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SwerveDrive.java
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package swervelib;
import static edu.wpi.first.hal.FRCNetComm.tInstances.kRobotDriveSwerve_YAGSL;
import static edu.wpi.first.hal.FRCNetComm.tResourceType.kResourceType_RobotDrive;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Kilograms;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Newtons;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Force;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import org.ironmaple.simulation.SimulatedArena;
import org.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation;
import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
import swervelib.encoders.CANCoderSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.SwerveIMU;
import swervelib.math.SwerveMath;
import swervelib.motors.TalonFXSwerve;
import swervelib.parser.Cache;
import swervelib.parser.SwerveControllerConfiguration;
import swervelib.parser.SwerveDriveConfiguration;
import swervelib.simulation.SwerveIMUSimulation;
import swervelib.telemetry.SwerveDriveTelemetry;
import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
/**
* Swerve Drive class representing and controlling the swerve drive.
*/
public class SwerveDrive
{
/**
* Swerve Kinematics object.
*/
public final SwerveDriveKinematics kinematics;
/**
* Swerve drive configuration.
*/
public final SwerveDriveConfiguration swerveDriveConfiguration;
/**
* Swerve odometry.
*/
public final SwerveDrivePoseEstimator swerveDrivePoseEstimator;
/**
* IMU reading cache for robot readings.
*/
public final Cache<Rotation3d> imuReadingCache;
/**
* Swerve modules.
*/
private final SwerveModule[] swerveModules;
/**
* WPILib {@link Notifier} to keep odometry up to date.
*/
private final Notifier odometryThread;
/**
* Odometry lock to ensure thread safety.
*/
private final Lock odometryLock = new ReentrantLock();
/**
* Alert to recommend Tuner X if the configuration is compatible.
*/
private final Alert tunerXRecommendation = new Alert("Swerve Drive",
"Your Swerve Drive is compatible with Tuner X swerve generator, please consider using that instead of YAGSL. More information here!\n" +
"https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html",
AlertType.kWarning);
/**
* NT4 Publisher for the IMU reading.
*/
private final DoublePublisher rawIMUPublisher
= NetworkTableInstance.getDefault()
.getDoubleTopic(
"swerve/Raw IMU Yaw")
.publish();
/**
* NT4 Publisher for the IMU reading adjusted by offset and inversion.
*/
private final DoublePublisher adjustedIMUPublisher
= NetworkTableInstance.getDefault()
.getDoubleTopic(
"swerve/Adjusted IMU Yaw")
.publish();
/**
* Field object.
*/
public Field2d field = new Field2d();
/**
* Swerve controller for controlling heading of the robot.
*/
public SwerveController swerveController;
/**
* Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's
* correction.
*/
public boolean chassisVelocityCorrection = true;
/**
* Correct chassis velocity in {@link SwerveDrive#setChassisSpeeds(ChassisSpeeds chassisSpeeds)} (auto) using 254's
* correction during auto.
*/
public boolean autonomousChassisVelocityCorrection = false;
/**
* Correct for skew that scales with angular velocity in
* {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)}
*/
public boolean angularVelocityCorrection = false;
/**
* Correct for skew that scales with angular velocity in
* {@link SwerveDrive#setChassisSpeeds(ChassisSpeeds chassisSpeeds)} during auto.
*/
public boolean autonomousAngularVelocityCorrection = false;
/**
* Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).
*/
public double angularVelocityCoefficient = 0;
/**
* Whether to correct heading when driving translationally. Set to true to enable.
*/
public boolean headingCorrection = false;
/**
* MapleSim SwerveDrive.
*/
private SwerveDriveSimulation mapleSimDrive;
/**
* Amount of seconds the duration of the timestep the speeds should be applied for.
*/
private double discretizationdtSeconds = 0.02;
/**
* Deadband for speeds in heading correction.
*/
private double HEADING_CORRECTION_DEADBAND = 0.01;
/**
* Swerve IMU device for sensing the heading of the robot.
