Inheritance diagram for frc.robot.subsystems.MecaDrive:

Public Member Functions
	MecaDrive (int frontLeftMotorPort, int frontRightMotorPort, int rearLeftMotorPort, int rearRightMotorPort, IMU imu)

void	drive (double speedX, double speedY, double rotateSpeed)

void	printControlsOfCurrentMode ()
	Prints the controls of the current driving mode.

void	cycleMotor ()
	Cycle between each motor during debug mode.

void	printActiveMotorDebugMode ()
	prints the number of the currently activated motors during debug mode

void	periodic ()

void	updateOdometry ()

Pose2d	getPose ()
	Returns the currently-estimated pose of the robot.

double	getOdomX ()

double	getOdomY ()

double	getOdomHeading ()

void	resetOdometry (Pose2d pose)
	Resets the odometry to the specified pose.

Public Member Functions inherited from frc.robot.subsystems.DriveBase
void	drive (double leftAnalogX, double leftAnalogY, double rightAnalogX, double rightAnalogY)
	Drive the robot with controller input.

void	drive (double leftAnalogX, double leftAnalogY, double rightAnalogX)

abstract void	printControlsOfCurrentMode ()
	Prints the controls of the current driving mode.

void	increaseSpeedBracket ()
	The speed bracket controls the multiplier for al the speeds So when you change it, lets say, to 1/2 speed, all movement will be at 1/2 speed.

void	decreaseSpeedBracket ()

void	turnOnDefaultMode ()

void	turnOnDebugMode ()

void	turnOnStopMode ()
	should be overridden for actual functionality because depends on drive base specifc speeds (for tank drive, there is a left and right speed, whereas for mecanum there are 4)

void	turnONPIDTuningMode ()

abstract void	cycleMotor ()
	Needs to be implemented in sub classes becuase there might be different numbers of motors.

void	AButtonPressed ()

void	BButtonPressed ()

void	XButtonPressed ()

void	YButtonPressed ()

void	leftBumperPressed ()

void	rightBumperPressed ()

Mode	getCurrentMode ()

void	setCurrentMode (Mode currentMode)

int	getDebugEnabledMotor ()

void	setDebugEnabledMotor (int debugEnabledMotor)

Trajectory	getCurrentTrajectory ()

void	setCurrentTrajectory (Trajectory currentTrajectory)

TrajectoryConfig	getTrajectoryConfig ()

RamseteController	getChassisController ()

double	getCurrentTrajectoryTime ()

void	resetCurrentTrajectoryTime ()

void	incrementCurrentTrajectoryTime ()

Private Member Functions
double	slowDown (double inputVelocity)
	This will return a value lower than the input, and it is used to slow down the motors during stop mode.

double	convertPosition (double rawPosition)
	Converts raw position units to meters.

double	convertVelocity (double rawVelocity)
	Converts raw sensor velocity to meters/second.

Additional Inherited Members
Protected Attributes inherited from frc.robot.subsystems.DriveBase
TrajectoryConfig	trajectoryConfig

Detailed Description

Definition at line 19 of file MecaDrive.java.

Constructor & Destructor Documentation

◆ MecaDrive()

frc.robot.subsystems.MecaDrive.MecaDrive	(	int	frontLeftMotorPort,
		int	frontRightMotorPort,
		int	rearLeftMotorPort,
		int	rearRightMotorPort,
		IMU	imu
	)

Definition at line 40 of file MecaDrive.java.

                                                                            {
 
        frontLeftMotor = new WPI_TalonFX(frontLeftMotorPort);
        frontRightMotor = new WPI_TalonFX(frontRightMotorPort);
        rearLeftMotor = new WPI_TalonFX(rearLeftMotorPort);
        rearRightMotor = new WPI_TalonFX(rearRightMotorPort);
 
        // invert motors to make forward the right direction
        frontRightMotor.setInverted(true);
        rearRightMotor.setInverted(true);
 
        // zero encoders
        frontLeftMotor.setSelectedSensorPosition(0);
        frontRightMotor.setSelectedSensorPosition(0);
        rearLeftMotor.setSelectedSensorPosition(0);
        rearRightMotor.setSelectedSensorPosition(0);
 
        mDrive = new MecanumDrive(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);
 
        this.imu = imu;
 
        // Odometry: !!secondary constructor takes initialPose argument
        mOdom = new MecanumDriveOdometry(Constants.MECANUM_KINEMATICS, new Rotation2d(Math.toRadians(imu.getAngle())), getWheelPositions());
    
        // see declaration in DriveBase
        // set up the config for autonomous trajectories
        // see another team's implementation https://github.com/FRC5254/FRC-5254-2020/blob/master/src/main/java/frc/robot/commands/auto/Path.java
        // relevant info! https://www.chiefdelphi.com/t/poll-why-didnt-you-use-the-wpilib-trajectory-generator-this-year/384611/37
        trajectoryConfig = new TrajectoryConfig(Constants.maxVelocityMetersPerSecond, Constants.maxAccelerationMetersPerSecond);
        trajectoryConfig.setKinematics(Constants.MECANUM_KINEMATICS);
        trajectoryConfig.addConstraint( // this may be unnessesary, hmm unsure
            new MecanumDriveKinematicsConstraint(Constants.MECANUM_KINEMATICS, Constants.maxVelocityMetersPerSecond));
    }

References frc.robot.Constants.maxAccelerationMetersPerSecond, frc.robot.Constants.maxVelocityMetersPerSecond, frc.robot.Constants.MECANUM_KINEMATICS, and frc.robot.subsystems.DriveBase.trajectoryConfig.

