Add Tuner X Swerve Project json exports to swerve examples

Author: bhall-ctre

cpp/SwerveWithPathPlanner/src/main/include/generated/TunerConstants.h

@@ -71,7 +71,7 @@ class TunerConstants {
 
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
-    static constexpr units::meters_per_second_t kSpeedAt12Volts = 4.69_mps;
+    static constexpr units::meters_per_second_t kSpeedAt12Volts = 4.54_mps;
 
 private:
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;

cpp/SwerveWithPathPlanner/tuner-swerve-project.json

@@ -0,0 +1 @@
+{"Version":"1.0.0.0","LastState":11,"Modules":[{"ModuleName":"Front Left","ModuleId":0,"Encoder":{"Id":1,"Name":"Front Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":2,"Name":"Front Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":3,"Name":"Front Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.15234375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":2,"ValidatedDriveId":3,"ValidatedEncoderId":1},{"ModuleName":"Front Right","ModuleId":1,"Encoder":{"Id":0,"Name":"Front Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":0,"Name":"Front Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":1,"Name":"Front Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.4873046875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":0,"ValidatedDriveId":1,"ValidatedEncoderId":0},{"ModuleName":"Back Left","ModuleId":2,"Encoder":{"Id":3,"Name":"Back Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":6,"Name":"Back Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":7,"Name":"Back Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.219482421875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":6,"ValidatedDriveId":7,"ValidatedEncoderId":3},{"ModuleName":"Back Right","ModuleId":3,"Encoder":{"Id":2,"Name":"Back Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":4,"Name":"Back Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":5,"Name":"Back Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.17236328125,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":4,"ValidatedDriveId":5,"ValidatedEncoderId":2}],"SwerveOptions":{"Gyro":{"Id":1,"Name":"Pigeon 2 (Device ID 1)","Model":"Pigeon 2","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"IsValidGyroCANbus":true,"VerticalTrackSizeInches":20.0,"HorizontalTrackSizeInches":20.0,"WheelRadiusInches":2.167,"IsLeftSideInverted":false,"IsRightSideInverted":true,"SwerveModuleType":2,"SwerveModuleConfiguration":{"ModuleBrand":2,"DriveRatio":7.363636363636365,"SteerRatio":15.42857142857143,"CouplingRatio":3.8181818181818183,"CustomName":""},"HasVerifiedSteer":true,"SelectedModuleManufacturer":"WestCoast Products (WCP)","HasVerifiedDrive":true,"IsValidConfiguration":true}}

java/SwerveWithChoreo/src/main/java/frc/robot/generated/TunerConstants.java

@@ -61,7 +61,7 @@ public class TunerConstants {
             new CurrentLimitsConfigs()
                 // Swerve azimuth does not require much torque output, so we can set a relatively low
                 // stator current limit to help avoid brownouts without impacting performance.
-                .withStatorCurrentLimit(Amps.of(60))
+                .withStatorCurrentLimit(Amps.of(60.0))
                 .withStatorCurrentLimitEnable(true)
         );
     private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
@@ -74,7 +74,7 @@ public class TunerConstants {
 
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
-    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.69);
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.54);
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
     // This may need to be tuned to your individual robot

java/SwerveWithChoreo/tuner-swerve-project.json

@@ -0,0 +1 @@
+{"Version":"1.0.0.0","LastState":11,"Modules":[{"ModuleName":"Front Left","ModuleId":0,"Encoder":{"Id":1,"Name":"Front Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":2,"Name":"Front Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":3,"Name":"Front Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.15234375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":2,"ValidatedDriveId":3,"ValidatedEncoderId":1},{"ModuleName":"Front Right","ModuleId":1,"Encoder":{"Id":0,"Name":"Front Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":0,"Name":"Front Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":1,"Name":"Front Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.4873046875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":0,"ValidatedDriveId":1,"ValidatedEncoderId":0},{"ModuleName":"Back Left","ModuleId":2,"Encoder":{"Id":3,"Name":"Back Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":6,"Name":"Back Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":7,"Name":"Back Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.219482421875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":6,"ValidatedDriveId":7,"ValidatedEncoderId":3},{"ModuleName":"Back Right","ModuleId":3,"Encoder":{"Id":2,"Name":"Back Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":4,"Name":"Back Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":5,"Name":"Back Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.17236328125,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":4,"ValidatedDriveId":5,"ValidatedEncoderId":2}],"SwerveOptions":{"Gyro":{"Id":1,"Name":"Pigeon 2 (Device ID 1)","Model":"Pigeon 2","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"IsValidGyroCANbus":true,"VerticalTrackSizeInches":20.0,"HorizontalTrackSizeInches":20.0,"WheelRadiusInches":2.167,"IsLeftSideInverted":false,"IsRightSideInverted":true,"SwerveModuleType":2,"SwerveModuleConfiguration":{"ModuleBrand":2,"DriveRatio":7.363636363636365,"SteerRatio":15.42857142857143,"CouplingRatio":3.8181818181818183,"CustomName":""},"HasVerifiedSteer":true,"SelectedModuleManufacturer":"WestCoast Products (WCP)","HasVerifiedDrive":true,"IsValidConfiguration":true}}