*/
private SwerveIMU imu;
/**
* Simulation of the swerve drive.
*/
private SwerveIMUSimulation simIMU;
/**
* Counter to synchronize the modules relative encoder with absolute encoder when not moving.
*/
private int moduleSynchronizationCounter = 0;
/**
* The last heading set in radians.
*/
private double lastHeadingRadians = 0;
/**
* The absolute max speed that your robot can reach while translating in meters per second.
*/
private double attainableMaxTranslationalSpeedMetersPerSecond = 0;
/**
* The absolute max speed the robot can reach while rotating radians per second.
*/
private double attainableMaxRotationalVelocityRadiansPerSecond = 0;
/**
* Maximum speed of the robot in meters per second.
*/
private double maxChassisSpeedMPS;
/**
* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the
* {@link SwerveDrive#setRawModuleStates} method. The {@link SwerveDrive#drive} method incorporates kinematics-- it
* takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
* {@link SwerveDrive#setRawModuleStates} takes a list of SwerveModuleStates and directly passes them to the modules.
* This subsystem also handles odometry.
*
* @param config The {@link SwerveDriveConfiguration} configuration to base the swerve drive off of.
* @param controllerConfig The {@link SwerveControllerConfiguration} to use when creating the
* {@link SwerveController}.
* @param maxSpeedMPS Maximum speed of the robot in meters per second, remember to use
* {@link Units#feetToMeters(double)} if you have feet per second!
* @param startingPose Starting {@link Pose2d} on the field.
*/
public SwerveDrive(
SwerveDriveConfiguration config, SwerveControllerConfiguration controllerConfig, double maxSpeedMPS,
Pose2d startingPose)
{
this.maxChassisSpeedMPS = maxSpeedMPS;
swerveDriveConfiguration = config;
swerveController = new SwerveController(controllerConfig);
// Create Kinematics from swerve module locations.
kinematics = new SwerveDriveKinematics(config.moduleLocationsMeters);
odometryThread = new Notifier(this::updateOdometry);
this.swerveModules = config.modules;
// Create an integrator for angle if the robot is being simulated to emulate an IMU
// If the robot is real, instantiate the IMU instead.
if (SwerveDriveTelemetry.isSimulation)
{
DriveTrainSimulationConfig simulationConfig = DriveTrainSimulationConfig.Default()
.withBumperSize(
Meters.of(config.getTracklength())
.plus(Inches.of(5)),
Meters.of(config.getTrackwidth())
.plus(Inches.of(5)))
.withRobotMass(Kilograms.of(config.physicalCharacteristics.robotMassKg))
.withCustomModuleTranslations(config.moduleLocationsMeters)
.withGyro(config.getGyroSim())
.withSwerveModule(new SwerveModuleSimulationConfig(
config.getDriveMotorSim(),
config.getAngleMotorSim(),
config.physicalCharacteristics.conversionFactor.drive.gearRatio,
config.physicalCharacteristics.conversionFactor.angle.gearRatio,
Volts.of(config.physicalCharacteristics.driveFrictionVoltage),
Volts.of(config.physicalCharacteristics.angleFrictionVoltage),
Inches.of(
config.physicalCharacteristics.conversionFactor.drive.diameter /
2),
KilogramSquareMeters.of(0.02),
config.physicalCharacteristics.wheelGripCoefficientOfFriction)
);
mapleSimDrive = new SwerveDriveSimulation(simulationConfig, startingPose);
// feed module simulation instances to modules
for (int i = 0; i < swerveModules.length; i++)
{
this.swerveModules[i].configureModuleSimulation(mapleSimDrive.getModules()[i], config.physicalCharacteristics);
}
// register the drivetrain simulation
SimulatedArena.getInstance().addDriveTrainSimulation(mapleSimDrive);
simIMU = new SwerveIMUSimulation(mapleSimDrive.getGyroSimulation());
