21 add drive states and linear drive #25

avidraccoon · 2026-01-21T14:33:16Z

No description provided.

- Change team number in wpilib_preferences.json - Update drivetrain constants for max speeds and accelerations - Modify feature flags to disable turret operation - Refactor drive command bindings to use DriveCoordinator - Introduce DriveCoordinator and associated states for improved drive management - Enhance logging for drive goal speeds and state transitions

…ove redundant unit registration in JsonConstants

- Introduced DriveGainsTuning mode in TestMode enum for tuning drive parameters. - Added PIDGains class to encapsulate tuning gains for steering and driving. - Implemented DriveTestModeState to manage tuning of drive and steer gains during operation. - Enhanced DriveWithJoysticksState to support entry and exit actions for drive commands. - Created LoggedTunablePIDGains class for managing and logging PID gains dynamically.

…nstants and DrivetrainConstants classes with updated configurations (WIP)

…functionality with additional methods for configuration application (WIP)

…s and remove TunerConstants references

…ity; update PIDGains to include kG parameter and adjust related classes accordingly.

…onstants configuration file

… implementations; update PIDGains methods to return modified configurations

aidnem · 2026-01-29T20:58:11Z

@avidraccoon how's this coming along?

…update LoggedTunablePIDGains to adjust naming conventions and enhance readability.

… classes; update ModuleIOSim to adjust DRIVE_KV based on PIDGains.

…ssary import in Module class.

…o 21-add-drive-states-and-linear-drive

…ment, and streamline DriveTestModeState logic

avidraccoon · 2026-01-30T00:54:20Z

@aidnem @godmar I think this is ready for review

aidnem

This is just my first pass of the constants stuff, I'll look into the states and DriveCoordinator tomorrow (I don't want to code review when I'm super tired, as I'll likely miss stuff or make silly mistakes).

aidnem · 2026-01-30T02:44:01Z

src/main/deploy/constants/comp/DriveConstants.json

+  "maxAngularVelocity": {
+    "value": 6.2,
+    "unit": "Radian per Second"
+  },


why are there fields for max(Linear|Angular)Speed AND velocity here? Shouldn't there just be one?

aidnem · 2026-01-30T02:49:43Z

src/main/deploy/constants/comp/DriveConstants.json

+    "kV": 0.75722,
+    "kG": 0.0,
+    "kA": 0.0
+  }


Should steergains exist here too? Or will they once someone calls saveObject again? if that's the case, I don't mind not having them in here for just this merge, we can deal with it later.

aidnem · 2026-01-30T02:50:25Z

src/main/deploy/constants/comp/DrivetrainConstants.json

@@ -1,12 +1,123 @@
 {


Why do we have "DriveConstants" and "DrivetrainConstants"? Should this be called TunerConstants?

aidnem · 2026-01-30T02:55:40Z

src/main/java/frc/robot/constants/drive/DrivetrainConstants.java

+import edu.wpi.first.units.measure.Voltage;
+import frc.robot.constants.JsonConstants;
+
+public class DrivetrainConstants {


Could we get a javadoc explaining the distinction between DriveConstants and DrivetrainConstants?

aidnem · 2026-01-30T02:58:39Z

src/main/java/frc/robot/constants/drive/DrivetrainConstants.java

+      new ModuleConfig()
+          .withDriveMotorId(7)
+          .withSteerMotorId(2)
+          .withEncoderId(9)


I like this refactor. I assume it will still be decently portable if we have to regenerate TunerConstants?

aidnem · 2026-01-30T02:59:21Z

src/main/java/frc/robot/constants/JsonConstants.java


+    // Temporary manual calls to load fields after JSON load
+    robotInfo.loadFieldsFromJSON();
+    drivetrainConstants.finishLoadingConstants();


Coppercore is now upgraded to support afterJsonLoad so you can use that here.

aidnem · 2026-01-30T03:02:21Z

src/main/java/frc/robot/constants/RobotInfo.java

+
+  // Fields loaded after JSON
+
+  public CANBus kCANBus;


Should this be JSONExcluded?

