From 39301f7e8fbfc7d55c2d8184160acac7073b3740 Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Wed, 14 Aug 2024 19:25:44 -0700 Subject: [PATCH] Updated ftclib. Updated trclib. Added SwerveDrive steer encoder inverted constants. --- TeamCode/src/main/java/ftclib | 2 +- TeamCode/src/main/java/teamcode/RobotParams.java | 6 ++++++ .../src/main/java/teamcode/drivebases/SwerveDrive.java | 7 ++++++- TeamCode/src/main/java/trclib | 2 +- 4 files changed, 14 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib index 8b7f3f5..da540d6 160000 --- a/TeamCode/src/main/java/ftclib +++ b/TeamCode/src/main/java/ftclib @@ -1 +1 @@ -Subproject commit 8b7f3f5d49cb3e937654730c60f5f6f6b9682196 +Subproject commit da540d600b12d1accb934cffee2b8267f0ddcfa1 diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java index 6986478..13a0d34 100644 --- a/TeamCode/src/main/java/teamcode/RobotParams.java +++ b/TeamCode/src/main/java/teamcode/RobotParams.java @@ -213,6 +213,12 @@ public class RobotParams // DriveBase subsystem. // public static DriveOrientation DEF_DRIVE_ORIENTATION = DriveOrientation.FIELD; + + public static final boolean LFSTEER_ENC_INVERTED = false; + public static final boolean RFSTEER_ENC_INVERTED = false; + public static final boolean LBSTEER_ENC_INVERTED = false; + public static final boolean RBSTEER_ENC_INVERTED = false; + public static final double LFSTEER_ZERO_POS = 0.474812; public static final double RFSTEER_ZERO_POS = 0.467663; public static final double LBSTEER_ZERO_POS = 0.541338; diff --git a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java index 1cee8d8..2dd9363 100644 --- a/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java +++ b/TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java @@ -35,6 +35,7 @@ import ftclib.sensor.FtcAnalogEncoder; import teamcode.RobotParams; import trclib.drivebase.TrcSwerveDriveBase; import trclib.drivebase.TrcSwerveModule; +import trclib.motor.TrcMotor; import trclib.pathdrive.TrcPidDrive; import trclib.pathdrive.TrcPurePursuitDrive; import trclib.robotcore.TrcDbgTrace; @@ -52,6 +53,9 @@ public class SwerveDrive extends RobotDrive private final String[] steerEncoderNames = { RobotParams.HWNAME_LFSTEER_ENCODER, RobotParams.HWNAME_RFSTEER_ENCODER, RobotParams.HWNAME_LBSTEER_ENCODER, RobotParams.HWNAME_RBSTEER_ENCODER}; + private final boolean[] steerEncoderInverted = { + RobotParams.LFSTEER_ENC_INVERTED, RobotParams.RFSTEER_ENC_INVERTED, + RobotParams.LBSTEER_ENC_INVERTED, RobotParams.RBSTEER_ENC_INVERTED}; public double[] zeroPositions = { RobotParams.LFSTEER_ZERO_POS, RobotParams.RFSTEER_ZERO_POS, RobotParams.LBSTEER_ZERO_POS, RobotParams.RBSTEER_ZERO_POS}; @@ -184,7 +188,8 @@ public class SwerveDrive extends RobotDrive for (int i = 0; i < servoNames.length; i++) { - servos[i] = new FtcCRServo(servoNames[i], encoders[i]); + servos[i] = new FtcCRServo( + servoNames[i], new TrcMotor.ExternalSensors().setEncoder(encoders[i], steerEncoderInverted[i])); if (RobotParams.Preferences.swerveDualServoSteering) { FtcCRServo slaveServo = new FtcCRServo(servoNames[i] + ".slave", null); diff --git a/TeamCode/src/main/java/trclib b/TeamCode/src/main/java/trclib index 3e05ff3..4500d4b 160000 --- a/TeamCode/src/main/java/trclib +++ b/TeamCode/src/main/java/trclib @@ -1 +1 @@ -Subproject commit 3e05ff3d86f470c837ca2ac5b8ef9e89775c5a85 +Subproject commit 4500d4be248b229fb791e6605803b098ce953fde