Merge pull request #9 from AlphaKnights/pathplanner

Pathplanner
AlphaKnights · Feb 6, 2025 · 55fab2f · 55fab2f
2 parents 8ac7d37 + 03a03e7
commit 55fab2f
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Showing 6 changed files with 27 additions and 27 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -22,7 +22,7 @@ jobs:
         run: |
           python -m venv venv
           source venv/bin/activate
-          python3 -m pip install "robotpy==2025.2.1.0"
+          python3 -m pip install robotpy
           python3 -m robotpy sync
 
       - name: Run mypy

diff --git a/deploy/pathplanner/paths/Example Path.path b/deploy/pathplanner/paths/Example Path.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 20.0,
-    "maxAcceleration": 10.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/deploy/pathplanner/paths/New Path.path b/deploy/pathplanner/paths/New Path.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 4.399,
-        "y": 7.0
+        "x": 8.0,
+        "y": 5.0
       },
       "prevControl": {
-        "x": 3.399,
-        "y": 7.0
+        "x": 7.0,
+        "y": 5.0
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,22 +33,22 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 20.0,
-    "maxAcceleration": 10.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/pyproject.toml b/pyproject.toml
@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2025.2.1.0"
+robotpy_version = "2025.2.1.2"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]

diff --git a/subsystems/drivesubsystem.py b/subsystems/drivesubsystem.py
@@ -61,7 +61,7 @@ def __init__(self) -> None:
         )
 
         # The gyro sensor
-        self.gyro = AHRS(AHRS.NavXComType.kMXP_UART)
+        self.gyro = AHRS(AHRS.NavXComType.kMXP_SPI)
         # self.gyro = wpilib.ADXRS450_Gyro()
 
         # Slew rate filter variables for controlling lateral acceleration

diff --git a/subsystems/maxswervemodule.py b/subsystems/maxswervemodule.py
@@ -24,29 +24,29 @@ def __init__(
         drivingConfig.IdleMode(int(ModuleConstants.kDrivingMotorIdleMode)) 
         drivingConfig.smartCurrentLimit(ModuleConstants.kDrivingMotorCurrentLimit)
 
-        drivingConfig.encoder.positionConversionFactor(ModuleConstants.kDrivingEncoderPositionFactor)
-        drivingConfig.encoder.velocityConversionFactor(ModuleConstants.kDrivingEncoderVelocityFactor)
+        drivingConfig.encoder.positionConversionFactor(ModuleConstants.kDrivingEncoderPositionFactor) \
+            .velocityConversionFactor(ModuleConstants.kDrivingEncoderVelocityFactor)
 
-        drivingConfig.closedLoop.setFeedbackSensor(ClosedLoopConfig.FeedbackSensor.kPrimaryEncoder)
-        drivingConfig.closedLoop.pid(ModuleConstants.kDrivingP, ModuleConstants.kDrivingI, ModuleConstants.kDrivingD)
-        drivingConfig.closedLoop.velocityFF(ModuleConstants.kDrivingFF)
-        drivingConfig.closedLoop.outputRange(ModuleConstants.kDrivingMinOutput, ModuleConstants.kDrivingMaxOutput)
+        drivingConfig.closedLoop.setFeedbackSensor(ClosedLoopConfig.FeedbackSensor.kPrimaryEncoder) \
+            .pid(ModuleConstants.kDrivingP, ModuleConstants.kDrivingI, ModuleConstants.kDrivingD) \
+            .velocityFF(ModuleConstants.kDrivingFF) \
+            .outputRange(ModuleConstants.kDrivingMinOutput, ModuleConstants.kDrivingMaxOutput) 
 
 
         turningConfig = SparkMaxConfig()
 
         turningConfig.IdleMode(int(ModuleConstants.kTurningMotorIdleMode))
         turningConfig.smartCurrentLimit(ModuleConstants.kTurningMotorCurrentLimit)
 
-        turningConfig.absoluteEncoder.inverted(True)
-        turningConfig.absoluteEncoder.positionConversionFactor(ModuleConstants.kTurningEncoderPositionFactor)
-        turningConfig.absoluteEncoder.velocityConversionFactor(ModuleConstants.kTurningEncoderVelocityFactor)
+        turningConfig.absoluteEncoder.inverted(True) \
+            .positionConversionFactor(ModuleConstants.kTurningEncoderPositionFactor) \
+            .velocityConversionFactor(ModuleConstants.kTurningEncoderVelocityFactor)
 
-        turningConfig.closedLoop.setFeedbackSensor(ClosedLoopConfig.FeedbackSensor.kAbsoluteEncoder)
-        turningConfig.closedLoop.pid(ModuleConstants.kTurningP, ModuleConstants.kTurningI, ModuleConstants.kTurningD)
-        turningConfig.closedLoop.outputRange(-1, 1)
-        turningConfig.closedLoop.positionWrappingEnabled(True)
-        turningConfig.closedLoop.positionWrappingInputRange(0, ModuleConstants.kTurningEncoderPositionPIDMaxInput)
+        turningConfig.closedLoop.setFeedbackSensor(ClosedLoopConfig.FeedbackSensor.kAbsoluteEncoder) \
+            .pid(ModuleConstants.kTurningP, ModuleConstants.kTurningI, ModuleConstants.kTurningD) \
+            .outputRange(-1, 1) \
+            .positionWrappingEnabled(True) \
+            .positionWrappingInputRange(0, ModuleConstants.kTurningEncoderPositionPIDMaxInput)
 
         self.drive_motor.configure(drivingConfig, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters)
         self.turn_motor.configure(turningConfig, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters)