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| # Yet Another Generic Swerve Library (YAGSL) Example project | ||
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| YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most | ||
| square swerve drives. The project is documented | ||
| on [here](https://github.com/BroncBotz3481/YAGSL/wiki). The JSON documentation can also be | ||
| found [here](docs/START.md) | ||
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| This example is intended to be a starting place on how to use YAGSL. By no means is this intended to | ||
| be the base of your robot project. YAGSL provides an easy way to generate a SwerveDrive which can be | ||
| used in both TimedRobot and Command-Based Robot templates. | ||
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| # Overview | ||
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| ### Installation | ||
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| Vendor URL: | ||
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| ``` | ||
| https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json | ||
| ``` | ||
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| [Javadocs here](https://broncbotz3481.github.io/YAGSL/) | ||
| [Library here](https://github.com/BroncBotz3481/YAGSL/) | ||
| [Code here](https://github.com/BroncBotz3481/YAGSL/tree/main/swervelib) | ||
| [WIKI](https://github.com/BroncBotz3481/YAGSL/wiki) | ||
| [Config Generation](https://broncbotz3481.github.io/YAGSL-Example/) | ||
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| # Create an issue if there is any errors you find! | ||
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| We will be actively montoring this and fix any issues when we can! | ||
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| ## Development | ||
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| * Development happens here on `YAGSL-Example`. `YAGSL` and `YAGSL-Lib` are updated on a nightly | ||
| basis. | ||
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| # Support our developers! | ||
| <a href='https://ko-fi.com/yagsl' target='_blank'><img height='35' style='border:0px;height:46px;' src='https://az743702.vo.msecnd.net/cdn/kofi3.png?v=0' border='0' alt='Buy Me a Robot at ko-fi.com'></a> | ||
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| ### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below: | ||
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| ```text | ||
| deploy | ||
| └── swerve | ||
| ├── controllerproperties.json | ||
| ├── modules | ||
| │ ├── backleft.json | ||
| │ ├── backright.json | ||
| │ ├── frontleft.json | ||
| │ ├── frontright.json | ||
| │ ├── physicalproperties.json | ||
| │ └── pidfproperties.json | ||
| └── swervedrive.json | ||
| ``` | ||
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| ### Then create your SwerveDrive object like this. | ||
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| ```java | ||
| import java.io.File; | ||
| import edu.wpi.first.wpilibj.Filesystem; | ||
| import swervelib.parser.SwerveParser; | ||
| import swervelib.SwerveDrive; | ||
| import edu.wpi.first.math.util.Units; | ||
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| SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(),"swerve")).createSwerveDrive(Units.feetToMeters(14.5)); | ||
| ``` | ||
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| # Migrating Old Configuration Files | ||
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| 1. Delete `wheelDiamter`, `gearRatio`, `encoderPulsePerRotation` from `physicalproperties.json` | ||
| 2. Add `optimalVoltage` to `physicalproperties.json` | ||
| 3. Delete `maxSpeed` and `optimalVoltage` from `swervedrive.json` | ||
| 4. **IF** a swerve module doesn't have the same drive motor or steering motor as the rest of the | ||
| swerve drive you **MUST** specify a `conversionFactor` for BOTH the drive and steering motor in | ||
| the modules configuration JSON file. IF one of the motors is the same as the rest of the swerve | ||
| drive and you want to use that `conversionFactor`, set the `conversionFactor` in the module JSON | ||
| configuration to 0. | ||
| 5. You MUST specify the maximum speed when creating a `SwerveDrive` | ||
| through `new SwerveParser(directory).createSwerveDrive(maximumSpeed);` | ||
| 6. IF you do not want to set `conversionFactor` in `swervedrive.json`. You can pass it into the | ||
| constructor as a parameter like this | ||
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| ```java | ||
| double DriveConversionFactor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(WHEEL_DIAMETER), GEAR_RATIO, ENCODER_RESOLUTION); | ||
