Modularize Drive Subsystem Into ArgosLib

[dkt01]

Make it easy to re-use swerve code

[Litemage]

Modularize Swerve

What do we need?

• All modules which each needs a translation2d, and 3 addresses, drive, turn, and encoder
• An IMU for field centric control
• Control Modes

  Feature requirements

• Homing
• Switching control modes
• Configuration of modules
• Odometry?
• Make ArgosMosule struct/class avaliable in constants?

TODO list

• [x] Get module velocities based off of inputs
  • [x] Set control mode with member function
  • [x] Robot Centric
  • [x] Field Centric
• [x] Change ArgosModule to class and make it compatible with constexpr
  • [x] Construct motor and encoder objects inside constructor
  • [ ] Allow configuration passing for All drive and turn motors at once ?
• [x] Init module positions on construction (intigrate FrameR here later)
  • [x] Intigrate argos_lib's SwerveHomeStorageInterface
    • [x] Load
    • [x] Save
• [x] Make configurations an object of ArgosSwerve class
• [x] Drive Function
  • [x] StopDrivetrain() function
  • [x] Get and filter input velocities (if 0, set to empty speeds, or call StopDrivetrain())
  • [x] Have an overload function for having input velocities (or some sort of vector) and a frame of reference to convert from.
  • [x] Apply module states
• [x] Transfer responsibility of frame conversion out of ArgosSwerve and into it's derrived classes
• [x] Asses the need for frame conversion inside of the base class vs. just implimenting it ouside
• [x] ArgosSwerve.h:99 Fix incomplete comment
• [x] Add drive overload for with no framer intigration
• [x] Unitless FrameR x and y conversion function
• [x] Check for remaining constants in template arguments
• [x] Add maximum velocities to config
• [x] Re-Document all functions

Notes The idea of this particular library is to have configuration tucked away somewhere illbeit in Constants.h or in a .cpp file, like the motors. This configuration will be fed to a class that inherits from ArgosSwerve and impliments it's constructor. After ArgosSwerve is constructed, we'll have access to basic functions such as driving the robot, setting it's Frame of reference, and so on, while not having to sacrafice any sort of customization we may want to do.

General Layout of how config will flow

flowchart TD
    A[ArgosModule] --> B[ArgosSwerveConfig] --> C[ArgosSwerve]

Finish up and prepare for testing

• [x] Frame out a subsystem that would impliment and see how functions would look
  • [x] Drive
  • [x] StopDrivetrain
  • [x] Various homing
• Address ineffiencies and re-design accordingly

[Litemage]

Basic functionality for a swerve drive train is implemented. Awaiting testing to validate.

Note: Include odometry in the argos_swerve library?

[Litemage]

A proof of concept test showed that this does in fact work, and presents no immediate technical hurdles. Closing as this has gone out-of-scope of this project.