New Feature: Swerve tweaks

[salut-hi]

Current problem Need to look over the drive subsystem and make any necessary tweaks for the test bot.

Solution should be like Change of necessary constants so that the swerve runs smoothly and change gyro to pigeon

Considered alternatives Do whatever will improve the functioning of the subsystem, if need be do more than what is stated in the solution.

Acceptance Criteria

• identify necessary swerve tweaks
• Change all affected consts.
• Pigeon implemented with no errors
• Driver controller must be responsive but not sensitive (drive team must confirm)

List of identified things

• Wheel Base (done)
• Wheel Diameter (done)
• Controller deadband

[bbontrager89]

All work for implementing field relative drive should be done on #6 . Changing gyro to pidgeon is required for completion of this issue, but field relative implementation is not required for completion of this issue.

[bbontrager89]

2024/11/21 18:00 -- Testing Results:

Expectations:

A. During this test, the robot should drive relative to itself as a measure of simplicity to test the swerve modules and drive subsystem. 
    - When moving forward, the robot should move towards its front (opposite the battery). 
    - When moving left, the robot should move to the left relative to its front
    - When moving right, robot should move right 
    - When moving backwards, the robot should move opposite to its front. 
    - When turning the robot, these reference points should remain the same. 
B. Driver controller should be responsive yet not overly sensitive 
C. Speed of robot should be relative to joystick position; ie. moving slightly forward should not max out speed

Observations:

- Test A passed successfully; robot was able to drive relative to its own position and maintain relativity as expected. 
- Test B failed; both thumbsticks are too sensitive. 
- Test C passed successfully; robot speed is relative to joystick input. 
- During an unrelated test, we attempted to test field oriented drive. Forward was defaulting to its front-left corner, 
  and rotating the bot seemed to change its relative heading as well. 
    (note: Field Relative testing should occur on issue #6, and should have separate test cases)

Testing Summary

Robot centric drive functions flawlessly indicating the swerve modules are configured properly. Need to update controller deadband to reduce sensitivity.

As a sidenote, all testing should relate to one single issue, and all testing results should be documented. Testing expectations can be formulated from the acceptance criteria of the issue being tested. Tests pass when the observations match expectations set by cross-team collaboration

If you have any questions about documenting test results or coming up with test cases, please reach out to me.