YAGSL-Example

YAGSL-Example copied to clipboard

Add support to Talon SRX for an integrated absolute encoder

7

First time working around the codebase, I went this route because I don't think you can really have a reference to a talon's sensor like you can with revlib. Not...

WispySparks

Record movement with datalog. Avoid it if storage is getting too low.

thenetworkgrinch

Change networktables to `swerve/modules/{modulename}/`

thenetworkgrinch

Added setChassisDiscretization

2

Addresses #191

Technologyman00

Modifying pidfproperties.json appears to do nothing --- all PID values set to zero (0), but the robot still drives around?

2

I'm trying to tune my PIDs for the example project. I've gotten the robot to drive around and almost everything seems to work, except... it shouldn't be driving at all....

BlueEyedFoxUnderscore

Cubic scaling on raw axes limits maximum velocity

11

And it gets worse the closer you get to 45/135/225/315 degrees Problem: What happens is that the joystick inputs get cubed. This allows you to reach maximum velocity when going...

978-9-17-637879-3

`SwerveController` adds unnecessary complexity to YAGSL and is no longer required. It should be replaced with a function which controls the robot heading via a `ProfiledPIDController`.

thenetworkgrinch

Add mathematically sound joystick input smoothing

2

TODO: - [x] add docs - [ ] maybe explain in code as well

978-9-17-637879-3

Show how to use PP NamedCommands

thenetworkgrinch

The Unit conversions cause wide variances between the PIDs currently and in an effort to make them more uniform they should be included in the motor controller classes directly rather...

thenetworkgrinch