imuReadingCache = new Cache<>(simIMU::getGyroRotation3d, 5L);
} else
{
imu = config.imu;
imu.factoryDefault();
imuReadingCache = new Cache<>(imu::getRotation3d, 5L);
}
// odometry = new SwerveDriveOdometry(kinematics, getYaw(), getModulePositions());
swerveDrivePoseEstimator =
new SwerveDrivePoseEstimator(
kinematics,
getYaw(),
getModulePositions(),
startingPose); // x,y,heading in radians; Vision measurement std dev, higher=less weight
zeroGyro();
// Initialize Telemetry
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.POSE.ordinal())
{
SmartDashboard.putData("Field", field);
}
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.INFO.ordinal())
{
SwerveDriveTelemetry.maxSpeed = maxSpeedMPS;
SwerveDriveTelemetry.maxAngularVelocity = swerveController.config.maxAngularVelocity;
SwerveDriveTelemetry.moduleCount = swerveModules.length;
SwerveDriveTelemetry.sizeFrontBack = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, true,
false).moduleLocation.getX() +
SwerveMath.getSwerveModule(swerveModules,
false,
false).moduleLocation.getX());
SwerveDriveTelemetry.sizeLeftRight = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, false,
true).moduleLocation.getY() +
SwerveMath.getSwerveModule(swerveModules,
false,
false).moduleLocation.getY());
SwerveDriveTelemetry.wheelLocations = new double[SwerveDriveTelemetry.moduleCount * 2];
for (SwerveModule module : swerveModules)
{
SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = Units.metersToInches(
module.configuration.moduleLocation.getX());
SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = Units.metersToInches(
module.configuration.moduleLocation.getY());
}
SwerveDriveTelemetry.measuredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
SwerveDriveTelemetry.desiredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
SwerveDriveTelemetry.desiredStatesObj = new SwerveModuleState[SwerveDriveTelemetry.moduleCount];
SwerveDriveTelemetry.measuredStatesObj = new SwerveModuleState[SwerveDriveTelemetry.moduleCount];
}
setOdometryPeriod(SwerveDriveTelemetry.isSimulation ? 0.004 : 0.02);
checkIfTunerXCompatible();
HAL.report(kResourceType_RobotDrive, kRobotDriveSwerve_YAGSL);
}
/**
* Update the cache validity period for the robot.
*
* @param imu IMU reading cache validity period in milliseconds.
* @param driveMotor Drive motor reading cache in milliseconds.
* @param absoluteEncoder Absolute encoder reading cache in milliseconds.
*/
public void updateCacheValidityPeriods(long imu, long driveMotor, long absoluteEncoder)
{
imuReadingCache.updateValidityPeriod(imu);
for (SwerveModule module : swerveModules)
{
module.drivePositionCache.updateValidityPeriod(driveMotor);
module.driveVelocityCache.updateValidityPeriod(driveMotor);
module.absolutePositionCache.updateValidityPeriod(absoluteEncoder);
}
}
/**
* Check all components to ensure that Tuner X Swerve Generator is recommended instead.
*/
private void checkIfTunerXCompatible()
{
boolean compatible = imu instanceof Pigeon2Swerve;
for (SwerveModule module : swerveModules)
{
compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve &&
module.getAngleMotor() instanceof TalonFXSwerve &&
module.getAbsoluteEncoder() instanceof CANCoderSwerve;
if (!compatible)
{
break;
}
}
if (compatible)
{
tunerXRecommendation.set(true);
}
}
/**
* Set the odometry update period in seconds.
*
* @param period period in seconds.
*/
public void setOdometryPeriod(double period)
{
odometryThread.stop();
SimulatedArena.overrideSimulationTimings(Seconds.of(period), 1);
odometryThread.startPeriodic(period);
}
/**
* Stop the odometry thread in favor of manually updating odometry.
