Merge pull request #32 from jbko6/practiceBot

Add support for new practice drivebase
robototes · Feb 13, 2024 · d69cfdc · d69cfdc
2 parents 397a49c + df48d5c
commit d69cfdc
Show file tree

Hide file tree

Showing 18 changed files with 217 additions and 48 deletions.
diff --git a/src/main/deploy/bonkswerve/controllerproperties.json b/src/main/deploy/bonkswerve/controllerproperties.json
@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.05,
+  "heading": {
+    "p": 1.0,
+    "i": 0,
+    "d": 0
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/backleft.json b/src/main/deploy/bonkswerve/modules/backleft.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -8.5,
+    "left": 8.5
+  },
+  "absoluteEncoderOffset": 	342.24609375,
+  "absoluteEncoderInverted": false,
+  "drive": {
+    "type": "falcon",
+    "id": 7,
+    "canbus": null
+  },
+  "angle": {
+    "type": "falcon",
+    "id": 8,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 9,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/backright.json b/src/main/deploy/bonkswerve/modules/backright.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -8.5,
+    "left": -8.5
+  },
+  "absoluteEncoderOffset": 	143.876953125,
+  "absoluteEncoderInverted": false,
+  "drive": {
+    "type": "falcon",
+    "id": 10,
+    "canbus": null
+  },
+  "angle": {
+    "type": "falcon",
+    "id": 11,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/frontleft.json b/src/main/deploy/bonkswerve/modules/frontleft.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 8.5,
+    "left": 8.5
+  },
+  "absoluteEncoderOffset": 347.6953125,
+  "absoluteEncoderInverted": false,
+  "drive": {
+    "type": "falcon",
+    "id": 1,
+    "canbus": null
+  },
+  "angle": {
+    "type": "falcon",
+    "id": 2,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 3,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/frontright.json b/src/main/deploy/bonkswerve/modules/frontright.json
@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 8.5,
+    "left": -8.5
+  },
+  "absoluteEncoderOffset": 288.544921875,
+  "absoluteEncoderInverted": false,
+  "drive": {
+    "type": "falcon",
+    "id": 4,
+    "canbus": null
+  },
+  "angle": {
+    "type": "falcon",
+    "id": 5,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 6,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": false
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/physicalproperties.json b/src/main/deploy/bonkswerve/modules/physicalproperties.json
@@ -0,0 +1,16 @@
+{
+  "optimalVoltage": 12,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactor": {
+    "angle": 28.125,
+    "drive": 0.0392120164133
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  }
+}
diff --git a/src/main/deploy/bonkswerve/modules/pidfproperties.json b/src/main/deploy/bonkswerve/modules/pidfproperties.json
@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 20.0,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 35.0,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}
diff --git a/src/main/deploy/bonkswerve/swervedrive.json b/src/main/deploy/bonkswerve/swervedrive.json
@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "navx",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}
diff --git a/src/main/deploy/practiceswerve/controllerproperties.json b/src/main/deploy/practiceswerve/controllerproperties.json
@@ -1,7 +1,7 @@
 {
-  "angleJoystickRadiusDeadband": 0.05,
+  "angleJoystickRadiusDeadband": 0.5,
   "heading": {
-    "p": 1.0,
+    "p": 0.4,
     "i": 0,
     "d": 0
   }

