Apply linear filter

[Murat65536]

Pull Request

---

Issue Number

Closes #91

Comments

[Murat65536]

Tested on robot. Driving seems smoother but auton is acting up. But looking at the code AutoConstants has a different set of PID values. And P is set to 8... Maybe it's for something else? How would I edit auton to make it work?

2025RobotProject/src/main/java/frc/robot/constants/AutoConstants.java

Lines 48 to 50 in f4cecad

	public static final double kPXController = 8;
	public static final double kIXController = 0.02;
	public static final double kDController = 0.0;

2025RobotProject/src/main/java/frc/robot/subsystems/DriveTrain.java

Lines 148 to 166 in f4cecad

	AutoBuilder.configure(
	() -> this.getState().Pose,
	this::resetPose,
	() -> this.getState().Speeds,
	(ChassisSpeeds speeds, DriveFeedforwards feedForwards) -> {
	this.setControl(
	new SwerveRequest.ApplyRobotSpeeds().withSpeeds(speeds)
	.withWheelForceFeedforwardsX(feedForwards.robotRelativeForcesXNewtons())
	.withWheelForceFeedforwardsY(feedForwards.robotRelativeForcesYNewtons()));
	},
	new PPHolonomicDriveController(
	new PIDConstants(AutoConstants.kPXController, AutoConstants.kIXController,
	AutoConstants.kDController),
	new PIDConstants(AutoConstants.kPThetaController,
	AutoConstants.kIThetaController,
	AutoConstants.kDThetaController)),
	AutoConstants.kRobotConfig.get(),
	() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
	this);

Also we set AutoBuilder but don't use it and instead create a new FollowPathCommand with the values in AutoBuilder every time...

2025RobotProject/src/main/java/frc/robot/autons/Auton.java

Lines 69 to 88 in f4cecad

	return new FollowPathCommand(
	path,
	// Robot pose supplier
	() -> this.driveTrain.getState().Pose,
	// ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
	() -> this.driveTrain.getState().Speeds,
	// Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds
	(speeds, feedforwards) -> this.driveTrain.setControl(
	new SwerveRequest.ApplyRobotSpeeds().withSpeeds(speeds)
	.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
	.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())),
	new PPHolonomicDriveController(
	// Translation PIDconstants
	new PIDConstants(AutoConstants.kPXController, AutoConstants.kIXController, 0.0),
	// Rotation PID constants
	new PIDConstants(AutoConstants.kPThetaController, AutoConstants.kIThetaController, 0.0)),
	AutoConstants.kRobotConfig.get(),
	() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
	this.driveTrain // Reference to this subsystem to set requirements
	);

[reediculous456]

It makes sense that you would need to change the PID constants for auto if you change the module constants. Pathplanner should have docs on how to modify those values.
As for why we aren't using auto builder, we chose to build the auto routines in Java rather than in PathPlanner. The only reason we have an AutoBuilder is for the on the fly path stuff

[reediculous456]

The linear filter stuff in the driver joystick won't affect auto

[Murat65536]

So does that mean this is good to merge?

[reediculous456]

If the PID changes made to SwerveConstants are affecting Auto, then no. We need to fix the PID Constants in Auto to account for the change or revert the change