*/
public void stopOdometryThread()
{
odometryThread.stop();
SimulatedArena.overrideSimulationTimings(Seconds.of(TimedRobot.kDefaultPeriod), 5);
}
/**
* Set the conversion factor for the angle/azimuth motor controller.
*
* @param conversionFactor Angle motor conversion factor for PID, should be generated from
* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)} or calculated.
*/
public void setAngleMotorConversionFactor(double conversionFactor)
{
for (SwerveModule module : swerveModules)
{
module.setAngleMotorConversionFactor(conversionFactor);
}
}
/**
* Set the conversion factor for the drive motor controller.
*
* @param conversionFactor Drive motor conversion factor for PID, should be generated from
* {@link SwerveMath#calculateMetersPerRotation(double, double, double)} or calculated.
*/
public void setDriveMotorConversionFactor(double conversionFactor)
{
for (SwerveModule module : swerveModules)
{
module.setDriveMotorConversionFactor(conversionFactor);
}
}
/**
* Fetch the latest odometry heading, should be trusted over {@link SwerveDrive#getYaw()}.
*
* @return {@link Rotation2d} of the robot heading.
*/
public Rotation2d getOdometryHeading()
{
return swerveDrivePoseEstimator.getEstimatedPosition().getRotation();
}
/**
* Set the heading correction capabilities of YAGSL.
*
* @param state {@link SwerveDrive#headingCorrection} state.
*/
public void setHeadingCorrection(boolean state)
{
setHeadingCorrection(state, HEADING_CORRECTION_DEADBAND);
}
/**
* Set the heading correction capabilities of YAGSL.
*
* @param state {@link SwerveDrive#headingCorrection} state.
* @param deadband {@link SwerveDrive#HEADING_CORRECTION_DEADBAND} deadband.
*/
public void setHeadingCorrection(boolean state, double deadband)
{
headingCorrection = state;
HEADING_CORRECTION_DEADBAND = deadband;
}
/**
* Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
* time. The inputs are added together so this is not intended to be used to give the driver both methods of control.
*
* @param fieldOrientedVelocity The field oriented velocties to use
* @param robotOrientedVelocity The robot oriented velocties to use
*/
public void driveFieldOrientedAndRobotOriented(ChassisSpeeds fieldOrientedVelocity,
ChassisSpeeds robotOrientedVelocity)
{
drive(ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading())
.plus(robotOrientedVelocity));
}
/**
* Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
*
* @param fieldRelativeSpeeds Velocity of the robot desired.
*/
public void driveFieldOriented(ChassisSpeeds fieldRelativeSpeeds)
{
drive(ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds, getOdometryHeading()));
}
/**
* Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
*
* @param fieldRelativeSpeeds Velocity of the robot desired.
* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
*/
public void driveFieldOriented(ChassisSpeeds fieldRelativeSpeeds, Translation2d centerOfRotationMeters)
{
drive(ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds, getOdometryHeading()), centerOfRotationMeters);
}
/**
* Secondary method for controlling the drivebase. Given a simple {@link ChassisSpeeds} set the swerve module states,
* to achieve the goal.
*
* @param velocity The desired robot-oriented {@link ChassisSpeeds} for the robot to achieve.
*/
public void drive(ChassisSpeeds velocity)
{
drive(velocity, false, new Translation2d());
}
/**
* Secondary method for controlling the drivebase. Given a simple {@link ChassisSpeeds} set the swerve module states,
* to achieve the goal.
*
* @param velocity The desired robot-oriented {@link ChassisSpeeds} for the robot to achieve.
* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
*/
public void drive(ChassisSpeeds velocity, Translation2d centerOfRotationMeters)
{
drive(velocity, false, centerOfRotationMeters);
}
/**
* The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and calculates
* and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
* velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
*
* @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters
* per second. In robot-relative mode, positive x is torwards the bow (front) and
* positive y is torwards port (left). In field-relative mode, positive x is away from
* the alliance wall (field North) and positive y is torwards the left wall when looking
* through the driver station glass (field West).
