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dont delete swerve #3

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ce361ff
dont delete swerve
Aug 27, 2025
034fa23
fixed vision
Aug 27, 2025
11e4293
Merge branch 'main' into main
SemblanceOfSense Aug 27, 2025
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66 changes: 28 additions & 38 deletions src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
Expand All @@ -47,7 +47,7 @@

import frc.robot.utils.NetworkTablesUtils;
import org.json.simple.parser.ParseException;
import org.photonvision.PhotonCamera;
import org.photonvision.EstimatedRobotPose;
import org.photonvision.targeting.PhotonPipelineResult;
import swervelib.SwerveController;
import swervelib.SwerveDrive;
Expand All @@ -61,10 +61,10 @@

public class SwerveSubsystem extends SubsystemBase
{
private final NetworkTablesUtils NTUtils = NetworkTablesUtils.getTable("debug");
//TODO: add swerve constants
private final PIDController drivePID = new PIDController(0, 0, 0);
private final PIDController turnPID = new PIDController(0, 0, 0);
//TODO javadoc
private final PIDController drivePid = new PIDController(0, 0, 0);
private final NetworkTablesUtils table = NetworkTablesUtils.getTable("debug");

/**
* Swerve drive object.
*/
Expand Down Expand Up @@ -153,6 +153,12 @@ public void periodic()
swerveDrive.updateOdometry();
vision.updatePoseEstimation(swerveDrive);
}

// Update Translation to some point
// TODO: Change 0, 0, 0 to diff values
table.setEntry("GoToX", swerveDrive.getMaximumChassisVelocity() * drivePid.calculate(swerveDrive.getPose().getX(), table.getEntry("DesiredX", 0)));
table.setEntry("GoToY", swerveDrive.getMaximumChassisVelocity() * drivePid.calculate(swerveDrive.getPose().getY(), table.getEntry("DesiredY", 0)));
table.setEntry("GoToAng", swerveDrive.getMaximumChassisAngularVelocity() * drivePid.calculate(swerveDrive.getPose().getRotation().getRotations(), table.getEntry("DesiredAng", 0)));
}

@Override
Expand Down Expand Up @@ -602,38 +608,6 @@ public void zeroGyroWithAlliance()
}
}

public boolean driveToPoint(Pose2d point, double tolerance, double maxVel, double maxRVel, double robotYComp, boolean isContinuous) {
double xVel, yVel, rVel;
double translationMag;

drivePID.setSetpoint(0.0);
turnPID.setSetpoint(point.getRotation().getRadians());

Translation2d difference = point.minus(swerveDrive.getPose()).getTranslation();

if (isContinuous) {
translationMag = maxVel;
}
else {
translationMag = -DrivetrainConstants.MAX_DRIVE_VELOCITY_MPS * drivePID.calculate(Math.sqrt(Math.pow(difference.getX(), 2) + Math.pow(difference.getY(), 2)));
}

xVel = translationMag * Math.cos(difference.getAngle().getRadians());
yVel = translationMag * Math.sin(difference.getAngle().getRadians());
rVel = DrivetrainConstants.MAX_ANGULAR_SPEED * turnPID.calculate(swerveDrive.getYaw().getRadians());
if (rVel > 0) {
rVel = Math.min(rVel, maxRVel);
}
else {
rVel = Math.max(rVel, -maxRVel);
}
Translation2d driveVals = new Translation2d(xVel, yVel);

drive(driveVals, rVel, true);

return drivePID.atSetpoint() && turnPID.atSetpoint();
}

/**
* Sets the drive motors to brake/coast mode.
*
Expand Down Expand Up @@ -771,4 +745,20 @@ public SwerveDrive getSwerveDrive()
{
return swerveDrive;
}

//TODO: Javadoc
public void DriveToPoint(Pose2d desiredPose)
{
table.setEntry("DesiredX", desiredPose.getX());
table.setEntry("DesiredY", desiredPose.getY());
table.setEntry("DesiredAng", desiredPose.getRotation().getRotations());

this.drive(
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drive uses velocities instead of positions

new Translation2d(
table.getEntry("GoToX", 0),
table.getEntry("GoToY", 0)),
table.getEntry("GoToAng", 0),
true
);
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/swervedrive/Vision.java
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Original file line number Diff line number Diff line change
Expand Up @@ -333,7 +333,7 @@ public void updateVisionField()
/**
* Camera Enum to select each camera
*/
enum Cameras
public enum Cameras
{
/**
* Left Camera
Expand Down