java/SwerveWithPathPlanner/src/main/java/frc/robot/generated/TunerConstants.java

@@ -61,7 +61,7 @@ public class TunerConstants {
             new CurrentLimitsConfigs()
                 // Swerve azimuth does not require much torque output, so we can set a relatively low
                 // stator current limit to help avoid brownouts without impacting performance.
-                .withStatorCurrentLimit(Amps.of(60))
+                .withStatorCurrentLimit(Amps.of(60.0))
                 .withStatorCurrentLimitEnable(true)
         );
     private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
@@ -74,7 +74,7 @@ public class TunerConstants {
 
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
-    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.69);
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.54);
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
     // This may need to be tuned to your individual robot

java/SwerveWithPathPlanner/tuner-swerve-project.json

@@ -0,0 +1 @@
+{"Version":"1.0.0.0","LastState":11,"Modules":[{"ModuleName":"Front Left","ModuleId":0,"Encoder":{"Id":1,"Name":"Front Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":2,"Name":"Front Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":3,"Name":"Front Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.15234375,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":2,"ValidatedDriveId":3,"ValidatedEncoderId":1},{"ModuleName":"Front Right","ModuleId":1,"Encoder":{"Id":0,"Name":"Front Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":0,"Name":"Front Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":1,"Name":"Front Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.4873046875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":0,"ValidatedDriveId":1,"ValidatedEncoderId":0},{"ModuleName":"Back Left","ModuleId":2,"Encoder":{"Id":3,"Name":"Back Left","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":6,"Name":"Back Left Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":7,"Name":"Back Left Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":-0.219482421875,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":6,"ValidatedDriveId":7,"ValidatedEncoderId":3},{"ModuleName":"Back Right","ModuleId":3,"Encoder":{"Id":2,"Name":"Back Right","Model":"CANCoder vers. H","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"SteerMotor":{"Id":4,"Name":"Back Right Steer","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"DriveMotor":{"Id":5,"Name":"Back Right Drive","Model":"Talon FX","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":{"Name":"WCP Kraken x60","FreeSpeedRps":96.7,"SlipCurrentLimit":120,"StatorCurrentLimit":60}},"IsEncoderInverted":false,"IsSteerInverted":true,"SelectedEncoderType":"CANcoder","EncoderOffset":0.17236328125,"DriveMotorSelectionState":1,"SteerMotorSelectionState":1,"SteerEncoderSelectionState":1,"IsModuleValidationComplete":true,"ValidatedSteerId":4,"ValidatedDriveId":5,"ValidatedEncoderId":2}],"SwerveOptions":{"Gyro":{"Id":1,"Name":"Pigeon 2 (Device ID 1)","Model":"Pigeon 2","CANbus":"AFBA8B9D394C4853202020500B2718FF","CANbusFriendly":"canivore","SelectedMotorType":null},"IsValidGyroCANbus":true,"VerticalTrackSizeInches":20.0,"HorizontalTrackSizeInches":20.0,"WheelRadiusInches":2.167,"IsLeftSideInverted":false,"IsRightSideInverted":true,"SwerveModuleType":2,"SwerveModuleConfiguration":{"ModuleBrand":2,"DriveRatio":7.363636363636365,"SteerRatio":15.42857142857143,"CouplingRatio":3.8181818181818183,"CustomName":""},"HasVerifiedSteer":true,"SelectedModuleManufacturer":"WestCoast Products (WCP)","HasVerifiedDrive":true,"IsValidConfiguration":true}}

python/SwerveWithPathPlanner/generated/tuner_constants.py

@@ -61,7 +61,7 @@ class TunerConstants:
         configs.CurrentLimitsConfigs()
         # Swerve azimuth does not require much torque output, so we can set a relatively low
         # stator current limit to help avoid brownouts without impacting performance.
-        .with_stator_current_limit(60).with_stator_current_limit_enable(True)
+        .with_stator_current_limit(60.0).with_stator_current_limit_enable(True)
     )
     _encoder_initial_configs = configs.CANcoderConfiguration()
     # Configs for the Pigeon 2; leave this None to skip applying Pigeon 2 configs
@@ -73,7 +73,7 @@ class TunerConstants:
 
     # Theoretical free speed (m/s) at 12 V applied output;
     # This needs to be tuned to your individual robot
-    speed_at_12_volts: units.meters_per_second = 4.69
+    speed_at_12_volts: units.meters_per_second = 4.54
 
     # Every 1 rotation of the azimuth results in _couple_ratio drive motor turns;
     # This may need to be tuned to your individual robot