* @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
* relativity.
* @param fieldRelative Drive mode. True for field-relative, false for robot-relative.
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
*/
public void drive(
Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop,
Translation2d centerOfRotationMeters)
{
// Creates a robot-relative ChassisSpeeds object, converting from field-relative speeds if
// necessary.
ChassisSpeeds velocity = new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
if (fieldRelative)
{
velocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
}
drive(velocity, isOpenLoop, centerOfRotationMeters);
}
/**
* The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and calculates
* and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
* velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
*
* @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters per
* second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
* torwards port (left). In field-relative mode, positive x is away from the alliance wall (field
* North) and positive y is torwards the left wall when looking through the driver station glass
* (field West).
* @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
* relativity.
* @param fieldRelative Drive mode. True for field-relative, false for robot-relative.
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
*/
public void drive(
Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
{
// Creates a robot-relative ChassisSpeeds object, converting from field-relative speeds if
// necessary.
ChassisSpeeds velocity = new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
if (fieldRelative)
{
ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
}
drive(velocity, isOpenLoop, new Translation2d());
}
/**
* The primary method for controlling the drivebase. Takes a {@link ChassisSpeeds}, and calculates and commands module
* states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies
* heading correction if enabled and necessary.
*
* @param robotRelativeVelocity The chassis speeds to set the robot to achieve.
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
*/
public void drive(ChassisSpeeds robotRelativeVelocity, boolean isOpenLoop, Translation2d centerOfRotationMeters)
{
SwerveDriveTelemetry.startCtrlCycle();
robotRelativeVelocity = movementOptimizations(robotRelativeVelocity,
chassisVelocityCorrection,
angularVelocityCorrection);
// Heading Angular Velocity Deadband, might make a configuration option later.
// Originally made by Team 1466 Webb Robotics.
// Modified by Team 7525 Pioneers and BoiledBurntBagel of 6036
if (headingCorrection)
{
if (Math.abs(robotRelativeVelocity.omegaRadiansPerSecond) < HEADING_CORRECTION_DEADBAND
&& (Math.abs(robotRelativeVelocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
|| Math.abs(robotRelativeVelocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
{
robotRelativeVelocity.omegaRadiansPerSecond =
swerveController.headingCalculate(getOdometryHeading().getRadians(), lastHeadingRadians);
} else
{
lastHeadingRadians = getOdometryHeading().getRadians();
}
}
// Display commanded speed for testing
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
{
SwerveDriveTelemetry.desiredChassisSpeedsObj = robotRelativeVelocity;
}
// Calculate required module states via kinematics
SwerveModuleState[] swerveModuleStates = kinematics.toSwerveModuleStates(robotRelativeVelocity,
centerOfRotationMeters);
setRawModuleStates(swerveModuleStates, robotRelativeVelocity, isOpenLoop);
}
/**
* Set the maximum speeds for desaturation.
*
* @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot can reach while
* translating in meters per second.
* @param attainableMaxRotationalVelocityRadiansPerSecond The absolute max speed the robot can reach while rotating in
* radians per second.
*/
public void setMaximumSpeeds(
double attainableMaxTranslationalSpeedMetersPerSecond,
double attainableMaxRotationalVelocityRadiansPerSecond)
{
this.attainableMaxTranslationalSpeedMetersPerSecond = attainableMaxTranslationalSpeedMetersPerSecond;
this.attainableMaxRotationalVelocityRadiansPerSecond = attainableMaxRotationalVelocityRadiansPerSecond;
this.swerveController.config.maxAngularVelocity = attainableMaxRotationalVelocityRadiansPerSecond;
}
/**
* Get the maximum velocity from {@link SwerveDrive#attainableMaxTranslationalSpeedMetersPerSecond} or
* {@link SwerveDrive#maxChassisSpeedMPS} whichever is higher.
*
* @return Maximum speed in meters/second.
