Merge pull request #7 from FRC-1721/pivot/commands_template

Pivot/commands template

.gitignore

@@ -165,3 +165,9 @@ cython_debug/
 
 # Joe's not sure what this is for, put it back in the tree only if needed.
 networktables.json
+
+# Add to tree but only when neccicary (adding a map or smthn)
+simgui-window.json
+
+# sysid ignores
+*.SysId

rio/Makefile

@@ -13,22 +13,21 @@ help:	## Prints this help message
 sim:	## Run the simulator
 	python -m robotpy sim
 
-
-deploy:	## Deploy to the robot (with console)
+deploy:	## Deploy to the robot (with netconsole)
 	python -m robotpy deploy --nc 
 
-
-push:	## Deploy to the robot (push only, no console)
+push:	## Deploy to the robot (push only, no netconsole)
 	python -m robotpy deploy
 
-
 download:	## Download robot requirements locally
-	robotpy-installer download -r robot_requirements.txt
-
+	python -m robotpy installer download -r robot_requirements.txt
+	python -m robotpy installer download-python
 
 install:	## Install requirements, run download first!
-	robotpy-installer install -r robot_requirements.txt
+	python -m robotpy installer install -r robot_requirements.txt
 
+sync:		## Sync robotpy requirements
+	python -m robotpy sync
 
 info:	## Shortcut to get information about the code already on the bot
 	python -m robotpy deploy-info
@@ -37,10 +36,10 @@ test:	## Run automated tests
 	python -m robotpy test
 
 download-python:	## Download python (for robot)
-	robotpy-installer download-python
+	python -m robotpy installer download-python
 
 install-python:	## Install python (for robot)
-	robotpy-installer install-python
+	python -m robotpy installer install-python
 
 clean:	## Clean the repo
 	git clean -fdX

rio/Pipfile

@@ -4,16 +4,14 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
-robotpy = {extras = ["rev", "ctre", "commands2", "navx"]}
 wpilib = {extras = ["all"]}
-pyyaml = "6.0"
-black = "*"
+robotpy = "2024.2.1.1"
+robotpy-rev = "2024.2.0"
+robotpy-ctre = "2024.1.1"
+robotpy-navx = "2024.1.0"
+robotpy-commands-v2 = "2024.2.1"
 
 [dev-packages]
-black = "*"
 
 [requires]
 python_version = "3.11"
-
-[pipenv]
-allow_prereleases = true

rio/constants.py

@@ -0,0 +1,141 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+"""
+The constants module is a convenience place for teams to hold robot-wide
+numerical or boolean constants. Don't use this for any other purpose!
+"""
+
+
+import math
+
+from wpimath import units
+from wpimath.geometry import Translation2d
+from wpimath.kinematics import SwerveDrive4Kinematics
+from wpimath.trajectory import TrapezoidProfileRadians
+
+from rev import CANSparkMax
+
+
+class NeoMotorConstants:
+    kFreeSpeedRpm = 5676
+
+
+class DriveConstants:
+    # Driving Parameters - Note that these are not the maximum capable speeds of
+    # the robot, rather the allowed maximum speeds
+    kMaxSpeedMetersPerSecond = 4.8
+    kMaxAngularSpeed = math.tau  # radians per second
+
+    kDirectionSlewRate = 1.2  # radians per second
+    kMagnitudeSlewRate = 1.8  # percent per second (1 = 100%)
+    kRotationalSlewRate = 2.0  # percent per second (1 = 100%)
+
+    # Chassis configuration
+    kTrackWidth = units.inchesToMeters(20.3937)
+    # Distance between centers of right and left wheels on robot
+    kWheelBase = units.inchesToMeters(20.25)
+
+    # Distance between front and back wheels on robot
+    kModulePositions = [
+        Translation2d(kWheelBase / 2, kTrackWidth / 2),
+        Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+        Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+        Translation2d(-kWheelBase / 2, -kTrackWidth / 2),
+    ]
+    kDriveKinematics = SwerveDrive4Kinematics(*kModulePositions)
+
+    # Angular offsets of the modules relative to the chassis in radians
+    kFrontLeftChassisAngularOffset = 0
+    kFrontRightChassisAngularOffset = 0
+    kBackLeftChassisAngularOffset = 0
+    kBackRightChassisAngularOffset = 0
+
+    # SPARK MAX CAN IDs
+    kFrontLeftDrivingCanId = 5
+    kRearLeftDrivingCanId = 7
+    kFrontRightDrivingCanId = 1
+    kRearRightDrivingCanId = 3
+
+    kFrontLeftTurningCanId = 6
+    kRearLeftTurningCanId = 8
+    kFrontRightTurningCanId = 2
+    kRearRightTurningCanId = 4
+
+    kGyroReversed = False
+
+
+class ModuleConstants:
+    # The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
+    # This changes the drive speed of the module (a pinion gear with more teeth will result in a
+    # robot that drives faster).
+    kDrivingMotorPinionTeeth = 17
+
+    # Invert the turning encoder, since the output shaft rotates in the opposite direction of
+    # the steering motor in the MAXSwerve Module.
+    kTurningEncoderInverted = True
+
+    # Calculations required for driving motor conversion factors and feed forward
+    kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60
+    kWheelDiameterMeters = 0.09525
+    kWheelCircumferenceMeters = kWheelDiameterMeters * math.pi
+    # 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
+    kDrivingMotorReduction = (60 * 34) / (kDrivingMotorPinionTeeth * 15)
+    kDriveWheelFreeSpeedRps = (
+        kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters
+    ) / kDrivingMotorReduction
+
+    kDrivingEncoderPositionFactor = (
+        kWheelDiameterMeters * math.pi
+    ) / kDrivingMotorReduction  # meters
+    kDrivingEncoderVelocityFactor = (
+        (kWheelDiameterMeters * math.pi) / kDrivingMotorReduction
+    ) / 60.0  # meters per second
+
+    kTurningEncoderPositionFactor = math.tau  # radian
+    kTurningEncoderVelocityFactor = math.tau / 60.0  # radians per second
+
+    kTurningEncoderPositionPIDMinInput = 0  # radian
+    kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor  # radian
+
+    kDrivingP = 0.04
+    kDrivingI = 0
+    kDrivingD = 0
+    kDrivingFF = 1 / kDriveWheelFreeSpeedRps
+    kDrivingMinOutput = -1
+    kDrivingMaxOutput = 1
+
+    kTurningP = 1
+    kTurningI = 0
+    kTurningD = 0.1
+    kTurningFF = 0
+    kTurningMinOutput = -1
+    kTurningMaxOutput = 1
+
+    kDrivingMotorIdleMode = CANSparkMax.IdleMode.kBrake
+    kTurningMotorIdleMode = CANSparkMax.IdleMode.kBrake
+
+    kDrivingMotorCurrentLimit = 50  # amp
+    kTurningMotorCurrentLimit = 20  # amp
+
+
+class OIConstants:
+    kDriverControllerPort = 0
+    kDriveDeadband = 0.075
+
+
+class AutoConstants:
+    kMaxSpeedMetersPerSecond = 3
+    kMaxAccelerationMetersPerSecondSquared = 3
+    kMaxAngularSpeedRadiansPerSecond = math.pi
+    kMaxAngularSpeedRadiansPerSecondSquared = math.pi
+
+    kPXController = 1
+    kPYController = 1
+    kPThetaController = 1
+
+    # Constraint for the motion profiled robot angle controller
+    kThetaControllerConstraints = TrapezoidProfileRadians.Constraints(
+        kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared
+    )