Heading control not final tuning, just for code review #14
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| teleopController.acceptJoystickInput(xAxis, yAxis, omega); | ||
| } | ||
| } | ||
| /*radians*/ |
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Can we decouple the "heading control" functionality from the pre-existing teleop control function? Grouping them may cause confusion later down the line (esp. for integrating in autos, etc.).
(ie. create a single setHeadingLock(), push integration with teleop to RobotContainer)
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Consider using a supplier to pass in the target(s).
| @@ -99,10 +107,39 @@ public void driveTeleopController(double xAxis, double yAxis, double omega) { | |||
| if (driveMode != DriveModes.TELEOP) { | |||
| driveMode = DriveModes.TELEOP; | |||
| } | |||
| if (headingController != null) { | |||
| headingController = null; | |||
| } | |||
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What is the purpose of this statement?
| targetRotation2d = new Rotation2d(targetRotation2d.getRadians() + delta); | ||
| } | ||
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| public Rotation2d update(Rotation2d yaw, double currentRotationalVelocity) { |
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What is the purpose of currentRotationalVelocity? It doesn't appear to be used yet.
| public ChassisSpeeds update(Rotation2d yaw) { | ||
| Translation2d linearVelocity = calculateLinearVelocity(controllerX, controllerY); | ||
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| double omega = MathUtil.applyDeadband(controllerOmega, 0.1); | ||
| double omega = controllerOmega; |
| } | ||
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| public Rotation2d update(Rotation2d yaw, double currentRotationalVelocity) { | ||
| Logger.recordOutput("Swerve/TargetHeading", normalizeRadians(targetRotation2d.getRadians())); |
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Consider applying normalizeRadians() in setTarget(). We want data logged to be the same as what is used.
| return a < b ? a : -b; | ||
| } | ||
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| public double normalizeRadians(double radians) { |
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Is this supposed to be private?
| @@ -96,10 +97,12 @@ private void configureBindings() { | |||
| swerve | |||
| .run( | |||
| () -> { | |||
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Can we break up the operations here?
(ie. calculate the "heading" separately, etc)
Heading control works but needs to be tuned, angle wrap around does work. Uses trapezoidal profile and pid.