swerve drive docstrings

README.md

@@ -2,7 +2,7 @@
 
 Base robot code for all 4829 robots.
 
-Includes code for: 
+Includes code for:
 - Simulation
 - Swerve drive
 - Threaded vision

src/main/java/frc/robot/BuildConstants.java

@@ -3,15 +3,15 @@
 /** Automatically generated file containing build version information. */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "4829-BaseRobotCode-2025-1";
+  public static final String MAVEN_NAME = "4829-BaseRobotCode-1";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 22;
-  public static final String GIT_SHA = "ee746c8ba2b3fd21fde3a8e41cdd2f213deee1be";
-  public static final String GIT_DATE = "2024-10-27 14:01:12 EDT";
-  public static final String GIT_BRANCH = "k";
-  public static final String BUILD_DATE = "2024-10-27 14:10:44 EDT";
-  public static final long BUILD_UNIX_TIME = 1730052644497L;
-  public static final int DIRTY = 1;
+  public static final int GIT_REVISION = 32;
+  public static final String GIT_SHA = "71a47d311fd066ba3b76be8d09eff3e03b893cd8";
+  public static final String GIT_DATE = "2024-10-28 22:21:12 EDT";
+  public static final String GIT_BRANCH = "docs";
+  public static final String BUILD_DATE = "2024-10-29 16:56:45 EDT";
+  public static final long BUILD_UNIX_TIME = 1730235405242L;
+  public static final int DIRTY = 0;
 
   private BuildConstants() {}
 }

src/main/java/frc/robot/Constants.java

@@ -1,7 +1,6 @@
 package frc.robot;
 
 import edu.wpi.first.math.util.Units;
-import frc.robot.subsystems.swerve.SwerveConstants.*;
 
 public final class Constants {
 
@@ -16,14 +15,16 @@ public class LogPaths {
   public static enum Mode {
     /** Running on a real robot. */
     REAL,
-
     /** Running a physics simulator. */
     SIM,
-
     /** Replaying from a log file. */
     REPLAY
   }
 
+  /**
+   * This is where we place constants related to hardware on a robot that aren't specific to any
+   * singular subsystem.
+   */
   public static final class HardwareConstants {
     public static final double TIMEOUT_S = 0.02;
 
@@ -32,18 +33,29 @@ public static final class HardwareConstants {
     public static final String CANIVORE_CAN_BUS_STRING = "canivore 1";
     public static final String RIO_CAN_BUS_STRING = "rio";
 
+    /**
+     * For some reason, falcons normally have a deadband threshold of 4%. This is incredibly high!
+     * It makes it very hard to do precise movements, so with this constant we set the threshold to
+     * the lowest possible value.
+     */
     public static final double MIN_FALCON_DEADBAND = 0.001;
-
-    public static final double DEADBAND_VALUE = 0.05;
   }
 
+  /**
+   * This is where constants used to describe the game's field go. This will have the dimensions of
+   * the field, but also the coordinates of obstacles, game pieces, or other places of interest.
+   */
   public static final class FieldConstants {
+    // TODO: Now that I think about it, I'm pretty sure these measurements stay the same every year,
+    // so consider setting them in the base code
     public static final double FIELD_LENGTH_METERS = Units.inchesToMeters(0 - 9);
     public static final double FIELD_WIDTH_METERS = Units.inchesToMeters(0 - 9);
   }
 
   public static final class JoystickConstants {
     public static final int DRIVER_JOYSTICK_ID = 0;
     public static final int OPERATOR_JOYSTICK_ID = 1;
+
+    public static final double DEADBAND_VALUE = 0.05;
   }
 }

src/main/java/frc/robot/commands/drive/DriveCommandBase.java

@@ -2,8 +2,6 @@
 
 package frc.robot.commands.drive;
 
-import static edu.wpi.first.units.Units.*;
-
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.extras.interpolators.MultiLinearInterpolator;
@@ -21,7 +19,7 @@
   private final Vision vision;
   private final SwerveDrive swerveDrive;
 
   private double lastTimeStampSeconds = 0;
 
   /**
    * An abstract class that handles pose estimation while driving.
@@ -34,6 +32,7 @@
     this.vision = vision;
     // It is important that you do addRequirements(driveSubsystem, vision) in whatever
     // command extends this
+    // DO NOT do addRequirements here, it will break things
   }
 
