Swerve pedro drivetrain #115
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@kevinfrei @Magkhuu please review this code is probably wrong in someway idk |
kevinfrei
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kevinfrei
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This looks like a great start. I have a couple suggestions/edits but I'd honestly be happy putting this in the codebase as is, as a starting place (that's already awfully close to complete!)
What do you think? Do you want to make the changes, or just go ahead and get this stuff in main?
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| package org.firstinspires.ftc.sixteen750.swerveutil; | |||
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| public final class Angle { | |||
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We already have at least a couple different helpers for this stuff. Go check out TechnoLib's MathUtils (it's under "RobotLibrary/src/.../technolib/util"
| // ==================== HARDWARE NAMES ==================== | ||
| // Change these to match your robot's configuration file | ||
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| public String frontLeftDriveMotorName = "frontLeftDrive"; |
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Typing long names on Android devices is miserable. "fld", "fls", "fle" seem much better, while keeping the variable names fully descriptive.
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so these are the default names and this is designed for you to change them with this https://github.com/Kooolpool/Swerve/blob/main/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/swerveutil/CoaxialSwerveConstants.java?plain=1#L142
| double[] moduleAngles = new double[4]; | ||
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| // If essentially no movement commanded, return zero powers | ||
| if (desiredTranslation.getMagnitude() < 0.02 && |
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This seems...odd to me. The PedroPath PID tuning takes deadzones into account. This just looks like a shortcut that would reduce accuracy. At least those numbers should be configurable. (I'd drop them by an order of magnitude, at least: maybe 0.002 or 0.001) Saying we care nothing about stuff smaller than 2% feels like a very large number to not care about.
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| // Calculate the desired state for each swerve module | ||
| for (int i = 0; i < 4; i++) { |
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I'd like us to have a corresponding "Math" document where this math is all explained. I realize it might be a little beyond your current skill set, but I don't think it's far off, and I think Maggie & Harshin can help. (This might be a little beyond my current math skill set, too 😆 )
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