Member Function Documentation

◆ convertPosition()

double frc.robot.subsystems.MecaDrive.convertPosition ( double rawPosition )

private

Converts raw position units to meters.

Parameters

rawPosition the position from an encoder in raw sensor units

Returns: the position in meters

Definition at line 203 of file MecaDrive.java.

                                                       {
        // raw units are "clicks," so divide by "clicks" per rotation to get rotations
        // also account for gear ratio because the encoders measure motor output, not actual wheel
        double position = rawPosition / (Constants.TALON_FX_CPR * Constants.FALCON_GEARBOX_RATIO);
        // multiply by circumference to get linear distance
        position *= Math.PI * Constants.MECANUM_WHEEL_DIAMETER;
        return position;
    }

References frc.robot.Constants.FALCON_GEARBOX_RATIO, and frc.robot.Constants.MECANUM_WHEEL_DIAMETER.

◆ convertVelocity()

double frc.robot.subsystems.MecaDrive.convertVelocity ( double rawVelocity )

private

Converts raw sensor velocity to meters/second.

Parameters

rawVelocity the velocity from an encoder in raw sensor units

Returns: velocity in m/s

Definition at line 232 of file MecaDrive.java.

                                                       {
        // convert to rotations per second because raw units are "clicks" per 100ms
        // also account for gear ratio because the encoders measure motor output, not actual wheel
        double velocity = rawVelocity / (Constants.TALON_FX_CPR * Constants.FALCON_GEARBOX_RATIO) * 10;
        // multiply by circumference to get linear velocity
        velocity *= Math.PI * Constants.MECANUM_WHEEL_DIAMETER;
        return velocity;
    }

References frc.robot.Constants.FALCON_GEARBOX_RATIO, and frc.robot.Constants.MECANUM_WHEEL_DIAMETER.

◆ cycleMotor()

void frc.robot.subsystems.MecaDrive.cycleMotor ( )

Cycle between each motor during debug mode.

Reimplemented from frc.robot.subsystems.DriveBase.

Definition at line 170 of file MecaDrive.java.

                             {
        if (currentMode == Mode.DEBUG_MODE) {
            debugEnabledMotor++;
            debugEnabledMotor %= 4;
            System.out.println("Current Motor: " + debugEnabledMotor);
        }
    }

Referenced by frc.robot.Robot.checkForButtonPresses().

◆ drive()

void frc.robot.subsystems.MecaDrive.drive	(	double	speedX,
		double	speedY,
		double	rotateSpeed
	)

Reimplemented from frc.robot.subsystems.DriveBase.

Definition at line 76 of file MecaDrive.java.

                                                                        {
        speedX *= speedMultiplier;
        speedY *= speedMultiplier;
        rotateSpeed *= speedMultiplier;
        // these speeds are linearized from 1 to -1
 
        switch (currentMode){
            case STOP_MODE:
                // STOP!!!!! set motors to 0
                // slower stop
                speedX = slowDown(speedX);
                speedY = slowDown(speedY);
                rotateSpeed = slowDown(rotateSpeed);
                break;
 
            // TODO: figure out how to implement a debug mode
            // case DEBUG_MODE:
            //  // Debug mode (toggle wheels with left stick button)
                
            //  switch (debugEnabledMotor){
            //      case 0:
            //          frontLeftMotor.set(ControlMode.PercentOutput, combinedSpeeds[0]);
            //          break;
            //      case 1:
            //          frontRightMotor.set(ControlMode.PercentOutput, combinedSpeeds[1]);
            //          break;
            //      case 2:
            //          rearLeftMotor.set(ControlMode.PercentOutput, combinedSpeeds[2]);
            //          break;
            //      case 3:
            //          rearRightMotor.set(ControlMode.PercentOutput, combinedSpeeds[3]);
            //          break;  
            //  }
 
            //  break;
            case PID_TUNING_MODE:
                // nothing yet
                break;
            default:
                break;
        }
        
        // method defines Y as left/right and X as forward/backward - contrary to docs, right and forward are positive
        // https://docs.wpilib.org/en/stable/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.html
        mDrive.driveCartesian(speedY, speedX, rotateSpeed);
    }

References frc.robot.subsystems.MecaDrive.slowDown().

Referenced by frc.robot.subsystems.Autonomous.applyChassisSpeeds(), frc.robot.Robot.autonomousPeriodic(), and frc.robot.Robot.drive().

◆ getOdomHeading()

double frc.robot.subsystems.MecaDrive.getOdomHeading ( )

Definition at line 270 of file MecaDrive.java.

                                   {
        return mOdom.getPoseMeters().getRotation().getDegrees();
    }

Referenced by frc.robot.subsystems.BetterShuffleboard.pushOdom().

