Zero the swerve test drivebase
Update the constants to accommodate zeroing and zero the wheels on the
swerve base.
Change-Id: I448deca4ff1bb776072db631c7327a8cc33fbbc8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024_swerve/constants/7971.json b/y2024_swerve/constants/7971.json
index 644af99..25b73e6 100644
--- a/y2024_swerve/constants/7971.json
+++ b/y2024_swerve/constants/7971.json
@@ -5,10 +5,32 @@
{
"robot": {
- "front_left_zeroing_constants": {{ front_left_zero | tojson(indent=2)}},
- "front_right_zeroing_constants": {{ front_right_zero | tojson(indent=2)}},
- "back_left_zeroing_constants": {{ back_left_zero | tojson(indent=2)}},
- "back_right_zeroing_constants": {{ back_right_zero | tojson(indent=2)}},
+ "swerve_zeroing": {
+ {% set _ = front_left_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = front_right_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = back_left_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = back_right_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ "front_left": {{ front_left_zero | tojson(indent=2)}},
+ "front_right": {{ front_right_zero | tojson(indent=2)}},
+ "back_left": {{ back_left_zero | tojson(indent=2)}},
+ "back_right": {{ back_right_zero | tojson(indent=2)}}
+ },
"cameras": [
{
"calibration": {% include 'y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json' %}
diff --git a/y2024_swerve/constants/9971.json b/y2024_swerve/constants/9971.json
index 644af99..e6a216f 100644
--- a/y2024_swerve/constants/9971.json
+++ b/y2024_swerve/constants/9971.json
@@ -5,10 +5,32 @@
{
"robot": {
- "front_left_zeroing_constants": {{ front_left_zero | tojson(indent=2)}},
- "front_right_zeroing_constants": {{ front_right_zero | tojson(indent=2)}},
- "back_left_zeroing_constants": {{ back_left_zero | tojson(indent=2)}},
- "back_right_zeroing_constants": {{ back_right_zero | tojson(indent=2)}},
+ "swerve_zeroing": {
+ {% set _ = front_left_zero.update(
+ {
+ "measured_absolute_position" : 1.332417183729859
+ }
+ ) %}
+ {% set _ = front_right_zero.update(
+ {
+ "measured_absolute_position" : 3.4927918912411986
+ }
+ ) %}
+ {% set _ = back_left_zero.update(
+ {
+ "measured_absolute_position" : 3.241233979895719
+ }
+ ) %}
+ {% set _ = back_right_zero.update(
+ {
+ "measured_absolute_position" : 6.25249062612849
+ }
+ ) %}
+ "front_left": {{ front_left_zero | tojson(indent=2)}},
+ "front_right": {{ front_right_zero | tojson(indent=2)}},
+ "back_left": {{ back_left_zero | tojson(indent=2)}},
+ "back_right": {{ back_right_zero | tojson(indent=2)}}
+ },
"cameras": [
{
"calibration": {% include 'y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json' %}
diff --git a/y2024_swerve/constants/BUILD b/y2024_swerve/constants/BUILD
index ec06099..42cff81 100644
--- a/y2024_swerve/constants/BUILD
+++ b/y2024_swerve/constants/BUILD
@@ -54,6 +54,7 @@
deps = [
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_config_fbs",
+ "//frc971/control_loops/swerve:swerve_zeroing_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/vision:target_map_fbs",
"//frc971/wpilib/swerve:swerve_constants_fbs",
diff --git a/y2024_swerve/constants/common.jinja2 b/y2024_swerve/constants/common.jinja2
index 48b843c..57229fc 100644
--- a/y2024_swerve/constants/common.jinja2
+++ b/y2024_swerve/constants/common.jinja2
@@ -2,44 +2,40 @@
{%
set front_left_zero = {
- "average_filter_size": 0,
+ "average_filter_size": 200,
"one_revolution_distance": 2 * M_PI,
- "measured_absolute_position": 0.76761395509829,
- "zeroing_threshold": 0.0,
- "moving_buffer_size": 0,
- "allowable_encoder_error": 0.0,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9,
