2023 drive code

ChargedUp/.OutlineViewer/outlineviewer.json

@@ -0,0 +1,46 @@
+{
+  "Clients": {
+    "open": true
+  },
+  "Connections": {
+    "open": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "5985"
+  },
+  "Server": {
+    "open": true
+  },
+  "retained": {
+    "LiveWindow": {
+      "open": true
+    }
+  },
+  "shuffleboard": {
+    "Publishers": {
+      "open": true
+    },
+    "Subscribers": {
+      "open": true
+    },
+    "open": true
+  },
+  "transitory": {
+    "FMSInfo": {
+      "open": true
+    },
+    "LiveWindow": {
+      "open": true
+    },
+    "Shuffleboard": {
+      ".metadata": {
+        "open": true
+      },
+      ".recording": {
+        "open": true
+      },
+      "open": true
+    }
+  }
+}

ChargedUp/.SysId/sysid.json

@@ -0,0 +1,10 @@
+{
+  "SysId": {
+    "Analysis Type": "Drivetrain",
+    "NetworkTables Settings": {
+      "serverTeam": "5985"
+    },
+    "mode": "Client (NT4)",
+    "serverTeam": "5985"
+  }
+}

ChargedUp/src/main/java/frc/robot/Commands/CommandController.java

@@ -0,0 +1,34 @@
+// 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.
+
+package frc.robot.Commands;
+
+import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
+import frc.robot.Subsystems.Drive;
+
+/** Add your docs here. */
+public class CommandController {
+
+    private final Drive m_drive = new Drive();
+    CommandJoystick m_driverJoystick = new CommandJoystick(0); //Setup driver joystick in port 0 on DS
+
+    /**
+   * Use this method to define bindings between conditions and commands. These are useful for
+   * automating robot behaviors based on button and sensor input.
+   *
+   * <p>Should be called during {@link Robot#robotInit()}.
+   *
+   * <p>Event binding methods are available on the {@link Trigger} class.
+   */
+  public void configureBindings() {
+
+    // Control the drive with split-stick arcade controls
+    m_drive.setDefaultCommand(
+        m_drive.arcadeDriveCommand(
+            () -> m_driverJoystick.getX(), () -> m_driverJoystick.getY()));
+  }
+
+
+
+}

ChargedUp/src/main/java/frc/robot/Config.java

@@ -0,0 +1,29 @@
+package frc.robot;
+
+public class Config {
+
+    /**
+     * Drive characterisation values //TODO
+     */
+    public static final double ksVolts = 0.21511; //constant of voltage needed to overcome static friction etc.
+    public static final double kvVoltSecondsPerMeter = 1.1369; //velocity constant
+    public static final double kaVoltSecondsSquaredPerMeter = 0.3275;
+
+    public static final double kPDriveVel = 0.54175; //preportional
+
+    public static final double kTrackwidthMeters = 0.762; //distance in metres between the centre of the each set of wheels on the sides
+
+    public static final double kMaxSpeedMetersPerSecond = 2.5915;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 1;
+
+    // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
+    public static final double kRamseteB = 2; //preportional term
+    public static final double kRamseteZeta = 0.7; //dampening
+
+    public static final double wheelDiameterMetres = (6*2.54)/100; //6 inches to m
+    public static final double wheelCircumferenceMetres = wheelDiameterMetres * Math.PI;
+    public static final double kRatioMotorToWheel = (1/11.1/wheelCircumferenceMetres); //gearbox is 11.1:1
+
+
+
+}

ChargedUp/src/main/java/frc/robot/Constants.java

@@ -0,0 +1,27 @@
+package frc.robot;
+
+public class Constants {
+
+    /**
+     * 2023 robot config
+     */
+    // public static final int kLeftDriveACanId = 1;
+    // public static final int kLeftDriveBCanId = 3;
+    // public static final int kLeftDriveCCanId = 5;
+    // public static final int kRightDriveACanId = 2;
+    // public static final int kRightDriveBCanId = 4;
+    // public static final int kRightDriveCCanId = 6;
+
+    /**
+     * Pegasus config
+     */
+
+    public static final int kLeftDriveACanId = 1;
+    public static final int kLeftDriveBCanId = 2; //3
+    public static final int kLeftDriveCCanId = 40; //5
+    public static final int kRightDriveACanId = 5; //2
+    public static final int kRightDriveBCanId = 6; //4
+    public static final int kRightDriveCCanId = 41; //6
+
+
+}

ChargedUp/src/main/java/com/projectb/DriverInterface.java → ChargedUp/src/main/java/frc/robot/DriverInterface.java

@@ -1,4 +1,4 @@
-package com.projectb;
+package frc.robot;
 
 public class DriverInterface {
 

ChargedUp/src/main/java/com/projectb/Main.java → ChargedUp/src/main/java/frc/robot/Main.java

@@ -2,7 +2,7 @@
 // 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.
 
-package com.projectb;
+package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;
 

ChargedUp/src/main/java/com/projectb/Robot.java → ChargedUp/src/main/java/frc/robot/Robot.java

@@ -2,9 +2,12 @@
 // 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.
 
-package com.projectb;
+package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.Commands.CommandController;
+import frc.robot.Subsystems.Drive;
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or
@@ -13,13 +16,18 @@
  */
 public class Robot extends TimedRobot {
 
+  private final CommandController m_robot = new CommandController();
+
+
 
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   @Override
   public void robotInit() {
+    m_robot.configureBindings(); //setup bindings for drive, mechanisms etc.
+    Drive.setBrakes(false); //disable brakes so robot can be pushed
 
   }
 
@@ -31,7 +39,9 @@ public void robotInit() {
    * SmartDashboard integrated updating.
    */
   @Override
-  public void robotPeriodic() {}
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+  }
 
   /**
    * This autonomous (along with the chooser code above) shows how to select between different
@@ -45,6 +55,7 @@ public void robotPeriodic() {}
    */
   @Override
   public void autonomousInit() {
+    Drive.setBrakes(true); //run brakes
 
   }
 
@@ -56,15 +67,21 @@ public void autonomousPeriodic() {
 
   /** This function is called once when teleop is enabled. */
   @Override
-  public void teleopInit() {}
+  public void teleopInit() {
+    Drive.setBrakes(true); //run brakes
+
+  }
 
   /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {}
 
   /** This function is called once when the robot is disabled. */
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+    Drive.setBrakes(false); //disable brakes so robot is pushable
+
+  }
 
   /** This function is called periodically when disabled. */
   @Override