Comp swerve constants

src/main/deploy/choreo/rebuiltChoreo.chor

@@ -0,0 +1,254 @@
+{
+ "name":"rebuiltChoreo",
+ "version":2,
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "slow":{
+    "dimension":"LinVel",
+    "var":{
+     "exp":"1.15 m / s",
+     "val":1.15
+    }
+   },
+   "slowaccel":{
+    "dimension":"LinAcc",
+    "var":{
+     "exp":"1.5 m / s ^ 2",
+     "val":1.5
+    }
+   }
+  },
+  "poses":{
+   "CL":{
+    "x":{
+     "exp":"1.7636412382125854 m",
+     "val":1.7636412382125854
+    },
+    "y":{
+     "exp":"4.111053943634033 m",
+     "val":4.111053943634033
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "CM":{
+    "x":{
+     "exp":"1.7500560283660889 m",
+     "val":1.7500560283660889
+    },
+    "y":{
+     "exp":"3.7646303176879883 m",
+     "val":3.764630317687988
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "CR":{
+    "x":{
+     "exp":"1.7568485736846924 m",
+     "val":1.7568485736846924
+    },
+    "y":{
+     "exp":"3.397829055786133 m",
+     "val":3.397829055786133
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "D":{
+    "x":{
+     "exp":"1.307854413986206 m",
+     "val":1.307854413986206
+    },
+    "y":{
+     "exp":"5.920979976654053 m",
+     "val":5.920979976654053
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "FL":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"5.865901947021484 m",
+     "val":5.865901947021484
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FLM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"4.503572463989258 m",
+     "val":4.503572463989258
+    },
+    "heading":{
+     "exp":"-1.5707963267948966 rad",
+     "val":-1.5707963267948966
+    }
+   },
+   "FR":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"2.2169458866119385 m",
+     "val":2.2169458866119385
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "FRM":{
+    "x":{
+     "exp":"7.8203654289245605 m",
+     "val":7.82036542892456
+    },
+    "y":{
+     "exp":"3.55698299407959 m",
+     "val":3.55698299407959
+    },
+    "heading":{
+     "exp":"1.5707963267948966 rad",
+     "val":1.5707963267948966
+    }
+   },
+   "O":{
+    "x":{
+     "exp":"0.6150895357131958 m",
+     "val":0.6150895357131958
+    },
+    "y":{
+     "exp":"0.7198631167411804 m",
+     "val":0.7198631167411804
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "PLO":{
+    "x":{
+     "exp":"2.814626932144165 m",
+     "val":2.814626932144165
+    },
+    "y":{
+     "exp":"7.330637454986572 m",
+     "val":7.330637454986572
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   },
+   "PR":{
+    "x":{
+     "exp":"2.768587827682495 m",
+     "val":2.768587827682495
+    },
+    "y":{
+     "exp":"0.7205682992935181 m",
+     "val":0.7205682992935181
+    },
+    "heading":{
+     "exp":"3.141592653589793 rad",
+     "val":3.141592653589793
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"23.75 / 2 in",
+    "val":0.301625
+   },
+   "y":{
+    "exp":"23.25 / 2 in",
+    "val":0.295275
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-23.75 / 2 in",
+    "val":-0.301625
+   },
+   "y":{
+    "exp":"23.25 / 2 in",
+    "val":0.295275
+   }
+  },
+  "mass":{
+   "exp":"121.28 lb",
+   "val":55.0116826336
+  },
+  "inertia":{
+   "exp":"24001.681 in ^ 2 lb",
+   "val":7.023843609558215
+  },
+  "gearing":{
+   "exp":"5.27",
+   "val":5.27
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"5800 RPM",
+   "val":607.3745796940267
+  },
+  "tmax":{
+   "exp":"0.9 N * m",
+   "val":0.9
+  },
+  "cof":{
+   "exp":"2.255",
+   "val":2.255
+  },
+  "bumper":{
+   "front":{
+    "exp":"34.6 / 2 in",
+    "val":0.43942
+   },
+   "side":{
+    "exp":"34.6 / 2 in",
+    "val":0.43942
+   },
+   "back":{
+    "exp":"34.6 / 2 in",
+    "val":0.43942
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[],
+ "codegen":{
+  "root":null,
+  "genVars":true,
+  "genTrajData":true,
+  "useChoreoLib":true
+ }
+}

src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java

@@ -33,8 +33,8 @@
 import frc.robot.components.camera.CameraIOReal;
 import frc.robot.components.camera.CameraIOSim;
 import frc.robot.subsystems.swerve.constants.AlphaSwerveConstants;
-import frc.robot.subsystems.swerve.constants.CompBotSwerveConstants;
 import frc.robot.subsystems.swerve.constants.SwerveConstants;
+import frc.robot.subsystems.swerve.constants.comp.R1CompBotSwerveConstants;
 import frc.robot.subsystems.swerve.gyro.GyroIO;
 import frc.robot.subsystems.swerve.gyro.GyroIOInputsAutoLogged;
 import frc.robot.subsystems.swerve.gyro.GyroIOReal;
@@ -70,7 +70,7 @@ public class SwerveSubsystem extends SubsystemBase {
   public static final SwerveConstants SWERVE_CONSTANTS =
       Robot.ROBOT_EDITION == RobotEdition.ALPHA
           ? new AlphaSwerveConstants()
-          : new CompBotSwerveConstants();
+          : new R1CompBotSwerveConstants();
 
   private final Module[] modules; // Front Left, Front Right, Back Left, Back Right
   private final GyroIO gyroIO;
@@ -400,7 +400,7 @@ private void drive(ChassisSpeeds speeds, boolean openLoop) {
     for (int i = 0; i < optimizedStates.length; i++) {
       if (openLoop) {
         // Heuristic to enable/disable FOC
-        // enables FOC if the robot is moving at 90% of drivetrain max speed
+        // enables FOC if the robot is moving at less than 90% of drivetrain max speed
         final boolean focEnable =
             Math.sqrt(
                     Math.pow(this.getVelocityRobotRelative().vxMetersPerSecond, 2)

src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java

@@ -13,6 +13,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -201,6 +202,16 @@ public ModuleConstants getBackRightModuleConstants() {
     return new ModuleConstants(3, "Back Right", 6, 7, 3, Rotation2d.fromRotations(-0.205));
   }
 
+  @Override
+  public MotorType getTurnMotorType() {
+    return MotorType.KrakenX60;
+  }
+
+  @Override
+  public MotorType getDriveMotorType() {
+    return MotorType.KrakenX60;
+  }
+
   @Override
   public int getGyroID() {
     return 0;