Code with Working Gyro

arael · March 16, 2022, 4:24pm

Hi all<

I’ve recently began coding the Gyro function for out robot and its going relatively well. However it would be incredibly helpful if anyone had a working github with gyro implemented. Preferably mecanum drive but anything will suffice. I just want to double check what I have to make sure i’m on the right track.

If anyone can help out, Thanks

bovlb · March 16, 2022, 4:28pm

If you search here for “code release” (Search results for 'code release' - Chief Delphi) you’ll find lots of examples. For example: https://github.com/Paradox2102/2021-Infinite-Recharge-at-Home/blob/master/src/main/java/frc/robot/subsystems/DriveSubsystemSPARKMAX.java#L314

FRC6302 · March 16, 2022, 5:23pm

We are using mecanum with a gyro. Here’s our (command-based) code so far. Feel free to ask any questions
Gyro subsystem:

github.com

FRC6302/2022Bot1/blob/master/src/main/java/frc/robot/subsystems/NavX.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import com.kauailabs.navx.frc.AHRS;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

//subsystem for the gyro on our robot
public class NavX extends SubsystemBase{
  private final static AHRS gyro = new AHRS(SPI.Port.kMXP);
  private static double gyroReverser = 1;
  //double currAccelX, lastAccelX = 0, jerkX, accelY;
  //boolean collisionDetected = false;

This file has been truncated. show original

Mecanum subsystem:

github.com

FRC6302/2022Bot1/blob/master/src/main/java/frc/robot/subsystems/MecDriveTrain.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;


import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.SparkMaxAlternateEncoder.Type;

import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;

This file has been truncated. show original

Edit: I realize a lot of the stuff in my mecanum subsytem you probably won’t need if you are just trying to get it driving around. If that’s the case, you may want to just make a method similar to my setMotorsSimple() one and then call that method in a command similar to my DriveMec. If you give me more detail about what you are trying to do with the gyro, then I can go from there

system · March 16, 2023, 5:24pm

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.