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Updated CommonLib for all FRC fixes.

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Updated FtcLib in respond to CommonLib fixes.
Sync'd FRC changes.
This commit is contained in:
Titan Robotics Club
2024-06-04 23:23:38 -07:00
parent 30293bc5d5
commit cbe99e1cc8
3 changed files with 23 additions and 25 deletions
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2
TeamCode/src/main/java/TrcCommonLib

Submodule TeamCode/src/main/java/TrcCommonLib updated: 25e3de57d1...b4bd6c9f09

2
TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java
View File

@ -130,7 +130,7 @@ public class CmdAuto implements TrcRobot.RobotCommand
break; break;
} }
robot.globalTracer.traceStateInfo( robot.globalTracer.tracePostStateInfo(
sm.toString(), state, robot.robotDrive.driveBase, robot.robotDrive.pidDrive, sm.toString(), state, robot.robotDrive.driveBase, robot.robotDrive.pidDrive,
robot.robotDrive.purePursuitDrive, null); robot.robotDrive.purePursuitDrive, null);
} }

44
TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
View File

@ -69,6 +69,7 @@ public class SwerveDrive extends RobotDrive
public final FtcCRServo[] steerServos; public final FtcCRServo[] steerServos;
public final TrcSwerveModule[] swerveModules; public final TrcSwerveModule[] swerveModules;
public int calibrationCount = 0; public int calibrationCount = 0;
private String xModeOwner = null;
/** /**
* Constructor: Create an instance of the object. * Constructor: Create an instance of the object.
@ -191,10 +192,10 @@ public class SwerveDrive extends RobotDrive
} }
servos[i].setMotorInverted(inverted[i]); servos[i].setMotorInverted(inverted[i]);
servos[i].setSoftwarePidEnabled(true); servos[i].setSoftwarePidEnabled(true);
servos[i].setPositionPidCoefficients( servos[i].setPositionPidParameters(
RobotParams.STEER_SERVO_KP, RobotParams.STEER_SERVO_KI, RobotParams.STEER_SERVO_KP, RobotParams.STEER_SERVO_KI,
RobotParams.STEER_SERVO_KD, RobotParams.STEER_SERVO_KF, RobotParams.STEER_SERVO_IZONE); RobotParams.STEER_SERVO_KD, RobotParams.STEER_SERVO_KF,
servos[i].setPositionPidTolerance(RobotParams.STEER_SERVO_TOLERANCE); RobotParams.STEER_SERVO_IZONE, RobotParams.STEER_SERVO_TOLERANCE);
} }
return servos; return servos;
} //createSteerServos } //createSteerServos
@ -260,34 +261,31 @@ public class SwerveDrive extends RobotDrive
} //setSteerAngle } //setSteerAngle
/** /**
* This method checks if anti-defense mode is enabled. * This method set all the wheels into an X configuration so that nobody can bump us out of position. If owner
* is specifies, it will acquire execlusive ownership of the drivebase on behalf of the specified owner. On
* disable, it will release the ownership.
* *
* @return true if anti-defense mode is enabled, false if disabled. * @param owner specifies the ID string of the caller for checking ownership, can be null if caller is not
*/ * ownership aware.
public boolean isAntiDefenseEnabled()
{
return ((TrcSwerveDriveBase) driveBase).isAntiDefenseEnabled();
} //isAntiDefenseEnabled
/**
* This method enables/disables the anti-defense mode where it puts all swerve wheels into an X-formation.
* By doing so, it is very difficult for others to push us around.
*
* @param owner specifies the ID string of the caller for checking ownership, can be null if caller is not
* ownership aware.
* @param enabled specifies true to enable anti-defense mode, false to disable. * @param enabled specifies true to enable anti-defense mode, false to disable.
*/ */
public void setAntiDefenseEnabled(String owner, boolean enabled) public void setXModeEnabled(String owner, boolean enabled)
{ {
if (owner == null || !enabled || driveBase.acquireExclusiveAccess(owner)) if (enabled)
{ {
((TrcSwerveDriveBase) driveBase).setAntiDefenseEnabled(owner, enabled); if (owner != null && !driveBase.hasOwnership(owner) && driveBase.acquireExclusiveAccess(owner))
if (!enabled)
{ {
driveBase.releaseExclusiveAccess(owner); xModeOwner = owner;
} }
((TrcSwerveDriveBase) driveBase).setXMode(owner);
} }
} //setAntiDefenseEnabled else if (xModeOwner != null)
{
driveBase.releaseExclusiveAccess(xModeOwner);
xModeOwner = null;
}
} //setXModeEnabled
/** /**
* This method starts the steering calibration. * This method starts the steering calibration.