新底盘

src/main/java/frc/robot/generated/TunerConstants.java

@@ -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)
+        .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0.05).withKV(0.117);
+        .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 =
+    private static final Pigeon2Configuration pigeonConfigs = null;
-    new Pigeon2Configuration()
-        .withGyroTrim(
-            new GyroTrimConfigs()
-                .withGyroScalarZ(-5.0)
-        )
-        .withPigeon2Features(
-            new Pigeon2FeaturesConfigs()
-                .withEnableCompass(false)
-        );
-
 
     // 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 kFrontLeftDriveMotorId = 1;
-    private static final int kFrontLeftSteerMotorId = 12;
+    private static final int kFrontLeftSteerMotorId = 2;
-    private static final int kFrontLeftEncoderId = 13;
+    private static final int kFrontLeftEncoderId = 3;
-    private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.412841796875);
+    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 kFrontRightDriveMotorId = 11;
-    private static final int kFrontRightSteerMotorId = 22;
+    private static final int kFrontRightSteerMotorId = 12;
-    private static final int kFrontRightEncoderId = 23;
+    private static final int kFrontRightEncoderId = 13;
-    private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.012939453125);
+    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 kBackLeftDriveMotorId = 21;
-    private static final int kBackLeftSteerMotorId = 2;
+    private static final int kBackLeftSteerMotorId = 22;
-    private static final int kBackLeftEncoderId = 3;
+    private static final int kBackLeftEncoderId = 23;
-    private static final Angle kBackLeftEncoderOffset = Rotations.of(0.07275390625);
+    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(