   @Override
@@ -55,6 +54,12 @@
 
       double distanceFromClosestAprilTag = vision.getLimelightAprilTagDistance(limelightNumber);
 
+      // Depending on how many april tags we see, we change our confidence as more april tags
+      // results in a much more accurate pose estimate
+      // TODO: check if this is necessary anymore with MT2, also we might want to set the limelight
+      //  so it only uses 1 april tag, if they set up the field wrong (they can set april tags +-1
+      // inch I believe)
+      //  using multiple *could* really mess things up.
       if (vision.getNumberOfAprilTags(limelightNumber) == 1) {
         double[] standardDeviations =
             oneAprilTagLookupTable.getLookupValue(distanceFromClosestAprilTag);

src/main/java/frc/robot/extras/simulation/OdometryTimestampsSim.java

@@ -5,7 +5,7 @@
 import frc.robot.extras.simulation.field.SimulatedField;
 
 public class OdometryTimestampsSim {
-  public static double[] getTimeStamps() {
+  public static double[] getTimestamps() {
     final double[] odometryTimestamps = new double[5];
     for (int i = 0; i < 5; i++)
       odometryTimestamps[i] =

src/main/java/frc/robot/extras/simulation/field/SimulatedField.java

@@ -7,7 +7,7 @@
 import frc.robot.extras.simulation.gamePiece.CrescendoNoteSimulation;
 import frc.robot.extras.simulation.gamePiece.GamePieceSimulation;
 import frc.robot.extras.simulation.mechanismSim.IntakeSimulation;
-import frc.robot.extras.simulation.mechanismSim.swervePhysicsSim.AbstractDriveTrainSimulation;
+import frc.robot.extras.simulation.mechanismSim.swerve.AbstractDriveTrainSimulation;
 import frc.robot.extras.util.GeomUtil;
 import java.util.*;
 import org.dyn4j.dynamics.Body;

src/main/java/frc/robot/extras/simulation/mechanismSim/IntakeSimulation.java

@@ -3,7 +3,7 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import frc.robot.extras.simulation.field.SimulatedField;
 import frc.robot.extras.simulation.gamePiece.GamePieceSimulation;
-import frc.robot.extras.simulation.mechanismSim.swervePhysicsSim.AbstractDriveTrainSimulation;
+import frc.robot.extras.simulation.mechanismSim.swerve.AbstractDriveTrainSimulation;
 import frc.robot.extras.util.GeomUtil;
 import java.util.ArrayDeque;
 import java.util.Queue;

src/main/java/frc/robot/extras/simulation/mechanismSim/swervePhysicsSim/AbstractDriveTrainSimulation.java → src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/AbstractDriveTrainSimulation.java

@@ -1,4 +1,4 @@
-package frc.robot.extras.simulation.mechanismSim.swervePhysicsSim;
+package frc.robot.extras.simulation.mechanismSim.swerve;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;

src/main/java/frc/robot/extras/simulation/mechanismSim/swervePhysicsSim/BrushlessMotorSim.java → src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/BrushlessMotorSim.java

@@ -22,7 +22,7 @@
 // Original source:
 // https://github.com/Shenzhen-Robotics-Alliance/maple-sim/blob/main/src/main/java/org/ironmaple/simulation/drivesims/BrushlessMotorSim.java
 
-package frc.robot.extras.simulation.mechanismSim.swervePhysicsSim;
+package frc.robot.extras.simulation.mechanismSim.swerve;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.system.plant.DCMotor;

src/main/java/frc/robot/extras/simulation/mechanismSim/swervePhysicsSim/GyroSimulation.java → src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/GyroSimulation.java

@@ -1,4 +1,4 @@
-package frc.robot.extras.simulation.mechanismSim.swervePhysicsSim;
+package frc.robot.extras.simulation.mechanismSim.swerve;
 
 import static frc.robot.extras.simulation.field.SimulatedField.*;
 

src/main/java/frc/robot/extras/simulation/mechanismSim/swervePhysicsSim/SwerveDriveSimulation.java → src/main/java/frc/robot/extras/simulation/mechanismSim/swerve/SwerveDriveSimulation.java

@@ -1,4 +1,4 @@
-package frc.robot.extras.simulation.mechanismSim.swervePhysicsSim;
+package frc.robot.extras.simulation.mechanismSim.swerve;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;