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Removed optional second order kinematics, angle KV calculations, and …
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…added the feedforward back. Added pose estimation patch from 254. Updated styles. Removed freespeed RPM requirement.

Signed-off-by: thenetworkgrinch <[email protected]>
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@thenetworkgrinch
thenetworkgrinch committed Apr 8, 2023
1 parent 1f3d4b4 commit cf647cd
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217 changes: 109 additions & 108 deletions .styles/BroncBotzStyle.xml
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@@ -1,15 +1,4 @@
<code_scheme name="GoogleStyle" version="173">
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<option name="USE_CUSTOM_SETTINGS" value="true"/>
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<option name="INSERT_BLANK_LINE_BEFORE_TAG" value="false"/>
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<option name="ALIGN_MULTILINE_TEXT_BLOCKS" value="true"/>
Expand All @@ -21,26 +10,12 @@
</option>
<option name="IMPORT_LAYOUT_TABLE">
<value>
<emptyLine/>
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Expand All @@ -54,6 +29,7 @@
<pair header="h" source="cc"/>
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Expand All @@ -67,56 +43,8 @@
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Expand All @@ -137,7 +65,11 @@
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Expand All @@ -150,12 +82,14 @@
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Expand All @@ -164,10 +98,6 @@
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Expand All @@ -184,12 +114,12 @@
<option name="DOWHILE_BRACE_FORCE" value="3"/>
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Expand All @@ -201,45 +131,36 @@
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Expand Down Expand Up @@ -556,17 +477,12 @@
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Expand All @@ -587,14 +503,99 @@
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4 changes: 2 additions & 2 deletions docs/assets/js/v2.js
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Expand Up @@ -18,9 +18,9 @@ function getFreeSpeedFromMotors() {
console.log(motor_count);
switch (highest_motor) {
case "neo":
$("#freespeedrpm-input").val(5676);
// $("#freespeedrpm-input").val(5676);
case "falcon":
$("#freespeedrpm-input").val(6800);
// $("#freespeedrpm-input").val(6800);
}
}

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6 changes: 0 additions & 6 deletions docs/index.html
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Expand Up @@ -119,12 +119,6 @@ <h1 class="d-inline display-6">Module Properties</h1>
of
Friction</label>
</div>
<div class="form-floating mb-3" style="display: none;">
<input class="form-control" id="freespeedrpm-input" name="angleMotorFreeSpeedRPM"
placeholder="5676"
type="number" value="5676">
<label class="form-label" for="freespeedrpm-input">Angle Motor Free Speed RPM</label>
</div>
<hr/>
<div class="form-floating mb-3">
<input class="form-control" id="gearRatio_drive-input" name="gearRatio_drive"
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18 changes: 9 additions & 9 deletions docs/json/physicalproperties.md
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Expand Up @@ -7,15 +7,15 @@ which creates

# Fields

| Name | Units | Required | Description |
|--------------------------------|-----------------------------------|----------|----------------------------------------------------------------------------------------------------------|
| wheelDiameter | Inches | Y | Module wheel diameters in inches. |
| gearRatio | [MotorConfig](#MotorConfig) | Y | Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time. |
| encoderPulsePerRotation | [MotorConfig](#MotorConfig) | N | Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders. |
| currentLimit | [MotorConfig](#MotorConfig) | N | The current limit in AMPs to apply to the motors. |
| rampRate | [MotorConfig](#MotorConfig) | N | The minimum number of seconds to take for the motor to go from 0 to full throttle. |
| wheelGripCoefficientOfFriction | Coefficient of Friction on Carpet | N | The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration. |
| angleMotorFreeSpeedRPM | Rotations per Minute | Y | Angle motor free speed rotations per minute. |
| Name | Units | Required | Description |
|--------------------------------|-----------------------------------|----------|---------------------------------------------------------------------------------------------------------------------|
| wheelDiameter | Inches | Y | Module wheel diameters in inches. |
| gearRatio | [MotorConfig](#MotorConfig) | Y | Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time. |
| encoderPulsePerRotation | [MotorConfig](#MotorConfig) | N | Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders. |
| currentLimit | [MotorConfig](#MotorConfig) | N | The current limit in AMPs to apply to the motors. |
| rampRate | [MotorConfig](#MotorConfig) | N | The minimum number of seconds to take for the motor to go from 0 to full throttle. |
| wheelGripCoefficientOfFriction | Coefficient of Friction on Carpet | N | The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration. |
| moduleFeedForwardClosedLoop | Feedforward between `[-1, 0]` | N | The feedforward scalar to apply for 2nd order kinematics. If robot arcs while translating and rotating negate this. |

### MotorConfig

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