admin6494/FRC6494_2026Regional-offseason
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

新底盘

Browse Source
This commit is contained in:
OnDYCLaptop
2026-07-03 21:43:14 +08:00
parent 99a92af429
commit 132b231c36
1 changed files with 30 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/generated/TunerConstants.java
+30 -32
View File
@@ -24,14 +24,14 @@ public class TunerConstants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(70).withKI(0).withKD(0.5)
.withKP(100).withKI(0).withKD(0.5)
.withKS(0.1).withKV(1.59).withKA(0)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains = new Slot0Configs()
.withKP(0.01).withKI(0).withKD(0)
.withKS(0.05).withKV(0.117);
.withKP(0.1).withKI(0).withKD(0)
.withKS(0).withKV(0.124);
// The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains for the steer motors
@@ -42,7 +42,7 @@ public class TunerConstants {
// The type of motor used for the drive motor
private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
// The type of motor used for the drive motor
// The type of motor used for the steer motor
private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
// The remote sensor feedback type to use for the steer motors;
@@ -55,7 +55,14 @@ public class TunerConstants {
// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
// Default supply current limit is 70 A, but it can be lowered to avoid brownouts.
// Supply current limits can be larger than the breaker current rating.
.withSupplyCurrentLimit(Amps.of(70))
.withSupplyCurrentLimitEnable(true)
);
private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
@@ -66,23 +73,14 @@ public class TunerConstants {
);
private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
private static final Pigeon2Configuration pigeonConfigs =
new Pigeon2Configuration()
.withGyroTrim(
new GyroTrimConfigs()
.withGyroScalarZ(-5.0)
)
.withPigeon2Features(
new Pigeon2FeaturesConfigs()
.withEnableCompass(false)
);
private static final Pigeon2Configuration pigeonConfigs = null;
// CAN bus that the devices are located on;
// All swerve devices must share the same CAN bus
public static final CANBus kCANBus = new CANBus("", "./logs/example.hoot");
// Theoretical free speed (m/s) at 12 V applied output;
// Measured robot speed (m/s) at 12 V applied output;
// This is NOT the desired max robot speed - see MaxSpeed in RobotContainer instead;
// This needs to be tuned to your individual robot
public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.73);
@@ -101,7 +99,7 @@ public class TunerConstants {
// These are only used for simulation
private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.035);
// Simulated voltage necessary to overcome friction
private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
@@ -136,10 +134,10 @@ public class TunerConstants {
// Front Left
private static final int kFrontLeftDriveMotorId = 11;
private static final int kFrontLeftSteerMotorId = 12;
private static final int kFrontLeftEncoderId = 13;
private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.412841796875);
private static final int kFrontLeftDriveMotorId = 1;
private static final int kFrontLeftSteerMotorId = 2;
private static final int kFrontLeftEncoderId = 3;
private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.18115234375);
private static final boolean kFrontLeftSteerMotorInverted = false;
private static final boolean kFrontLeftEncoderInverted = false;
@@ -147,10 +145,10 @@ public class TunerConstants {
private static final Distance kFrontLeftYPos = Inches.of(11.375);
// Front Right
private static final int kFrontRightDriveMotorId = 21;
private static final int kFrontRightSteerMotorId = 22;
private static final int kFrontRightEncoderId = 23;
private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.012939453125);
private static final int kFrontRightDriveMotorId = 11;
private static final int kFrontRightSteerMotorId = 12;
private static final int kFrontRightEncoderId = 13;
private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.16162109375);
private static final boolean kFrontRightSteerMotorInverted = false;
private static final boolean kFrontRightEncoderInverted = false;
@@ -158,10 +156,10 @@ public class TunerConstants {
private static final Distance kFrontRightYPos = Inches.of(-11.375);
// Back Left
private static final int kBackLeftDriveMotorId = 1;
private static final int kBackLeftSteerMotorId = 2;
private static final int kBackLeftEncoderId = 3;
private static final Angle kBackLeftEncoderOffset = Rotations.of(0.07275390625);
private static final int kBackLeftDriveMotorId = 21;
private static final int kBackLeftSteerMotorId = 22;
private static final int kBackLeftEncoderId = 23;
private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.017822265625);
private static final boolean kBackLeftSteerMotorInverted = false;
private static final boolean kBackLeftEncoderInverted = false;
@@ -172,7 +170,7 @@ public class TunerConstants {
private static final int kBackRightDriveMotorId = 31;
private static final int kBackRightSteerMotorId = 32;
private static final int kBackRightEncoderId = 33;
private static final Angle kBackRightEncoderOffset = Rotations.of(-0.4892578125);
private static final Angle kBackRightEncoderOffset = Rotations.of(-0.490234375);
private static final boolean kBackRightSteerMotorInverted = false;
private static final boolean kBackRightEncoderInverted = false;
@@ -203,7 +201,7 @@ public class TunerConstants {
/**
* Creates a CommandSwerveDrivetrain instance.
* This should only be called once in your robot program,.
* This should only be called once in your robot program.
*/
public static CommandSwerveDrivetrain createDrivetrain() {
return new CommandSwerveDrivetrain(