Merge pull request #7 from FRC-7525/Drive

Drive

Author: Yuriana101

src/main/deploy/example.txt

@@ -1,3 +1,5 @@
 Files placed in this directory will be deployed to the RoboRIO into the
 'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
-to get a proper path relative to the deploy directory.
+to get a proper path relative to the deploy directory.
+
+The values for drive configs are not accurate

src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

src/main/deploy/swerve/modules/backleft.json

@@ -0,0 +1,27 @@
+{
+"location": {
+  "front": -10.171,
+  "left": 13.878
+},
+"absoluteEncoderOffset": 348.3,
+"drive": {
+  "type": "sparkmax",
+  "id": 2,
+  "canbus": null
+},
+"angle": {
+  "type": "sparkmax",
+  "id": 10,
+  "canbus": null
+},
+"encoder": {
+  "type": "cancoder",
+  "id": 9,
+  "canbus": null
+},
+"inverted": {
+  "drive": true,
+  "angle": true
+},
+"absoluteEncoderInverted": false
+}

src/main/deploy/swerve/modules/backright.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": -10.171,
+    "left": -13.878
+  },
+  "absoluteEncoderOffset": 168.1,
+  "drive": {
+    "type": "sparkmax",
+    "id": 35,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": true
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/swerve/modules/frontleft.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 10.171,
+    "left": 13.878
+  },
+  "absoluteEncoderOffset": 49.5,
+  "drive": {
+    "type": "sparkmax",
+    "id": 7,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 33,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 6,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": true
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/swerve/modules/frontright.json

@@ -0,0 +1,27 @@
+{
+  "location": {
+    "front": 10.171,
+    "left": -13.878
+  },
+  "absoluteEncoderOffset": 42.5,
+  "drive": {
+    "type": "sparkmax",
+    "id": 11,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 8,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 3,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": true,
+    "angle": true
+  },
+  "absoluteEncoderInverted": false
+}

src/main/deploy/swerve/modules/phyicalproperties.json

@@ -0,0 +1,24 @@
+{
+  "optimalVoltage": 12,
+  "robotMass": 79,
+  "wheelGripCoefficientOfFriction": 1.542,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 21.4286,
+      "factor": 0
+    },
+    "drive": {
+      "diameter": 3.5,
+      "gearRatio": 6.75,
+      "factor": 0
+    }
+  },
+  "rampRate": {
+    "drive": 0.12,
+    "angle": 0.05
+  }
+}

src/main/deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.01,
+    "i": 0,
+    "d": 0.02,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "navx_usb",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontright.json", 
+    "frontleft.json", 
+    "backright.json",
+    "backleft.json"
+  ]
+}

src/main/java/frc/robot/GlobalConstants.java

@@ -1,6 +1,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.XboxController;
 
 public class GlobalConstants {
 
@@ -13,4 +14,9 @@ public enum RobotMode {
 	public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.REAL : RobotMode.SIM; // Change this to TESTING for testing purposes
 
 	public static final double SIMULATION_PERIOD = 0.02;
+
+	public static class Controllers {
+
+		public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
+	}
 }