| double SteeringConversionFactor = SwerveMath.calculateDegreesPerSteeringRotation(GEAR_RATIO, ENCODER_RESOLUTION); | ||
| SwerveDrive swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, SteeringConversionFactor, DriveConversionFactor); | ||
| ``` | ||
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| ### Falcon Support would not have been possible without support from Team 1466 Webb Robotics! | ||
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| # Configuration Tips | ||
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| ### My Robot Spins around uncontrollably during autonomous or when attempting to set the heading! | ||
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| * Invert the gyro scope. | ||
| * Invert the drive motors for every module. (If front and back become reversed when turning) | ||
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| ### Angle motors are erratic. | ||
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| * Invert the angle motor. | ||
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| ### My robot is heavy. | ||
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| * Implement momentum velocity limitations in SwerveMath. | ||
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| ### Ensure the IMU is centered on the robot | ||
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| # Maintainers | ||
| - @thenetworkgrinch | ||
| - @Technologyman00 | ||
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| # Special Thanks to Team 7900! Trial N' Terror | ||
| Without the debugging and aid of Team 7900 the project could never be as stable or active as it is. | ||
| [](https://github.com/Team1810Robotics/2024-robot-code/actions/workflows/main.yml) | ||
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| # 2024 CATATRONICS Robot Code | ||
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| ## Team 1810 - Catatronics - code for the 2023 competition season | ||
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| ### Bot Named [TBD] | ||
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| --- | ||
| ### Controller Bindings | ||
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| #### Left Joystick | ||
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| | Button | Purpose | | ||
| | ----- | ----- | | ||
| | Trigger | | | ||
| | 1 | | | ||
| | 2 | | | ||
| | 3 | | | ||
| | 4 | | | ||
| | 5 | | | ||
| | 6 | | | ||
| | 7 | | | ||
| | 8 | | | ||
| | 9 | | | ||
| | 10 | | | ||
| | 11 | | | ||
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| #### Right Joystick | ||
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| | Button | Purpose | | ||
| | ----- | ----- | | ||
| | Trigger | | | ||
| | 1 | | | ||
| | 2 | | | ||
| | 3 | | | ||
| | 4 | | | ||
| | 5 | | | ||
| | 6 | | | ||
| | 7 | | | ||
| | 8 | | | ||
| | 9 | | | ||
| | 10 | | | ||
| | 11 | | | ||
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| --- | ||
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| #### CAN | ||
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| | ID | Mechanism | Being Controlled | Controller | | ||
| | ----- | ----- | ----- | ----- | | ||
| | 01 | | | | | ||
| | 02 | | | | | ||
| | 03 | | | | | ||
| | 04 | | | | | ||
| | 05 | | | | | ||
| | 06 | | | | | ||
| | 07 | | | | | ||
| | 08 | | | | | ||
| | 09 | | | | | ||
| | 10 | | | | | ||
| | 11 | | | | | ||
| | 12 | | | | | ||
| | 13 | | | | | ||
| | 14 | | | | | ||
| | 15 | | | | | ||
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| #### Relay | ||
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| | Port | Mechanism | Being Controlled | Controller | | ||
| | -----| ----- | ----- | ----- | | ||
| | 00 | | | | | ||
| | 01 | | | | | ||
| | 02 | | | | | ||
| | 03 | | | | | ||
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| #### PWM | ||
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| | Port | Mechanism | Being Controlled | Controller | | ||
| | ----- | ----- | ----- | ----- | | ||
| | 00 | | | | | ||
| | 01 | | | | | ||
| | 02 | | | | | ||
| | 03 | | | | | ||
| | 04 | | | | | ||
| | 05 | | | | | ||
| | 06 | | | | | ||
| | 07 | | | | | ||
| | 08 | | | | | ||
| | 09 | | | | | ||
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| #### DIO | ||
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| | | Mechanism | | ||
| | ----- | ----- | | ||
| | 00 | | | ||
| | 01 | | | ||
| | 02 | | | ||
| | 03 | | | ||
| | 04 | | | ||
| | 05 | | | ||
| | 06 | | | ||
| | 07 | | | ||
| | 08 | | | ||
| | 09 | | | ||
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| #### Analog In | ||
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| | | Mechanism | | ||
| | ----- | ----- | | ||
| | 00 | | | ||
| | 01 | | | ||
| | 02 | | | ||
| | 03 | | |