Merge pull request #8 from Team846/simulate_drivetrain_impl

Simulate drivetrain impl
Team846 · Jan 2, 2025 · f8d62f9 · f8d62f9
2 parents 275fcd8 + 464066c
commit f8d62f9
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Showing 15 changed files with 341 additions and 37 deletions.
diff --git a/README.md b/README.md
@@ -184,4 +184,5 @@ src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:94:44: warning: Variable 'ol_ta
 src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:108:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
 src\frc846\cpp\frc846\math\collection.cc:11:0: warning: The function 'HorizontalDeadband' is never used. [unusedFunction]
 src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
+src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
 ```
diff --git a/build.gradle b/build.gradle
@@ -36,7 +36,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
 def includeDesktopSupport = false
 
 // Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
+wpi.cpp.debugSimulation = true
 
 // Default enable simgui
 wpi.sim.addGui().defaultEnabled = false

diff --git a/networktables.json b/networktables.json
@@ -0,0 +1,138 @@
+[
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 16.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 12.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FR/SwerveDrivetrain/FR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FL/SwerveDrivetrain/FL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BR/SwerveDrivetrain/BR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BL/SwerveDrivetrain/BL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kP",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kF",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/robot_container/init_drivetrain",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/robot_container/init_leds",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/trigger_threshold",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  }
+]
diff --git a/networktables.json.bck b/networktables.json.bck
@@ -0,0 +1,58 @@
+[
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 16.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 12.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FR/SwerveDrivetrain/FR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  }
+]
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
@@ -0,0 +1,13 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/get_prune_list": "Command",
+      "/SmartDashboard/prune_prefs": "Command",
+      "/SmartDashboard/verify_hardware": "Command"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}
diff --git a/src/frc846/cpp/frc846/control/HigherMotorController.cc b/src/frc846/cpp/frc846/control/HigherMotorController.cc
@@ -11,10 +11,6 @@ HigherMotorController::HigherMotorController(
     : mmtype_(mmtype), constr_params_(params) {}
 
 void HigherMotorController::Setup() {
-  if (!called_enable_status_frames_) {
-    throw std::runtime_error(
-        "HigherMotorController: Call EnableStatusFrames before Setup");
-  }
   slot_id_ = frc846::control::MotorMonkey::ConstructController(
       mmtype_, constr_params_);
 }
@@ -113,7 +109,6 @@ void HigherMotorController::SetSoftLimits(
 void HigherMotorController::EnableStatusFrames(
     std::vector<frc846::control::config::StatusFrame> frames) {
   frc846::control::MotorMonkey::EnableStatusFrames(slot_id_, frames);
-  called_enable_status_frames_ = true;
 }
 
 }  // namespace frc846::control