Fix Unit Problem and Align code with AK2025 TalonFX Template #36
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tbowers7
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Make sure all PathPlanner PIDs point to values in `Constants.java`. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java
Aligned all of the PathPlanner calls and other bits in the `Robot.java` file to match what is in the AK2025 TalonFX Swerve Template. The latter works fine with PathPlanner, and here's hoping these adjustments make RBSI do the same! Also, a couple more vendordep updates. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: vendordeps/photonlib.json renamed: vendordeps/yagsl-2025.2.0.json -> vendordeps/yagsl-2025.2.1.json
Not sure if this is what's causing PathPlanner to behave oddly, but it's something not in the AK2025 templates. The other thing to try will be to remove the IMU accelerometer readout from the Accelerometer subsystem, with the thought that the extra read may be messing with the PathPlanner gyro settings. modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: src/main/java/frc/robot/subsystems/drive/GyroIO.java modified: src/main/java/frc/robot/subsystems/drive/GyroIONavX.java modified: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
In hopes this solves some of our driving issues. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/util/RBSIParsing.java renamed: vendordeps/yagsl-2025.2.1.json -> vendordeps/yagsl-2025.2.2.json
Assumed wheel radius value was in inches, so converted it to meters... problem is it was already in meters. Oops. This made the code think the wheel was tiny, hence needing to apply huge angular velocity to make the chassis run at the expected speed. Yeah... modified: src/main/deploy/pathplanner/paths/Consistancy Test.path modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/commands/ChoreoAutoController.java modified: src/main/java/frc/robot/commands/DriveCommands.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java modified: src/main/java/frc/robot/subsystems/drive/SwerveConstants.java renamed: vendordeps/ReduxLib-2025.0.0.json -> vendordeps/ReduxLib-2025.0.1.json
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Actual problem seems to be a Mars Climate Orbiter - style issue with units. When wrapping the CTRE swerve code, assumed wheel radius returned was in inches -- it was in meters. See the problem?
Try canceling all scheduled commands during
autoInit(), and make sure all PathPlanner PIDs point to the same place inConstants.java.Fixes #33 ?
Also, align all PathPlanner calls to those in the AK Template and remove the manual gyro reset function.
Oh, and any vendordep updates that have been released, as well.