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chassis: Latency compensate encoder readings #110

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chassis: Latency compensate encoder readings #110

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702f83f
chassis: Latency compensate steer angle readings
auscompgeek Feb 12, 2024
cb6b5cf
chassis: Latency compensate drive encoder readings
auscompgeek Feb 12, 2024
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16 changes: 12 additions & 4 deletions components/chassis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,8 @@ def __init__(
else InvertedValue.COUNTER_CLOCKWISE_POSITIVE
)

# Note: we change the dimension of the drive encoder readings
# here from wheel rotations to metres.
drive_gear_ratio_config = FeedbackConfigs().with_sensor_to_mechanism_ratio(
1 / self.DRIVE_MOTOR_REV_TO_METRES
)
Expand All @@ -138,18 +140,24 @@ def get_angle_absolute(self) -> float:

def get_angle_integrated(self) -> float:
"""Gets steer angle from motor's integrated relative encoder"""
return self.steer.get_position().value * math.tau
rot = self.steer.get_position().get_latency_compensated_value(
self.steer.get_velocity()
)
return rot * math.tau

def get_rotation(self) -> Rotation2d:
"""Get the steer angle as a Rotation2d"""
return Rotation2d(self.get_angle_integrated())

def get_speed(self) -> float:
# velocity is in rot/s, return in m/s
return self.drive.get_velocity().value
return self.drive.get_velocity().get_latency_compensated_value(
self.drive.get_acceleration()
)

def get_distance_traveled(self) -> float:
return self.drive.get_position().value
return self.drive.get_position().get_latency_compensated_value(
self.drive.get_velocity()
)

def set(self, desired_state: SwerveModuleState):
if self.module_locked:
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