Also, I prefer not to use the k notation before constants that aren't gains. Could we maybe name it canivoreBus or something similar to make it clear to which bus we are referring?

aidnem · 2026-01-30T03:03:43Z

src/main/java/frc/robot/constants/RobotInfo.java

+
+  // @AfterJSONLoad
+  public void loadFieldsFromJSON() {
+    kCANBus = new CANBus(canivoreBusName, logFilePath);


Any reason you didn't use the constructor that just takes a bus name here?

This was from tuner constants

aidnem · 2026-01-30T03:06:07Z

src/main/java/frc/robot/generated/TunerConstants.java

 import edu.wpi.first.units.measure.*;

-// Generated by the Tuner X Swerve Project Generator
+// 2025 B BOT CONSTANTS!!!!! (dont remove put somewhere else please)


Could we get these immortalized in their own environment for JSON? this way, even if we do destroy this java file (which we may have to do if we regenerate tuner constants), we don't lose B bot?

aidnem and others added 9 commits January 15, 2026 16:28

(#7) Add beginnings of the TurretSubsystem

a07a6cb

(#7) Write the remainder of preliminary turret code and add tuning modes

4acde2e

(#7) Remove cruise velocity in favor of expoKA and expoKV

14e1a42

(#7) Post-rebase fixes

294dfcc

(#7) Begin writing DCMotorSimAdapter

bacae64

(#7) Add (broken) turret sim

38f3c4b

(#7) Fix some bugs in turret sim

bfe3caa

(#7) Add no-op turret test mode to use with phoenix tuner and format

479aeab

avidraccoon self-assigned this Jan 21, 2026

avidraccoon linked an issue Jan 21, 2026 that may be closed by this pull request

Add Drive States and linear drive #21

Open

avidraccoon and others added 13 commits January 21, 2026 09:41

Merge branch 'main' into 21-add-drive-states-and-linear-drive

5a1251d

Remove files that are unused and remnants of git history

38d3926

Add file that accidentally got removed

f1da0a6

Fix unit descriptions for acceleration in DrivetrainConstants and rem…

1f2354c

…ove redundant unit registration in JsonConstants

In Shop code fixes

61eed09

Tuning

f0684eb

Refactor drive constants and remove deprecated files; add new DriveCo…

d0be967

…nstants and DrivetrainConstants classes with updated configurations (WIP)

Refactor CANBus variable naming for consistency and enhance PIDGains …

1372a73

…functionality with additional methods for configuration application (WIP)

Refactor drive subsystem to use JsonConstants for configuration value…

6e5e1c9

…s and remove TunerConstants references

Refactor drive subsystem to improve code readability and maintainabil…

2e26cf4

…ity; update PIDGains to include kG parameter and adjust related classes accordingly.

Remove redundant saveObject call in JsonConstants and add DrivetrainC…

1e0c330

…onstants configuration file

Add setDriveGains and setSteerGains methods to ModuleIO interface and…

f11b542

… implementations; update PIDGains methods to return modified configurations

avidraccoon added 3 commits January 29, 2026 18:52

Refactor drive subsystem to improve code formatting and consistency; …

4027a70

…update LoggedTunablePIDGains to adjust naming conventions and enhance readability.

Implement setSteerGains and setDriveGains methods in Drive and Module…

2f4a8ea

… classes; update ModuleIOSim to adjust DRIVE_KV based on PIDGains.

Initialize drive gains in DriveCoordinator constructor; remove unnece…

0f8fb33

…ssary import in Module class.

avidraccoon requested review from godmar and removed request for godmar January 30, 2026 00:33

avidraccoon requested review from aidnem and godmar January 30, 2026 00:33

avidraccoon marked this pull request as ready for review January 30, 2026 00:33

avidraccoon added 3 commits January 29, 2026 19:45

Merge branch 'main' of https://github.com/team401/2026-Robot-Code int…

378a126

…o 21-add-drive-states-and-linear-drive

Fix parameter order in initDriveBindings method for consistency

732d984

Refactor drive subsystem: reorganize imports, enhance TestMode manage…

bda0bba

…ment, and streamline DriveTestModeState logic

aidnem requested changes Jan 30, 2026

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21 add drive states and linear drive #25

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21 add drive states and linear drive #25

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avidraccoon commented Jan 21, 2026

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aidnem commented Jan 29, 2026

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avidraccoon commented Jan 30, 2026

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