driver-experience

src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java

@@ -22,10 +22,7 @@ public interface IDrivetrain extends ITestableSubsystem {
     double maxSpd = (config.kinematics.maxDriveRPS / config.kinematics.driveGearing) * 2 * Math.PI * config.kinematics.wheelRadius;
     double cof = config.kinematics.wheelCOF;
     double gearing = config.kinematics.driveGearing;
-    double wheelCircumference = 2 * Math.PI * whlRad;
 
-    // MOI = mass * (width^2 + length^2) / 12, with 1.5x multiplier to account for
-    // concentrated perimeter mass (swerve modules, bumpers, battery)
     double MOI = 1.5 * massKG * (config.kinematics.wheelbaseWidth * config.kinematics.wheelbaseWidth + config.kinematics.wheelbaseLength * config.kinematics.wheelbaseLength) / 12;
 
     boolean isAllowedToPathPlannerPath = false;

src/main/java/com/team1816/lib/subsystems/drivetrain/Swerve.java

@@ -78,28 +78,24 @@ public void periodic() {
     }
 
     private SwerveRequest GetSwerverCommand(SwerveRequest.FieldCentric drive) {
+        double deadBand = 0.05;
 
         // 1. Get raw joystick values (-1.0 to +1.0)
         double rawX    = -controller.getLeftY();    // forward/back  (negative because forward is usually negative Y)
         double rawY    = -controller.getLeftX();    // strafe left/right
         double rawRot  = -controller.getRightX();   // rotation
 
-        // 2. Deadband (remove drift)
-        rawX   = Math.abs(rawX)   < 0.08 ? 0 : rawX;
-        rawY   = Math.abs(rawY)   < 0.08 ? 0 : rawY;
-        rawRot = Math.abs(rawRot) < 0.08 ? 0 : rawRot;
+        // 2. Deadband (remove drift, yet still allow speeds just above 0)
+        double x   = Math.abs(rawX)   < deadBand ? 0 : (rawX-deadBand)/(1-deadBand);
+        double y   = Math.abs(rawY)   < deadBand ? 0 : (rawY-deadBand)/(1-deadBand);
+        double rot = Math.abs(rawRot) < deadBand ? 0 : (rawRot-deadBand)/(1-deadBand);
 
-        // 3. Cube the inputs → insane precision at low speed, full power at full stick
-        double x    = rawX   * rawX   * rawX;
-        double y    = rawY   * rawY   * rawY;
-        double rot  = rawRot * rawRot * rawRot;
+        // 3. Slew rate limit → buttery smooth acceleration
+//        x   = xLimiter.calculate(x);
+//        y   = yLimiter.calculate(y);
+//        rot = rotLimiter.calculate(rot);
 
-        // 4. Slew rate limit → buttery smooth acceleration
-        x   = xLimiter.calculate(x);
-        y   = yLimiter.calculate(y);
-        rot = rotLimiter.calculate(rot);
-
-        // 5. Multipliers to slow down movement based on driver preference. Slow mode and normal mode.
+        // 4. Multipliers to slow down movement based on driver preference. Slow mode and normal mode.
         if (controller.leftTrigger().getAsBoolean()) {
             x   *= SLOW_MODE_TRANSLATIONAL_MULTIPLIER;
             y   *= SLOW_MODE_TRANSLATIONAL_MULTIPLIER;

src/main/resources/yaml/ztldr.yml

@@ -131,23 +131,24 @@ subsystems:
         kinematics:
             driveGearing: 6.03
             steerGearing: 26.0909
-            wheelbaseLength: .505 # meters
-            wheelbaseWidth: .505 # meters
-            robotMass: 74.088 # kg
+            wheelbaseLength: 0.4305 # meters
+            wheelbaseWidth: 0.4305 # meters
+            robotMass: 56.7 # kg
             wheelRadius: .04938 # meters (1.944 in)
-            maxDriveRPS: 98 # measured motor max speed rps
-            maxAngularRate: 8.285 # rad/sec
-            wheelCOF: 1.7
+            maxDriveRPS: 80 # measured motor max speed rps
+            maxAngularRate: 1.3 # rot/sec
+            wheelCOF: 1
         constants:
             translationKp: 20
             translationKd: 0
             rotationKp: 10
             rotationKi: 0
             rotationKd: 0
+            #Driver preference options
             normalModeTranslationalMultiplier: 1
-            normalModeRotationalMultiplier: 0.4
-            slowModeTranslationalMultiplier: 0.35
-            slowModeRotationalMultiplier: 0.15
+            normalModeRotationalMultiplier: 1
+            slowModeTranslationalMultiplier: 0.5
+            slowModeRotationalMultiplier: 1
     ledManager:
         implemented: false
         devices:
@@ -258,10 +259,10 @@ subsystems:
                 motorType: NEO550_JST
                 remoteSensor: RemoteCANcoder
                 remoteSensorId: 29
-                id: -1
+                id: 27
                 motorRotation: Clockwise_Positive
-                reverseSoftLimit: 0.0405
-                forwardSoftLimit: 0.109
+                reverseSoftLimit: 0.052
+                forwardSoftLimit: 0.1196
                 statorCurrentLimit: 35
                 pidConfig:
                     slot0:
@@ -295,12 +296,12 @@ subsystems:
             shooterOffsetYMeters: -0.112268
             shooterOffsetZMeters: 0.508
             inclineDuckingLimitRotations: 0.052
-            distanceOneInclineAngleRotations: 0.0405
+            distanceOneInclineAngleRotations: 0.052
             distanceOneLaunchVelocityRPS: 35
-            distanceTwoInclineAngleRotations: 0.0555
+            distanceTwoInclineAngleRotations: 0.08
             distanceTwoLaunchVelocityRPS: 47
-            distanceThreeInclineAngleRotations: 0.07425
-            distanceThreeLaunchVelocityRPS: 49
+            distanceThreeInclineAngleRotations: 0.1196
+            distanceThreeLaunchVelocityRPS: 100
             distanceAutoThingLaunchVelocityRPS: 60
             closeDistanceBetweenBeamBreaks: 0.419
             farDistanceBetweenBeamBreaks: 13.570
@@ -311,7 +312,7 @@ subsystems:
             launchVelocityAdjustmentAmountRPS: 0.04
             inclineAngleAdjustmentAmountDegrees: 0.02
             turretAngleAdjustmentAmountDegrees: 0.04
-            topLaunchMotorBackspinMultiplier: 0.8 # Less than one for backspin.
+            topLaunchMotorBackspinMultiplier: 1 # Less than one for backspin.
     vision:
         cameras:
             forwardLeft: # Pi IP: 10.18.16.11