*/
public double getMaximumChassisVelocity()
{
return Math.max(this.attainableMaxTranslationalSpeedMetersPerSecond, maxChassisSpeedMPS);
}
/**
* Get the maximum drive velocity of a module as a {@link LinearVelocity}.
*
* @return {@link LinearVelocity} representing the maximum drive speed of a module.
*/
public LinearVelocity getMaximumModuleDriveVelocity()
{
return swerveModules[0].getMaxVelocity();
}
/**
* Get the maximum angular velocity of an azimuth/angle motor in the swerve module.
*
* @return {@link AngularVelocity} of the maximum azimuth/angle motor.
*/
public AngularVelocity getMaximumModuleAngleVelocity()
{
return swerveModules[0].getMaxAngularVelocity();
}
/**
* Get the maximum angular velocity, either {@link SwerveDrive#attainableMaxRotationalVelocityRadiansPerSecond} or
* {@link SwerveControllerConfiguration#maxAngularVelocity}.
*
* @return Maximum angular velocity in radians per second.
*/
public double getMaximumChassisAngularVelocity()
{
return Math.max(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity);
}
/**
* Set the module states (azimuth and velocity) directly.
*
* @param desiredStates A list of SwerveModuleStates to send to the modules.
* @param desiredChassisSpeed The desired chassis speeds to set the robot to achieve.
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
*/
private void setRawModuleStates(SwerveModuleState[] desiredStates, ChassisSpeeds desiredChassisSpeed,
boolean isOpenLoop)
{
// Desaturates wheel speeds
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity().in(MetersPerSecond);
if (attainableMaxTranslationalSpeedMetersPerSecond != 0 || attainableMaxRotationalVelocityRadiansPerSecond != 0)
{
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, desiredChassisSpeed,
maxModuleSpeedMPS,
attainableMaxTranslationalSpeedMetersPerSecond,
attainableMaxRotationalVelocityRadiansPerSecond);
} else
{
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, maxModuleSpeedMPS);
}
// Sets states
for (SwerveModule module : swerveModules)
{
module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop, false);
}
}
/**
* Set the module states (azimuth and velocity) directly. Used primarily for auto paths. Does not allow for usage of
* {@link SwerveDriveKinematics#desaturateWheelSpeeds(SwerveModuleState[] moduleStates, ChassisSpeeds
* desiredChassisSpeed, double attainableMaxModuleSpeedMetersPerSecond, double
* attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)}
*
* @param desiredStates A list of SwerveModuleStates to send to the modules.
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
*/
public void setModuleStates(SwerveModuleState[] desiredStates, boolean isOpenLoop)
{
SwerveDriveTelemetry.startCtrlCycle();
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity().in(MetersPerSecond);
desiredStates = kinematics.toSwerveModuleStates(kinematics.toChassisSpeeds(desiredStates));
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, maxModuleSpeedMPS);
// Sets states
for (SwerveModule module : swerveModules)
{
module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop, false);
}
}
/**
* Drive the robot using the {@link SwerveModuleState}, it is recommended to have
* {@link SwerveDrive#setCosineCompensator(boolean)} set to false for this.<br/>
*
* @param robotRelativeVelocity Robot relative {@link ChassisSpeeds}
* @param states Corresponding {@link SwerveModuleState} to use (not checked against the
* {@param robotRelativeVelocity}).
* @param feedforwardForces Feedforward forces generated by set-point generator
*/
public void drive(ChassisSpeeds robotRelativeVelocity, SwerveModuleState[] states, Force[] feedforwardForces)
{
SwerveDriveTelemetry.startCtrlCycle();
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
{
SwerveDriveTelemetry.desiredChassisSpeedsObj = robotRelativeVelocity;
}
for (SwerveModule module : swerveModules)
{
// from the module configuration, obtain necessary information to calculate feed-forward
// Warning: Will not work well if motor is not what we are expecting.
