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Robotic-Racer14aRobotic-Racer14a
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Worlds Changes
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‎TunerConstantsjknkjnhj nhj n.java

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package frc.robot.generated;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
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import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
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import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstantsFactory;
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import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType;
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import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants.SteerFeedbackType;
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import edu.wpi.first.math.util.Units;
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import frc.robot.CommandSwerveDrivetrain;
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// Generated by the Tuner X Swerve Project Generator
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// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
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public class TunerConstants {
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// Both sets of gains need to be tuned to your individual robot.
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// The steer motor uses any SwerveModule.SteerRequestType control request with the
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// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
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private static final Slot0Configs steerGains = new Slot0Configs()
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.withKP(100).withKI(0).withKD(0.2)
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.withKS(0).withKV(1.5).withKA(0);
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// When using closed-loop control, the drive motor uses the control
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// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
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private static final Slot0Configs driveGains = new Slot0Configs()
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.withKP(3).withKI(0).withKD(0)
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.withKS(0).withKV(0).withKA(0);
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// The closed-loop output type to use for the steer motors;
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// This affects the PID/FF gains for the steer motors
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private static final ClosedLoopOutputType steerClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The closed-loop output type to use for the drive motors;
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// This affects the PID/FF gains for the drive motors
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private static final ClosedLoopOutputType driveClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The stator current at which the wheels start to slip;
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// This needs to be tuned to your individual robot
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private static final double kSlipCurrentA = 300.0;
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// Theoretical free speed (m/s) at 12v applied output;
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// This needs to be tuned to your individual robot
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public static final double kSpeedAt12VoltsMps = 6.21;
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// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
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// This may need to be tuned to your individual robot
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private static final double kCoupleRatio = 3;
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private static final double kDriveGearRatio = 5.142857142857142;
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private static final double kSteerGearRatio = 12.8;
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private static final double kWheelRadiusInches = 2;
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private static final boolean kSteerMotorReversed = false;
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private static final boolean kInvertLeftSide = false;
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private static final boolean kInvertRightSide = true;
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private static final String kCANbusName = "Upper";
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private static final int kPigeonId = 0;
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// These are only used for simulation
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private static final double kSteerInertia = 0.00001;
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private static final double kDriveInertia = 0.001;
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// Simulated voltage necessary to overcome friction
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private static final double kSteerFrictionVoltage = 0.25;
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private static final double kDriveFrictionVoltage = 0.25;
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private static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
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.withPigeon2Id(kPigeonId)
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.withCANbusName(kCANbusName);
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private static final SwerveModuleConstantsFactory ConstantCreator = new SwerveModuleConstantsFactory()
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.withDriveMotorGearRatio(kDriveGearRatio)
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.withSteerMotorGearRatio(kSteerGearRatio)
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.withWheelRadius(kWheelRadiusInches)
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.withSlipCurrent(kSlipCurrentA)
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.withSteerMotorGains(steerGains)
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.withDriveMotorGains(driveGains)
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.withSteerMotorClosedLoopOutput(steerClosedLoopOutput)
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.withDriveMotorClosedLoopOutput(driveClosedLoopOutput)
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.withSpeedAt12VoltsMps(kSpeedAt12VoltsMps)
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.withSteerInertia(kSteerInertia)
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.withDriveInertia(kDriveInertia)
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.withSteerFrictionVoltage(kSteerFrictionVoltage)
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.withDriveFrictionVoltage(kDriveFrictionVoltage)
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.withFeedbackSource(SteerFeedbackType.FusedCANcoder)
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.withCouplingGearRatio(kCoupleRatio)
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.withSteerMotorInverted(kSteerMotorReversed);
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// Front Left
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private static final int kFrontLeftDriveMotorId = 1;
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private static final int kFrontLeftSteerMotorId = 2;
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private static final int kFrontLeftEncoderId = 2;
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private static final double kFrontLeftEncoderOffset = -0.091796875;
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private static final double kFrontLeftXPosInches = 11.875;
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private static final double kFrontLeftYPosInches = 11.875;
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// Front Right
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private static final int kFrontRightDriveMotorId = 18;
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private static final int kFrontRightSteerMotorId = 19;
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private static final int kFrontRightEncoderId = 1;
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private static final double kFrontRightEncoderOffset = -0.37890625;
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private static final double kFrontRightXPosInches = 11.875;
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private static final double kFrontRightYPosInches = -11.875;
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// Back Left
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private static final int kBackLeftDriveMotorId = 8;
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private static final int kBackLeftSteerMotorId = 9;
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private static final int kBackLeftEncoderId = 3;
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private static final double kBackLeftEncoderOffset = -0.063232421875;
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private static final double kBackLeftXPosInches = -11.875;
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private static final double kBackLeftYPosInches = 11.875;
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// Back Right
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private static final int kBackRightDriveMotorId = 10;
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private static final int kBackRightSteerMotorId = 11;
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private static final int kBackRightEncoderId = 4;
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private static final double kBackRightEncoderOffset = -0.486572265625;
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private static final double kBackRightXPosInches = -11.875;
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private static final double kBackRightYPosInches = -11.875;
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private static final SwerveModuleConstants FrontLeft = ConstantCreator.createModuleConstants(
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kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset, Units.inchesToMeters(kFrontLeftXPosInches), Units.inchesToMeters(kFrontLeftYPosInches), kInvertLeftSide);
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private static final SwerveModuleConstants FrontRight = ConstantCreator.createModuleConstants(
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kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset, Units.inchesToMeters(kFrontRightXPosInches), Units.inchesToMeters(kFrontRightYPosInches), kInvertRightSide);
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private static final SwerveModuleConstants BackLeft = ConstantCreator.createModuleConstants(
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kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, Units.inchesToMeters(kBackLeftXPosInches), Units.inchesToMeters(kBackLeftYPosInches), kInvertLeftSide);
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private static final SwerveModuleConstants BackRight = ConstantCreator.createModuleConstants(
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kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset, Units.inchesToMeters(kBackRightXPosInches), Units.inchesToMeters(kBackRightYPosInches), kInvertRightSide);
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public static final CommandSwerveDrivetrain DriveTrain = new CommandSwerveDrivetrain(DrivetrainConstants, FrontLeft,
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FrontRight, BackLeft, BackRight);
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}

