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add maple_sim #38

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Jan 15, 2025
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Merge branch 'main' into maple_sim
# Conflicts:
#	src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/DrivetrainIO.kt
#	src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Gyro.kt
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doinkythederp committed Jan 15, 2025
commit bc552da07797a5b276846da177d82a0eb1db1a9e
Original file line number Diff line number Diff line change
@@ -8,13 +8,16 @@ import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.BUMPER
import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.MODULE_POSITIONS
import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.TRACK_WIDTH
import com.frcteam3636.frc2025.subsystems.drivetrain.Drivetrain.Constants.WHEEL_BASE
import com.frcteam3636.frc2025.utils.math.TAU
import com.frcteam3636.frc2025.utils.swerve.PerCorner
import com.studica.frc.AHRS
import edu.wpi.first.math.geometry.Rotation2d
import edu.wpi.first.math.geometry.Pose2d
import edu.wpi.first.math.geometry.Rotation2d
import edu.wpi.first.math.geometry.Rotation3d
import edu.wpi.first.math.kinematics.SwerveModulePosition
import edu.wpi.first.math.kinematics.SwerveModuleState
import edu.wpi.first.units.Units.DegreesPerSecond
import edu.wpi.first.math.system.plant.DCMotor
import edu.wpi.first.units.Units.KilogramSquareMeters
import edu.wpi.first.units.Units.Volts
@@ -27,7 +30,6 @@ import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
import org.littletonrobotics.junction.Logger
import org.team9432.annotation.Logged


@Logged
open class DrivetrainInputs {
var gyroRotation = Rotation2d()
Original file line number Diff line number Diff line change
@@ -8,6 +8,9 @@ import com.frcteam3636.frc2025.utils.swerve.translation2dPerSecond
import com.studica.frc.AHRS
import edu.wpi.first.math.geometry.Rotation2d
import edu.wpi.first.math.geometry.Translation2d
import edu.wpi.first.units.Units.DegreesPerSecond
import edu.wpi.first.units.Units.RadiansPerSecond
import edu.wpi.first.units.measure.AngularVelocity
import org.ironmaple.simulation.drivesims.GyroSimulation
import org.littletonrobotics.junction.Logger
import kotlin.math.sign
@@ -54,7 +57,6 @@ class GyroNavX(private val ahrs: AHRS) : Gyro {

class GyroPigeon(private val pigeon: Pigeon2) : Gyro {
init {
Logger.recordOutput("PigeonGyro/Offset", offset)
BaseStatusSignal.setUpdateFrequencyForAll(100.0, pigeon.yaw, pigeon.pitch, pigeon.roll)
}

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