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Ratio Coupling #69

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Ratio Coupling #69

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7144a7f
added ratio coupling to swerve
ShmayaR Feb 14, 2026
4b0c996
fixed logic
ShmayaR Feb 14, 2026
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17 changes: 11 additions & 6 deletions src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,14 @@
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.units.Units;
import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
import frc.trigon.robot.constants.RobotConstants;
import frc.trigon.robot.poseestimation.robotposeestimator.RobotPoseEstimatorConstants;
import frc.trigon.robot.subsystems.swerve.SwerveConstants;
import frc.trigon.lib.hardware.phoenix6.cancoder.CANcoderEncoder;
import frc.trigon.lib.hardware.phoenix6.cancoder.CANcoderSignal;
import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXMotor;
import frc.trigon.lib.hardware.phoenix6.talonfx.TalonFXSignal;
import frc.trigon.lib.utilities.Conversions;
import frc.trigon.robot.constants.RobotConstants;
import frc.trigon.robot.poseestimation.robotposeestimator.RobotPoseEstimatorConstants;
import frc.trigon.robot.subsystems.swerve.SwerveConstants;

public class SwerveModule {
private final TalonFXMotor
Expand Down Expand Up @@ -102,7 +102,9 @@ public void setTargetSteerAngle(Rotation2d angle) {
}

public SwerveModuleState getCurrentState() {
return new SwerveModuleState(driveWheelRotationsToMeters(driveMotor.getSignal(TalonFXSignal.VELOCITY)), getCurrentSteerAngle());
final Rotation2d currentSteerAngle = getCurrentSteerAngle();
final double currentDriveVelocity = driveMotor.getSignal(TalonFXSignal.VELOCITY) - (currentSteerAngle.getRotations() * SwerveModuleConstants.COUPLED_RATIO);
return new SwerveModuleState(driveWheelRotationsToMeters(currentDriveVelocity), currentSteerAngle);
}

public SwerveModuleState getTargetState() {
Expand All @@ -115,7 +117,10 @@ public SwerveModuleState getTargetState() {
* @return the position of the drive wheel in meters
*/
public double getDriveWheelPositionRadians() {
return edu.wpi.first.math.util.Units.rotationsToRadians(driveMotor.getSignal(TalonFXSignal.POSITION));
final double driveWheelPositionRotations = driveMotor.getSignal(TalonFXSignal.POSITION);
final double wheelAngleRotations = getCurrentSteerAngle().getRotations();
final double driveWheelPositionWithCouplingRatioRotations = driveWheelPositionRotations - (wheelAngleRotations * SwerveModuleConstants.COUPLED_RATIO);
return edu.wpi.first.math.util.Units.rotationsToRadians(driveWheelPositionWithCouplingRatioRotations);
}

/**
Expand Down Expand Up @@ -144,6 +149,7 @@ private boolean willOptimize(SwerveModuleState state) {
* @param targetVelocityMetersPerSecond the target drive velocity, in meters per second
*/
private void setTargetDriveVelocity(double targetVelocityMetersPerSecond) {
targetVelocityMetersPerSecond -= steerMotor.getSignal(TalonFXSignal.VELOCITY) * SwerveModuleConstants.COUPLED_RATIO;
if (shouldDriveMotorUseClosedLoop) {
setTargetClosedLoopDriveVelocity(targetVelocityMetersPerSecond);
return;
Expand All @@ -154,7 +160,6 @@ private void setTargetDriveVelocity(double targetVelocityMetersPerSecond) {

private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) {
final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond);

driveMotor.setControl(driveVelocityRequest.withVelocity(targetDriveVelocityRotationsPerSecond));
}

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1 change: 1 addition & 0 deletions src/main/java/frc/trigon/robot/subsystems/swerve/swervemodule/SwerveModuleConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
import frc.trigon.robot.constants.AutonomousConstants;

public class SwerveModuleConstants {
static final double COUPLED_RATIO = 3;
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@coderabbitai coderabbitai bot Feb 14, 2026

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🧹 Nitpick | 🔵 Trivial

Add a brief comment explaining what this ratio represents.

COUPLED_RATIO is not self-evident to someone unfamiliar with the mechanical coupling between the steer and drive gears. A one-liner explaining it (e.g., the gear ratio between the steer and drive shafts that causes drive encoder drift when steering) would go a long way. Based on learnings, comments should explain "why" or non-obvious decisions.

private static final double
DRIVE_MOTOR_GEAR_RATIO = 6.03,//R1: 7.03, R2: 6.03, R3: 5.27
STEER_MOTOR_GEAR_RATIO = 287.0 / 11.0;
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