‎src/main/deploy/pathplanner/autos/Blue-Right-C0-C8-C7-C6.auto

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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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},
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{

‎src/main/deploy/pathplanner/autos/Blue-SpeakerCenter-C0-C1-C2-C3-C6.auto

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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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},
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{
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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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},
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{
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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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},
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{
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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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}
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]

‎src/main/deploy/pathplanner/autos/Blue-Worlds-Elim-C0-C7-C6-C8.auto

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{
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"version": 1.0,
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"startingPose": {
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"position": {
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"x": 1.51,
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"y": 6.45
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},
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"rotation": 0
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},
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"command": {
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "1 - Step 1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "2 - Step 1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "1 - Step 3"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "2 - Step 3"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTemp"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "Worlds-Elim-Path1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "1 - Step 2"
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "StartShooter"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AutoStartIntake"
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}
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}
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]
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}
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}
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]
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}
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},
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"folder": "Blue Autos",
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"choreoAuto": false
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}

‎src/main/deploy/pathplanner/autos/Red-Worlds-Elim-C0-C7-C6-C8.auto

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{
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"version": 1.0,
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"startingPose": {
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"position": {
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"x": 1.51,
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"y": 6.45
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},
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"rotation": 0
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},
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"command": {
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "11 - Step 1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "12 - Step 1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "11 - Step 3"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "11 - Step 4"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AutoStartDeliveryTempWithHaveNote"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "WorldsElim-Path11"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "11 - Step 2"
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "StartShooter"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "AutoStartIntake"
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}
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}
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]
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}
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}
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]
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}
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},
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"folder": "Red Autos",
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"choreoAuto": false
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}

‎src/main/deploy/pathplanner/autos/Takes Time.auto

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{
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"type": "path",
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"data": {
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"pathName": "14 - Step 1"
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"pathName": "Test 1"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "Test 2"
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}
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}
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]

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