FRC 0 to Autonomous: #6 Swerve Drive Auto

We'll program an autonomous trajectory following swerve drive robot!
The code for this video:
github.com/Sea...
More on command-based programming:
• FRC 0 to Autonomous: #...
RobotSim Documentation:
docs.google.co...
RobotSim, RobotLib download:
github.com/Sea...
Questions, feedback: [e-mail]

[@GEARSinc]

This is an EXCELLENT description and code walk-through. I'm sure it tool a lot of time to create, so thank you very much. As the team's Software Coach, I'm going to put it to great use. I'm going to make this a "must view" for my software team.

[@Amit_6738]

It is our first year using a swerve module, so I am really hyped but at the same time confused on how to code it. this video helped a ton! Thanks from team 6738 Excalibur :D

[@keeganmcroberts485]

Did you have an issue with the toSwerveModuleStates()? I am new to coding and having been working on this problem for a couple of weeks now and need any help I can get. It would be great if you could assist.

[@riskybidnes]

Were you able to get your code working off this? We are really struggling with answers and finding even where to look for. Code fixes

[@Gandagorn]

Awesome!!!! Characterization and Pathweaver tutorial next?!??!

[@lucastornado9496]

Yes please

[@MrHotcocopuffs]

It would have been nice to see some more theory about the base kinematics instead of just the practical implementation with the SwerveDriveKinematics class abstracting away the fun.

[@mihirghawghawe6580]

Could you help me with my swerve Code please. I have the MK4 Modules. I would greatly apreciate it. I have all the code written out, its just that some things are outdated.

[@bananacrapping6240]

You have helped our team so much thank you!

[@neesh774]

beautiful video, amazing diagrams and explanations of everything, tysm 🙏

[@halftonhero]

Great video series. Looking at the code, it appears that you don't invert the NavX2.0 heading (NavX 2.0 has CCW being negative)? We always want CCW to be positive correct? (with regards to encoders and gyros, right?) Is this accounted for somewhere else or am I mistaken on the positive CCW notation?

[@davinpreble4761]

hey so were using an Xbox controller and I watched your command base videos and I was wondering do I still use the joystick one or do I have to use a different import?

[@jjxu6321]

Great work!!!

[@robertwilliams5224]

Excellent Tutorial! I found it very informative and gives me much to think about when making the jump to trajectory based autonomous over the drive, stop, turn , drive sequence method. Some constructive feedback and chance for discussion since it seems like many examples are done in the same way. I would have preferred that the trajectory building and autonomous command be done in a subsystem class and/or unique command instead of being done in RobotContainer for clean-code (seems like most frc programmers like to stuff gobs of things in RobotContainer instead of writing clean-code) and more importantly autonomous programs tend to be much more complicated. Generally an autonomous schedule will be comprised of several unique trajectories with other actions like a robot arm or intake system taking control of an object or a shooter projecting an object between those moving the robot along those trajectories. So doing the follow trajectory commands will need to be built up in Individual Commads and called from a Command Group along with other commands, having them defined in or at least called from individual Commands is necessary. It would not a bad idea to get used to doing/teaching code partitioning since that is the norm in the software industry.

[@陳維瑜]

I'm impressed by the code you made!!!

[@Elif0691]

Thank you for your video. I have a questions. I guess the Swerve Module you are using is MK3. Which Gear Ratio did you choose in your Swerve Module? Fast 6.86:1 or Standart 8.16:1. I have one more question. Can I use the MK4 swerve module with these codes instead of the MK3 Swerve Module? Thank you from now.

[@ellendicarlo1037]

I have the same question about using this code with MK4 swerve modules. Did you try it and did it work? Thanks!

[@xmgamer5672]

Does this still work in WPILib 2023? I get an undefined error when I use setDesiredState.

[@hyphen8d725]

It might be a deprecated thing, check the documentation.

[@MagnusGaunt]

Thanks for this great tutorial! I still have one question though. how do you set the wheels to face forward at the start of autonomous? I'm planning to use color and or distance sensors to get it to read the position at the start of autonomous. but surely there has to be a better way than by hand, right?

[@isopod00]

I believe this is what the absolute encoder is for, it remembers its position even after the robot powers down

[@EstacaoProfOusado]

your stuff is really good!!! if you have more you can share and I'll see them all! What my opinion would you be more to implement your best implementation model, not your opinion what my opinion would be more to implement your model? as I'm new I can get more information in the initial videos. Congratulations on the stuff!

[@Z0G0N]

How do I find the swerve simulation instead of the tank drive?

[@cuteredpandas5164]

So our team is using a CTRE CANcoder, and the code for the rev can encoder is not the same, what code should i use instead for our encoder?

[@coolbudy1173]

This video is a life saver, but I do have a few hardware questions. Will this work with SDS Mk3 modules, are the motor ports the SparkMax's id numbers, and does this need a physical pid controller? Those have been the main 3 things on my mind when going though this. And once again, thank you for this top tier content.

[@0ToAuto]

It should work with Mk3s, and the motor ports are the SparkMax's ids. This implementation only uses WPI's PID controllers, but you can use the PIDs in your motor controller as well. Good luck with coding!

[@coolbudy1173]

@@0ToAuto Thank you, much appreciated.

[@jksu8296]

Good tutorial!But I'm a little confusing about the autonomous X and Y PID parameter.It just set the P value to 1.How dose it work? I don't need to test the P value by myself?

[@0ToAuto]

Great question! You do need to tune your PID controller. These values are the ones that work well on my robot, but your constants may be different. For more info on how PID controllers work and how to tune them, check out FRC 0 to Autonomous #3 & #4.

[@pratyushprakash6613]

How do we find constant values for our specific modules?

[@popsicle6545]

thanks a ton!!!!!

[@muhammadredwanuzzaman2933]

How do I tune it to make it faster?

[@jamesracadio1828]

Beginner question: If we plan on using CAN/Bus to connect our motor controllers, would we still use "DriveConstants.kBackRightDriveMotor" or would we have to change "port" to "Id". My assumption is that "port" means they are connected to a PWM port. Am I wrong?

[@matthewepshtein9026]

Thank you sir!

[@evanjordan9784]

Awesome video! How would this work with an Xbox controller instead of a joystick?

[@giancarlosnazario265]

When are you planning to post the next 0 to autonomous video?

[@jaydenkearns3264]

What absitleEmcoder are you using

[@rachelfernandez4893]

i love sweve!!!!!!!!!!!!

[@riskybidnes]

Will this work with the changes to java in 2023 in frc? My team has lost its head programmer and we are truly lost. Thanks Team1262

[@0ToAuto]

Unfortunately, the code for this video was implemented using an older version of WPILib. While the concepts and the majority of the code should stay the same, it no longer compiles with this year's library. Notably, this year's WPILib changed SwerveDriveOdometry to use wheel distances instead of wheel speeds, and this likely needs changing. docs.wpilib.org/en/stable/docs/yearly-overview/yearly-changelog.html#breaking-changes Good luck on this season!

[@riskybidnes]

Thanks for the info, don't know if we have time to even try to fix the old code at this point, no one in group is a programmer, and we have no mentor for it. This isn't going to end well... but thanks

[@shoezx]

tgis is sups cool

[@benrecker1899]

Hey, I keep any error with the normalizeWheelSpeeds, why would that be?

[@scca229]

Found that this needs to be replaced with "desaturateWheelSpeeds" and it removes the error. Now if I could get the Odometry part changed.