Merge pull request REVrobotics#5 from REVrobotics/cleanup

Author: Noah Andrews

src/main/java/frc/robot/Constants.java

@@ -31,9 +31,9 @@ public static final class DriveConstants {
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration
-    public static final double kTrackWidth = Units.inchesToMeters(26.5);;
+    public static final double kTrackWidth = Units.inchesToMeters(26.5);
     // Distance between centers of right and left wheels on robot
-    public static final double kWheelBase = Units.inchesToMeters(26.5);;
+    public static final double kWheelBase = Units.inchesToMeters(26.5);
     // Distance between front and back wheels on robot
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
         new Translation2d(kWheelBase / 2, kTrackWidth / 2),
@@ -62,21 +62,28 @@ public static final class DriveConstants {
   }
 
   public static final class ModuleConstants {
+    // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
+    // This changes the drive speed of the module (a pinion gear with more teeth will result in a
+    // robot that drives faster).
+    public static final int kDrivingMotorPinionTeeth = 14;
+
+    // Invert the turning encoder, since the output shaft rotates in the opposite direction of
+    // the steering motor in the MAXSwerve Module.
     public static final boolean kTurningEncoderInverted = true;
 
     // Calculations required for driving motor conversion factors and feed forward
-    public static final double kPinionTeeth = 14; // Adjust this to match your configuration!
-    public static final double kMotorFreeSpeed = 5676 / 60;
-    public static final double kDrivingMotorReduction = 990 / (kPinionTeeth * 15);
+    public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
     public static final double kWheelDiameterMeters = 0.0762;
     public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
-    public static final double kDriveTrainFreeSpeed = (kMotorFreeSpeed * kWheelCircumferenceMeters)
-        / kDrivingMotorReduction; // calculated motor free speed
+    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
+    public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
+    public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
+        / kDrivingMotorReduction;
 
     public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
-        / (double) kDrivingMotorReduction; // meters
+        / kDrivingMotorReduction; // meters
     public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
-        / (double) kDrivingMotorReduction) / 60.0; // meters per second
+        / kDrivingMotorReduction) / 60.0; // meters per second
 
     public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
     public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
@@ -87,7 +94,7 @@ public static final class ModuleConstants {
     public static final double kDrivingP = 0.04;
     public static final double kDrivingI = 0;
     public static final double kDrivingD = 0;
-    public static final double kDrivingFF = 1 / kDriveTrainFreeSpeed;
+    public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
     public static final double kDrivingMinOutput = -1;
     public static final double kDrivingMaxOutput = 1;
 
@@ -123,4 +130,8 @@ public static final class AutoConstants {
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
   }
+
+  public static final class NeoMotorConstants {
+    public static final double kFreeSpeedRpm = 5676;
+  }
 }

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -40,7 +40,7 @@ public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngular
     m_drivingSparkMax = new CANSparkMax(drivingCANId, MotorType.kBrushless);
     m_turningSparkMax = new CANSparkMax(turningCANId, MotorType.kBrushless);
 
-    // Factory reset so we get the SPARKS MAX to a known state before configuring
+    // Factory reset, so we get the SPARKS MAX to a known state before configuring
     // them. This is useful in case a SPARK MAX is swapped out.
     m_drivingSparkMax.restoreFactoryDefaults();
     m_turningSparkMax.restoreFactoryDefaults();
@@ -65,8 +65,8 @@ public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngular
     m_turningEncoder.setPositionConversionFactor(ModuleConstants.kTurningEncoderPositionFactor);
     m_turningEncoder.setVelocityConversionFactor(ModuleConstants.kTurningEncoderVelocityFactor);
 
-    // Invert the turning encoder since the output shaft is inverse of the motor in
-    // the MAXSwerve Module.
+    // Invert the turning encoder, since the output shaft rotates in the opposite direction of
+    // the steering motor in the MAXSwerve Module.
     m_turningEncoder.setInverted(ModuleConstants.kTurningEncoderInverted);
 
     // Enable PID wrap around for the turning motor. This will allow the PID
@@ -77,7 +77,7 @@ public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngular
     m_turningPIDController.setPositionPIDWrappingMinInput(ModuleConstants.kTurningEncoderPositionPIDMinInput);
     m_turningPIDController.setPositionPIDWrappingMaxInput(ModuleConstants.kTurningEncoderPositionPIDMaxInput);
 
-    // Set the PID gains for the driving motor. Note these are example gains and you
+    // Set the PID gains for the driving motor. Note these are example gains, and you
     // may need to tune them for your own robot!
     m_drivingPIDController.setP(ModuleConstants.kDrivingP);
     m_drivingPIDController.setI(ModuleConstants.kDrivingI);
@@ -86,7 +86,7 @@ public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngular
     m_drivingPIDController.setOutputRange(ModuleConstants.kDrivingMinOutput,
         ModuleConstants.kDrivingMaxOutput);
 
-    // Set the PID gains for the turning motor. Note these are example gains and you
+    // Set the PID gains for the turning motor. Note these are example gains, and you
     // may need to tune them for your own robot!
     m_turningPIDController.setP(ModuleConstants.kTurningP);
     m_turningPIDController.setI(ModuleConstants.kTurningI);