; | ||
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| // These are only used for simulation | ||
| private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); | ||
| private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); | ||
| // Simulated voltage necessary to overcome friction | ||
| private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); | ||
| private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); | ||
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| public static final SwerveDrivetrainConstants DrivetrainConstants = | ||
| new SwerveDrivetrainConstants() | ||
| .withCANBusName(kCANBus.getName()) | ||
| .withPigeon2Id(kPigeonId) | ||
| .withPigeon2Configs(pigeonConfigs); | ||
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| private static final SwerveModuleConstantsFactory< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> | ||
| ConstantCreator = | ||
| new SwerveModuleConstantsFactory< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() | ||
| .withDriveMotorGearRatio(kDriveGearRatio) | ||
| .withSteerMotorGearRatio(kSteerGearRatio) | ||
| .withCouplingGearRatio(kCoupleRatio) | ||
| .withWheelRadius(kWheelRadius) | ||
| .withSteerMotorGains(steerGains) | ||
| .withDriveMotorGains(driveGains) | ||
| .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) | ||
| .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) | ||
| .withSlipCurrent(kSlipCurrent) | ||
| .withSpeedAt12Volts(kSpeedAt12Volts) | ||
| .withDriveMotorType(kDriveMotorType) | ||
| .withSteerMotorType(kSteerMotorType) | ||
| .withFeedbackSource(kSteerFeedbackType) | ||
| .withDriveMotorInitialConfigs(driveInitialConfigs) | ||
| .withSteerMotorInitialConfigs(steerInitialConfigs) | ||
| .withEncoderInitialConfigs(encoderInitialConfigs) | ||
| .withSteerInertia(kSteerInertia) | ||
| .withDriveInertia(kDriveInertia) | ||
| .withSteerFrictionVoltage(kSteerFrictionVoltage) | ||
| .withDriveFrictionVoltage(kDriveFrictionVoltage); | ||
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| // Front Left | ||
| private static final int kFrontLeftDriveMotorId = 1; | ||
| private static final int kFrontLeftSteerMotorId = 2; | ||
| private static final int kFrontLeftEncoderId = 3; | ||
| private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.28173828125); | ||
| private static final boolean kFrontLeftSteerMotorInverted = true; | ||
| private static final boolean kFrontLeftEncoderInverted = false; | ||
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| private static final Distance kFrontLeftXPos = Inches.of(12.3825); | ||
| private static final Distance kFrontLeftYPos = Inches.of(10.3825); | ||
|
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| // Front Right | ||
| private static final int kFrontRightDriveMotorId = 4; | ||
| private static final int kFrontRightSteerMotorId = 5; | ||
| private static final int kFrontRightEncoderId = 6; | ||
| private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.472412109375); | ||
| private static final boolean kFrontRightSteerMotorInverted = true; | ||
| private static final boolean kFrontRightEncoderInverted = false; | ||
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| private static final Distance kFrontRightXPos = Inches.of(12.3825); | ||
| private static final Distance kFrontRightYPos = Inches.of(-10.3825); | ||
|
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| // Back Left | ||
| private static final int kBackLeftDriveMotorId = 7; | ||
| private static final int kBackLeftSteerMotorId = 8; | ||
| private static final int kBackLeftEncoderId = 9; | ||
| private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.1123046875); | ||
| private static final boolean kBackLeftSteerMotorInverted = true; | ||
| private static final boolean kBackLeftEncoderInverted = false; | ||
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| private static final Distance kBackLeftXPos = Inches.of(-12.3825); | ||
| private static final Distance kBackLeftYPos = Inches.of(10.3825); | ||
|
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| // Back Right | ||
| private static final int kBackRightDriveMotorId = 10; | ||
| private static final int kBackRightSteerMotorId = 11; | ||
| private static final int kBackRightEncoderId = 12; | ||
| private static final Angle kBackRightEncoderOffset = Rotations.of(-0.244873046875); | ||
| private static final boolean kBackRightSteerMotorInverted = true; | ||
| private static final boolean kBackRightEncoderInverted = false; | ||
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| private static final Distance kBackRightXPos = Inches.of(-12.3825); | ||
| private static final Distance kBackRightYPos = Inches.of(-10.3825); | ||
|
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| public static final SwerveModuleConstants< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> | ||
| FrontLeft = | ||
| ConstantCreator.createModuleConstants( | ||
| kFrontLeftSteerMotorId, | ||
| kFrontLeftDriveMotorId, | ||
| kFrontLeftEncoderId, | ||
| kFrontLeftEncoderOffset, | ||
| kFrontLeftXPos, | ||
| kFrontLeftYPos, | ||