◆ getOdomX()

double frc.robot.subsystems.MecaDrive.getOdomX ( )

Definition at line 262 of file MecaDrive.java.

                             {
        return mOdom.getPoseMeters().getTranslation().getX();
    }

Referenced by frc.robot.subsystems.BetterShuffleboard.pushOdom().

◆ getOdomY()

double frc.robot.subsystems.MecaDrive.getOdomY ( )

Definition at line 266 of file MecaDrive.java.

                             {
        return mOdom.getPoseMeters().getTranslation().getY();
    }

Referenced by frc.robot.subsystems.BetterShuffleboard.pushOdom().

◆ getPose()

Pose2d frc.robot.subsystems.MecaDrive.getPose ( )

Returns the currently-estimated pose of the robot.

Returns: The pose.

Definition at line 258 of file MecaDrive.java.

                            {
        return mOdom.getPoseMeters();
    }

Referenced by frc.robot.Robot.autonomousCheckForButtonPresses(), frc.robot.subsystems.Autonomous.getChassisSpeeds(), and frc.robot.subsystems.Autonomous.updateTrajectory().

◆ periodic()

void frc.robot.subsystems.MecaDrive.periodic ( )

Definition at line 190 of file MecaDrive.java.

                           {
        // Update the odometry in the periodic block        
    }

◆ printActiveMotorDebugMode()

void frc.robot.subsystems.MecaDrive.printActiveMotorDebugMode ( )

prints the number of the currently activated motors during debug mode

Definition at line 181 of file MecaDrive.java.

                                            {
        if (currentMode == Mode.DEBUG_MODE) {
            System.out.println("Current Motor: " + debugEnabledMotor);
        }
    }

Referenced by frc.robot.Robot.checkForButtonPresses().

◆ printControlsOfCurrentMode()

void frc.robot.subsystems.MecaDrive.printControlsOfCurrentMode ( )

Prints the controls of the current driving mode.

Reimplemented from frc.robot.subsystems.DriveBase.

Definition at line 142 of file MecaDrive.java.

                                             {
        System.out.println("Controls:");
        switch(currentMode) {
            case DEFAULT_MODE:
                System.out.println("Left Bracket: Decrease speed multiplier");
                System.out.println("Right Bracket: Increase speed multiplier");
                break;
            case DEBUG_MODE:
                System.out.println("A: Cycle active motor");
                System.out.println("B: Print current active motor");
                System.out.println("Left Bracket: Decrease speed multiplier");
                System.out.println("Right Bracket: Increase speed multiplier");
                break;
            case STOP_MODE:
                System.out.println("Left Bracket: Decrease speed multiplier");
                System.out.println("Right Bracket: Increase speed multiplier");
                break;
            case PID_TUNING_MODE:
                System.out.println("Left Bracket: Decrease speed multiplier");
                System.out.println("Right Bracket: Increase speed multiplier");
                break;
        }
    }

◆ resetOdometry()

void frc.robot.subsystems.MecaDrive.resetOdometry ( Pose2d pose )

Resets the odometry to the specified pose.

Parameters

pose	The pose to which to set the odometry.

Definition at line 283 of file MecaDrive.java.

                                           {
        //resetEncoders();
        mOdom.resetPosition(
            new Rotation2d(Math.toRadians(imu.getAngle())), getWheelPositions(), pose);
    }

◆ slowDown()

double frc.robot.subsystems.MecaDrive.slowDown ( double inputVelocity )

private

This will return a value lower than the input, and it is used to slow down the motors during stop mode.

Parameters

inputVelocity between -1 and 1 (double)

Returns: the new value (lower)

Definition at line 130 of file MecaDrive.java.

                                                 {
        // velocity needs to be reduced
        double newVelocity = inputVelocity / Constants.SLOW_DOWN_FACTOR;
 
        // input has reached cutoff, now returning 0 speed
        if (Math.abs(inputVelocity) < Constants.SLOW_DOWN_CUTOFF){
            newVelocity = 0;
        }
    
        return newVelocity;
    }

References frc.robot.Constants.SLOW_DOWN_CUTOFF, and frc.robot.Constants.SLOW_DOWN_FACTOR.

Referenced by frc.robot.subsystems.MecaDrive.drive().

◆ updateOdometry()

void frc.robot.subsystems.MecaDrive.updateOdometry ( )

Definition at line 194 of file MecaDrive.java.

                                 {
        mOdom.update(new Rotation2d(Math.toRadians(imu.getHeading())), getWheelPositions());
    }

References frc.robot.subsystems.IMU.getHeading().

Referenced by frc.robot.Robot.robotPeriodic().

The documentation for this class was generated from the following file:

MecaDrive.java

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MecaDrive()

Member Function Documentation

◆ convertPosition()

◆ convertVelocity()

◆ cycleMotor()

◆ drive()

◆ getOdomHeading()

◆ getOdomX()

◆ getOdomY()

◆ getPose()

◆ periodic()

◆ printActiveMotorDebugMode()

◆ printControlsOfCurrentMode()

◆ resetOdometry()

◆ slowDown()

◆ updateOdometry()