// Warning: Should replace module.getDriveMotor().simMotor with expected motor type first.
DCMotor driveMotorModel = module.configuration.driveMotor.getSimMotor();
double driveGearRatio = module.configuration.conversionFactors.drive.gearRatio;
double wheelRadiusMeters = Units.inchesToMeters(module.configuration.conversionFactors.drive.diameter) / 2;
// calculation:
double desiredGroundSpeedMPS = states[module.moduleNumber].speedMetersPerSecond;
double feedforwardVoltage = driveMotorModel.getVoltage(
// Since: (1) torque = force * momentOfForce; (2) torque (on wheel) = torque (on motor) * gearRatio
// torque (on motor) = force * wheelRadius / gearRatio
feedforwardForces[module.moduleNumber].in(Newtons) * wheelRadiusMeters / driveGearRatio,
// Since: (1) linear velocity = angularVelocity * wheelRadius; (2) wheelVelocity = motorVelocity / gearRatio
// motorAngularVelocity = linearVelocity / wheelRadius * gearRatio
desiredGroundSpeedMPS / wheelRadiusMeters * driveGearRatio
);
module.setDesiredState(
states[module.moduleNumber],
false,
feedforwardVoltage
);
}
}
/**
* Set chassis speeds with closed-loop velocity control.
*
* @param robotRelativeSpeeds Chassis speeds to set.
*/
public void setChassisSpeeds(ChassisSpeeds robotRelativeSpeeds)
{
SwerveDriveTelemetry.startCtrlCycle();
robotRelativeSpeeds = movementOptimizations(robotRelativeSpeeds,
autonomousChassisVelocityCorrection,
autonomousAngularVelocityCorrection);
SwerveDriveTelemetry.desiredChassisSpeedsObj = robotRelativeSpeeds;
setRawModuleStates(kinematics.toSwerveModuleStates(robotRelativeSpeeds), robotRelativeSpeeds, false);
}
/**
* Gets the measured pose (position and rotation) of the robot, as reported by odometry.
*
* @return The robot's pose
*/
public Pose2d getPose()
{
odometryLock.lock();
Pose2d poseEstimation = swerveDrivePoseEstimator.getEstimatedPosition();
odometryLock.unlock();
return poseEstimation;
}
/**
* Gets the maple-sim drivetrain simulation instance This is used to add intake simulation / launch game pieces from
* the robot
*
* @return an optional maple-sim {@link SwerveDriveSimulation} object, or {@link Optional#empty()} when calling from a
* real robot
*/
public Optional<SwerveDriveSimulation> getMapleSimDrive()
{
if (SwerveDriveTelemetry.isSimulation)
{
return Optional.of(mapleSimDrive);
}
return Optional.empty();
}
/**
* Gets the actual pose of the drivetrain during simulation
*
* @return an {@link Optional} {@link Pose2d}, representing the drivetrain pose during simulation, or an empty
* optional when running on real robot
*/
public Optional<Pose2d> getSimulationDriveTrainPose()
{
odometryLock.lock();
Optional<Pose2d> simulationPose = getMapleSimDrive().map(AbstractDriveTrainSimulation::getSimulatedDriveTrainPose);
odometryLock.unlock();
return simulationPose;
}
/**
* Gets the measured field-relative robot velocity (x, y and omega)
*
* @return A ChassisSpeeds object of the current field-relative velocity
*/
public ChassisSpeeds getFieldVelocity()
{
// ChassisSpeeds has a method to convert from field-relative to robot-relative speeds,
// but not the reverse. However, because this transform is a simple rotation, negating the
// angle given as the robot angle reverses the direction of rotation, and the conversion is reversed.