}
%}
{%
set front_right_zero = {
- "average_filter_size": 0,
+ "average_filter_size": 200,
"one_revolution_distance": 2 * M_PI,
- "measured_absolute_position": 0.779403958443922,
- "zeroing_threshold": 0.0,
- "moving_buffer_size": 0,
- "allowable_encoder_error": 0.0,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9,
}
%}
{%
set back_left_zero = {
- "average_filter_size": 0,
+ "average_filter_size": 200,
"one_revolution_distance": 2 * M_PI,
- "measured_absolute_position": 0.053439698061417,
- "zeroing_threshold": 0.0,
- "moving_buffer_size": 0,
- "allowable_encoder_error": 0.0,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9,
}
%}
{%
set back_right_zero = {
- "average_filter_size": 0,
+ "average_filter_size": 200,
"one_revolution_distance": 2 * M_PI,
- "measured_absolute_position": 0.719329333121509,
- "zeroing_threshold": 0.0,
- "moving_buffer_size": 0,
- "allowable_encoder_error": 0.0,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9,
}
%}
diff --git a/y2024_swerve/constants/constants.fbs b/y2024_swerve/constants/constants.fbs
index 88bddf1..35b5ec9 100644
--- a/y2024_swerve/constants/constants.fbs
+++ b/y2024_swerve/constants/constants.fbs
@@ -1,6 +1,8 @@
include "frc971/zeroing/constants.fbs";
+include "frc971/control_loops/swerve/swerve_zeroing.fbs";
include "frc971/vision/calibration.fbs";
include "frc971/wpilib/swerve/swerve_constants.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
namespace y2024_swerve;
@@ -9,15 +11,13 @@
}
table Common {
- swerve_positions_constants:frc971.wpilib.swerve.SwervePositionConstants (id: 0);
+ rotation:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 0);
+ swerve_positions_constants:frc971.wpilib.swerve.SwervePositionConstants (id: 1);
}
table RobotConstants {
- front_left_zeroing_constants:frc971.zeroing.ContinuousAbsoluteEncoderZeroingConstants (id: 0);
- front_right_zeroing_constants:frc971.zeroing.ContinuousAbsoluteEncoderZeroingConstants (id: 1);
- back_left_zeroing_constants:frc971.zeroing.ContinuousAbsoluteEncoderZeroingConstants (id: 2);
- back_right_zeroing_constants:frc971.zeroing.ContinuousAbsoluteEncoderZeroingConstants (id: 3);
- cameras:[CameraConfiguration] (id: 4);
+ swerve_zeroing:frc971.control_loops.swerve.SwerveZeroing (id: 0);
+ cameras:[CameraConfiguration] (id: 1);
}
table Constants{
diff --git a/y2024_swerve/constants/test_data/test_team.json b/y2024_swerve/constants/test_data/test_team.json
index 644af99..25b73e6 100644
--- a/y2024_swerve/constants/test_data/test_team.json
+++ b/y2024_swerve/constants/test_data/test_team.json
@@ -5,10 +5,32 @@
{
"robot": {
- "front_left_zeroing_constants": {{ front_left_zero | tojson(indent=2)}},
- "front_right_zeroing_constants": {{ front_right_zero | tojson(indent=2)}},
- "back_left_zeroing_constants": {{ back_left_zero | tojson(indent=2)}},
- "back_right_zeroing_constants": {{ back_right_zero | tojson(indent=2)}},
+ "swerve_zeroing": {
+ {% set _ = front_left_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = front_right_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = back_left_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ {% set _ = back_right_zero.update(
+ {
+ "measured_absolute_position" : 0.183060873152545
+ }
+ ) %}
+ "front_left": {{ front_left_zero | tojson(indent=2)}},
+ "front_right": {{ front_right_zero | tojson(indent=2)}},
+ "back_left": {{ back_left_zero | tojson(indent=2)}},
+ "back_right": {{ back_right_zero | tojson(indent=2)}}
+ },
"cameras": [
{
"calibration": {% include 'y2024_swerve/constants/calib_files/calibration_imu-9971-0_cam-24-10_2024-02-24_16-44-05.json' %}