diff --git a/src/main/deploy/practiceswerve/modules/backleft.json b/src/main/deploy/practiceswerve/modules/backleft.json
@@ -1,27 +1,26 @@
 {
   "location": {
-    "front": -8.5,
-    "left": 8.5
+    "front": -12.5,
+    "left": 12.5
   },
-  "absoluteEncoderOffset": 	342.24609375,
-  "absoluteEncoderInverted": false,
+  "absoluteEncoderOffset": 176.30859375,
   "drive": {
     "type": "falcon",
     "id": 7,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 8,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 9,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   }
 }
diff --git a/src/main/deploy/practiceswerve/modules/backright.json b/src/main/deploy/practiceswerve/modules/backright.json
@@ -1,27 +1,26 @@
 {
   "location": {
-    "front": -8.5,
-    "left": -8.5
+    "front": -12.5,
+    "left": -12.5
   },
-  "absoluteEncoderOffset": 	143.876953125,
-  "absoluteEncoderInverted": false,
+  "absoluteEncoderOffset": 161.01562500000003,
   "drive": {
     "type": "falcon",
     "id": 10,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 11,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 12,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   }
 }
diff --git a/src/main/deploy/practiceswerve/modules/frontleft.json b/src/main/deploy/practiceswerve/modules/frontleft.json
@@ -1,27 +1,26 @@
 {
   "location": {
-    "front": 8.5,
-    "left": 8.5
+    "front": 12.5,
+    "left": 12.5
   },
-  "absoluteEncoderOffset": 347.6953125,
-  "absoluteEncoderInverted": false,
+  "absoluteEncoderOffset": 314.47109375000002,
   "drive": {
     "type": "falcon",
     "id": 1,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 2,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 3,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   }
 }
diff --git a/src/main/deploy/practiceswerve/modules/frontright.json b/src/main/deploy/practiceswerve/modules/frontright.json
@@ -1,27 +1,26 @@
 {
   "location": {
-    "front": 8.5,
-    "left": -8.5
+    "front": 12.5,
+    "left": -12.5
   },
-  "absoluteEncoderOffset": 288.544921875,
-  "absoluteEncoderInverted": false,
+  "absoluteEncoderOffset": 208.47476562500003,
   "drive": {
     "type": "falcon",
     "id": 4,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 5,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 6,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
-    "drive": true,
+    "drive": false,
     "angle": false
   }
 }
diff --git a/src/main/deploy/practiceswerve/modules/physicalproperties.json b/src/main/deploy/practiceswerve/modules/physicalproperties.json
@@ -6,8 +6,8 @@
     "angle": 20
   },
   "conversionFactor": {
-    "angle": 28.125,
-    "drive": 0.0392120164133
+    "angle": 19.2,
+    "drive": 0.059108484
   },
   "rampRate": {
     "drive": 0.25,

diff --git a/src/main/deploy/practiceswerve/modules/pidfproperties.json b/src/main/deploy/practiceswerve/modules/pidfproperties.json
@@ -1,13 +1,13 @@
 {
   "drive": {
-    "p": 20.0,
+    "p": 20,
     "i": 0,
     "d": 0,
     "f": 0,
     "iz": 0
   },
   "angle": {
-    "p": 35.0,
+    "p": 35,
     "i": 0,
     "d": 0,
     "f": 0,

diff --git a/src/main/deploy/practiceswerve/swervedrive.json b/src/main/deploy/practiceswerve/swervedrive.json
@@ -1,8 +1,8 @@
 {
   "imu": {
-    "type": "navx",
-    "id": 0,
-    "canbus": null
+    "type": "pigeon2",
+    "id": 13,
+    "canbus": "Drivebase"
   },
   "invertedIMU": false,
   "modules": [

diff --git a/src/main/java/frc/team2412/robot/Robot.java b/src/main/java/frc/team2412/robot/Robot.java
@@ -20,8 +20,9 @@ public class Robot extends TimedRobot {
 
 	public enum RobotType {
 		COMPETITION,
+		PRACTICE,
 		CRANE,
-		PRACTICE;
+		BONK;
 	}
 
 	public static Robot getInstance() {
@@ -47,12 +48,14 @@ protected Robot() {
 	}
 
 	public static final MACAddress COMPETITION_ADDRESS = MACAddress.of(0x00, 0x00, 0x00);
+	public static final MACAddress PRACTICE_ADDRESS = MACAddress.of(0x33, 0x9d, 0xD1);
+	public static final MACAddress BONK_ADDRESS = MACAddress.of(0x33, 0x9D, 0xE7);
 	public static final MACAddress CRANE_ADDRESS = MACAddress.of(0x22, 0xB0, 0x92);
-	public static final MACAddress PRACTICE_ADDRESS = MACAddress.of(0x33, 0x9D, 0xE7);
 
 	private static RobotType getTypeFromAddress() {
 		if (PRACTICE_ADDRESS.exists()) return RobotType.PRACTICE;
 		if (CRANE_ADDRESS.exists()) return RobotType.CRANE;
+		if (BONK_ADDRESS.exists()) return RobotType.BONK;
 		if (!COMPETITION_ADDRESS.exists())
 			DriverStation.reportWarning(
 					"Code running on unknown MAC Address! Running competition code anyways", false);