ChassisSpeeds robotRelativeSpeeds = kinematics.toChassisSpeeds(getStates());
return ChassisSpeeds.fromRobotRelativeSpeeds(robotRelativeSpeeds, getOdometryHeading());
// Might need to be this instead
//return ChassisSpeeds.fromFieldRelativeSpeeds(
// kinematics.toChassisSpeeds(getStates()), getOdometryHeading().unaryMinus());
}
/**
* Gets the current robot-relative velocity (x, y and omega) of the robot
*
* @return A ChassisSpeeds object of the current robot-relative velocity
*/
public ChassisSpeeds getRobotVelocity()
{
return kinematics.toChassisSpeeds(getStates());
}
/**
* Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
* method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
* keep working.
*
* @param pose The pose to set the odometry to
*/
public void resetOdometry(Pose2d pose)
{
odometryLock.lock();
swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
if (SwerveDriveTelemetry.isSimulation)
{
mapleSimDrive.setSimulationWorldPose(pose);
}
odometryLock.unlock();
ChassisSpeeds robotRelativeSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(new ChassisSpeeds(0, 0, 0), getYaw());
kinematics.toSwerveModuleStates(robotRelativeSpeeds);
}
/**
* Post the trajectory to the field
*
* @param trajectory the trajectory to post.
*/
public void postTrajectory(Trajectory trajectory)
{
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.POSE.ordinal())
{
field.getObject("Trajectory").setTrajectory(trajectory);
}
}
/**
* Gets the current module states (azimuth and velocity)
*
* @return A list of SwerveModuleStates containing the current module states
*/
public SwerveModuleState[] getStates()
{
SwerveModuleState[] states = new SwerveModuleState[swerveDriveConfiguration.moduleCount];
for (SwerveModule module : swerveModules)
{
states[module.moduleNumber] = module.getState();
}
return states;
}
/**
* Gets the current module positions (azimuth and wheel position (meters)).
*
* @return A list of SwerveModulePositions containg the current module positions
*/
public SwerveModulePosition[] getModulePositions()
{
SwerveModulePosition[] positions =
new SwerveModulePosition[swerveDriveConfiguration.moduleCount];
for (SwerveModule module : swerveModules)
{
positions[module.moduleNumber] = module.getPosition();
}
return positions;
}
/**
* Getter for the {@link SwerveIMU}.
*
* @return generated {@link SwerveIMU}
*/
public SwerveIMU getGyro()
{
return swerveDriveConfiguration.imu;
}
/**
* Set the expected gyroscope angle using a {@link Rotation3d} object. To reset gyro, set to a new {@link Rotation3d}
* subtracted from the current gyroscopic readings {@link SwerveIMU#getRotation3d()}.
*
* @param gyro expected gyroscope angle as {@link Rotation3d}.
*/
public void setGyro(Rotation3d gyro)
{
if (SwerveDriveTelemetry.isSimulation)
{
setGyroOffset(simIMU.getGyroRotation3d().minus(gyro));
} else
{
setGyroOffset(imu.getRawRotation3d().minus(gyro));
}
imuReadingCache.update();
}
/**
* Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
*/
public void zeroGyro()
{
// Resets the real gyro or the angle accumulator, depending on whether the robot is being
// simulated
if (SwerveDriveTelemetry.isSimulation)
{
simIMU.setAngle(0);
} else
{
setGyroOffset(imu.getRawRotation3d());
}
imuReadingCache.update();
swerveController.lastAngleScalar = 0;
lastHeadingRadians = 0;
resetOdometry(new Pose2d(getPose().getTranslation(), new Rotation2d()));
}
/**
* Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
*
* @return The yaw as a {@link Rotation2d} angle
*/
public Rotation2d getYaw()
{
// Read the imu if the robot is real or the accumulator if the robot is simulated.
return Rotation2d.fromRadians(imuReadingCache.getValue().getZ());
}
/**
* Gets the current pitch angle of the robot, as reported by the imu.
*
* @return The heading as a {@link Rotation2d} angle
*/
public Rotation2d getPitch()
{
// Read the imu if the robot is real or the accumulator if the robot is simulated.
return Rotation2d.fromRadians(imuReadingCache.getValue().getY());
}
/**