| kInvertLeftSide, | ||
| kFrontLeftSteerMotorInverted, | ||
| kFrontLeftEncoderInverted); | ||
| public static final SwerveModuleConstants< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> | ||
| FrontRight = | ||
| ConstantCreator.createModuleConstants( | ||
| kFrontRightSteerMotorId, | ||
| kFrontRightDriveMotorId, | ||
| kFrontRightEncoderId, | ||
| kFrontRightEncoderOffset, | ||
| kFrontRightXPos, | ||
| kFrontRightYPos, | ||
| kInvertRightSide, | ||
| kFrontRightSteerMotorInverted, | ||
| kFrontRightEncoderInverted); | ||
| public static final SwerveModuleConstants< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> | ||
| BackLeft = | ||
| ConstantCreator.createModuleConstants( | ||
| kBackLeftSteerMotorId, | ||
| kBackLeftDriveMotorId, | ||
| kBackLeftEncoderId, | ||
| kBackLeftEncoderOffset, | ||
| kBackLeftXPos, | ||
| kBackLeftYPos, | ||
| kInvertLeftSide, | ||
| kBackLeftSteerMotorInverted, | ||
| kBackLeftEncoderInverted); | ||
| public static final SwerveModuleConstants< | ||
| TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> | ||
| BackRight = | ||
| ConstantCreator.createModuleConstants( | ||
| kBackRightSteerMotorId, | ||
| kBackRightDriveMotorId, | ||
| kBackRightEncoderId, | ||
| kBackRightEncoderOffset, | ||
| kBackRightXPos, | ||
| kBackRightYPos, | ||
| kInvertRightSide, | ||
| kBackRightSteerMotorInverted, | ||
| kBackRightEncoderInverted); | ||
|
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||
| /** | ||
| * Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot | ||
| * program,. | ||
| */ | ||
| public static CommandSwerveDrivetrain createDrivetrain() { | ||
| return new CommandSwerveDrivetrain( | ||
| DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight); | ||
| } | ||
|
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||
| /** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */ | ||
| public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> { | ||
| /** | ||
| * Constructs a CTRE SwerveDrivetrain using the specified constants. | ||
| * | ||
| * <p>This constructs the underlying hardware devices, so users should not construct the devices | ||
| * themselves. If they need the devices, they can access them through getters in the classes. | ||
| * | ||
| * @param drivetrainConstants Drivetrain-wide constants for the swerve drive | ||
| * @param modules Constants for each specific module | ||
| */ | ||
| public TunerSwerveDrivetrain( | ||
| SwerveDrivetrainConstants drivetrainConstants, SwerveModuleConstants<?, ?, ?>... modules) { | ||
| super(TalonFX::new, TalonFX::new, CANcoder::new, drivetrainConstants, modules); | ||
| } | ||
|
|
||
| /** | ||
| * Constructs a CTRE SwerveDrivetrain using the specified constants. | ||
| * | ||
| * <p>This constructs the underlying hardware devices, so users should not construct the devices | ||
| * themselves. If they need the devices, they can access them through getters in the classes. | ||
| * | ||
| * @param drivetrainConstants Drivetrain-wide constants for the swerve drive | ||
| * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set | ||
| * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0. | ||
| * @param modules Constants for each specific module | ||
| */ | ||
| public TunerSwerveDrivetrain( | ||
| SwerveDrivetrainConstants drivetrainConstants, | ||
| double odometryUpdateFrequency, | ||
| SwerveModuleConstants<?, ?, ?>... modules) { | ||
| super( | ||
| TalonFX::new, | ||
| TalonFX::new, | ||
| CANcoder::new, | ||
| drivetrainConstants, | ||
| odometryUpdateFrequency, | ||
| modules); | ||
| } | ||
|
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||
| /** | ||
| * Constructs a CTRE SwerveDrivetrain using the specified constants. | ||
| * | ||
| * <p>This constructs the underlying hardware devices, so users should not construct the devices | ||
| * themselves. If they need the devices, they can access them through getters in the classes. | ||
| * | ||
| * @param drivetrainConstants Drivetrain-wide constants for the swerve drive | ||
| * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set | ||
| * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0. | ||
| * @param odometryStandardDeviation The standard deviation for odometry calculation in the form | ||
| * [x, y, theta]ᵀ, with units in meters and radians | ||
| * @param visionStandardDeviation The standard deviation for vision calculation in the form [x, | ||
| * y, theta]ᵀ, with units in meters and radians | ||
| * @param modules Constants for each specific module | ||
| */ | ||
| public TunerSwerveDrivetrain( | ||
| SwerveDrivetrainConstants drivetrainConstants, | ||
| double odometryUpdateFrequency, | ||
| Matrix<N3, N1> odometryStandardDeviation, | ||
| Matrix<N3, N1> visionStandardDeviation, | ||
| SwerveModuleConstants<?, ?, ?>... modules) { | ||
| super( | ||
| TalonFX::new, | ||
| TalonFX::new, | ||
| CANcoder::new, | ||
| drivetrainConstants, | ||
| odometryUpdateFrequency, | ||
| odometryStandardDeviation, | ||
| visionStandardDeviation, | ||
| modules); | ||
| } | ||
| } | ||
| } |
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