新底盘

elastic-layout.json

@@ -91,6 +91,93 @@
               "period": 0.06,
               "sort_options": false
             }
+          },
+          {
+            "title": "HubActive",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Boolean Box",
+            "properties": {
+              "topic": "/GameData2026/HubActive",
+              "period": 0.06,
+              "data_type": "boolean",
+              "true_color": 4283215696,
+              "false_color": 4294198070,
+              "true_icon": "None",
+              "false_icon": "None"
+            }
+          },
+          {
+            "title": "HubStatus",
+            "x": 256.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/HubStatus",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "SecondsUntilHubOpens",
+            "x": 0.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/SecondsUntilHubOpens",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "Shift",
+            "x": 256.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/Shift",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "FirstInactiveAlliance",
+            "x": 0.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/FirstInactiveAlliance",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "MatchTime",
+            "x": 256.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/MatchTime",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
           }
         ]
       }

src/main/java/frc/robot/Robot.java

@@ -23,6 +23,7 @@ public class Robot extends TimedRobot {
     public void robotPeriodic() {
         CommandScheduler.getInstance().run(); 
         m_robotContainer.tunerPeriodic();
+        m_robotContainer.dashboardPeriodic();
 
     }
 

src/main/java/frc/robot/RobotContainer.java

@@ -30,6 +30,7 @@ import frc.robot.utils.LedBindings;
 import frc.robot.controls.ClimberControls;
 import frc.robot.controls.Autocommand;
 import frc.robot.subsystems.ClimberSubsystem;
+import frc.robot.utils.GameData2026;
 public class RobotContainer {
 
   /* ====================== */
@@ -63,6 +64,7 @@ public class RobotContainer {
   //private final ClimberControls climberControls = new ClimberControls(climberSubsystem, controllerupper);
   private final IntakerControls intakerControls = new IntakerControls(IntakerSubsystem, shooterSubsystem, controllerupper);
   private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
+  private final GameData2026 gameData2026 = new GameData2026();
   private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
   private ConfigTalonFXMotorTuner configConveyorTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.conveyorMotor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
   private ConfigTalonFXSMotorTuner configBackboardTuner = new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
@@ -202,6 +204,10 @@ public class RobotContainer {
     shooterSubsystem.setRightFollowLeft();
   }
 
+  public void dashboardPeriodic() {
+    gameData2026.periodic();
+  }
+
   // private void configueClimber() {
   //   climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
   // }

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)
-        .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(

src/main/java/frc/robot/utils/GameData2026.java

@@ -0,0 +1,117 @@
+package frc.robot.utils;
+
+import java.util.Optional;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+public class GameData2026 {
+    private static final double SHIFT_1_END_TIME = 105.0;
+    private static final double SHIFT_2_END_TIME = 80.0;
+    private static final double SHIFT_3_END_TIME = 55.0;
+    private static final double SHIFT_4_END_TIME = 30.0;
+    private static final double TRANSITION_END_TIME = 130.0;
+
+    private final NetworkTable table = NetworkTableInstance.getDefault().getTable("GameData2026");
+
+    public void periodic() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+        double matchTime = DriverStation.getMatchTime();
+        String gameData = DriverStation.getGameSpecificMessage();
+
+        HubWindow window = calculateHubWindow(alliance, matchTime, gameData);
+
+        table.getEntry("HubActive").setBoolean(window.hubActive);
+        table.getEntry("HubStatus").setString(window.status);
+        table.getEntry("SecondsUntilHubOpens").setDouble(window.secondsUntilHubOpens);
+        table.getEntry("SecondsUntilHubChanges").setDouble(window.secondsUntilHubChanges);
+        table.getEntry("Shift").setString(window.shift);
+        table.getEntry("MatchTime").setDouble(matchTime);
+        table.getEntry("GameData").setString(gameData);
+        table.getEntry("Alliance").setString(alliance.map(Enum::name).orElse("Unknown"));
+        table.getEntry("FirstInactiveAlliance").setString(getFirstInactiveAlliance(gameData));
+    }
+
+    private HubWindow calculateHubWindow(Optional<Alliance> alliance, double matchTime, String gameData) {
+        if (alliance.isEmpty()) {
+            return new HubWindow(false, "NO_ALLIANCE", "Disabled", Double.NaN, Double.NaN);
+        }
+
+        if (DriverStation.isAutonomousEnabled()) {
+            return new HubWindow(true, "OPEN", "Auto", 0.0, Double.NaN);
+        }
+
+        if (!DriverStation.isTeleopEnabled()) {
+            return new HubWindow(false, "DISABLED", "Disabled", Double.NaN, Double.NaN);
+        }
+
+        if (matchTime < 0.0) {
+            return new HubWindow(true, "OPEN_TIME_UNKNOWN", "Unknown", 0.0, Double.NaN);
+        }
+
+        Boolean redInactiveFirst = getRedInactiveFirst(gameData);
+        if (redInactiveFirst == null) {
+            return new HubWindow(true, "WAITING_DATA", "WaitingData", 0.0, Double.NaN);
+        }
+
+        boolean shift1Active = switch (alliance.get()) {
+            case Red -> !redInactiveFirst;
+            case Blue -> redInactiveFirst;
+        };
+
+        if (matchTime > TRANSITION_END_TIME) {
+            return new HubWindow(true, "OPEN", "Transition", 0.0, matchTime - TRANSITION_END_TIME);
+        } else if (matchTime > SHIFT_1_END_TIME) {
+            return fromShift("Shift1", shift1Active, matchTime, SHIFT_1_END_TIME);
+        } else if (matchTime > SHIFT_2_END_TIME) {
+            return fromShift("Shift2", !shift1Active, matchTime, SHIFT_2_END_TIME);
+        } else if (matchTime > SHIFT_3_END_TIME) {
+            return fromShift("Shift3", shift1Active, matchTime, SHIFT_3_END_TIME);
+        } else if (matchTime > SHIFT_4_END_TIME) {
+            return fromShift("Shift4", !shift1Active, matchTime, SHIFT_4_END_TIME);
+        } else {
+            return new HubWindow(true, "OPEN", "Endgame", 0.0, Math.max(matchTime, 0.0));
+        }
+    }
+
+    private HubWindow fromShift(String shift, boolean hubActive, double matchTime, double nextBoundary) {
+        double secondsUntilChange = Math.max(matchTime - nextBoundary, 0.0);
+        double secondsUntilOpen = hubActive ? 0.0 : secondsUntilChange;
+        String status = hubActive ? "OPEN" : "CLOSED";
+        return new HubWindow(hubActive, status, shift, secondsUntilOpen, secondsUntilChange);
+    }
+
+    private Boolean getRedInactiveFirst(String gameData) {
+        if (gameData.isEmpty()) {
+            return null;
+        }
+
+        return switch (gameData.charAt(0)) {
+            case 'R' -> true;
+            case 'B' -> false;
+            default -> null;
+        };
+    }
+
+    private String getFirstInactiveAlliance(String gameData) {
+        if (gameData.isEmpty()) {
+            return "None";
+        }
+
+        return switch (gameData.charAt(0)) {
+            case 'R' -> "Red";
+            case 'B' -> "Blue";
+            default -> "Invalid";
+        };
+    }
+
+    private record HubWindow(
+        boolean hubActive,
+        String status,
+        String shift,
+        double secondsUntilHubOpens,
+        double secondsUntilHubChanges
+    ) {}
+}