From 7a2e6ef8b1f11ffb0e8539aaf4269f8d9b60da71 Mon Sep 17 00:00:00 2001 From: amb2127 <39502367+amb2127@users.noreply.github.com> Date: Sun, 7 Apr 2024 01:05:41 -0700 Subject: [PATCH] who is letting me commit to main --- FRC-2024.chor | 5432 ++++++++--------- .../deploy/choreo/4_far_source_blue.1.traj | 1056 ++-- .../deploy/choreo/4_far_source_blue.2.traj | 668 +- .../deploy/choreo/4_far_source_blue.3.traj | 944 +-- src/main/deploy/choreo/4_far_source_blue.traj | 2664 ++++---- .../deploy/choreo/4_far_source_red.1.traj | 1089 ++-- .../deploy/choreo/4_far_source_red.2.traj | 663 +- .../deploy/choreo/4_far_source_red.3.traj | 885 ++- src/main/deploy/choreo/4_far_source_red.traj | 2633 ++++---- .../codeorange/frc2024/auto/AutoManager.java | 3 + .../frc2024/auto/actions/DrivePath.java | 2 +- .../auto/routines/FourPieceSource.java | 1 - .../codeorange/frc2024/robot/Constants.java | 6 +- .../org/codeorange/frc2024/robot/Robot.java | 3 +- .../frc2024/subsystem/vision/Vision.java | 4 +- 15 files changed, 8012 insertions(+), 8041 deletions(-) diff --git a/FRC-2024.chor b/FRC-2024.chor index 14870ca..7a429a3 100644 --- a/FRC-2024.chor +++ b/FRC-2024.chor @@ -10,7 +10,7 @@ "trackWidth": 0.6159496673871796, "bumperLength": 0.9334494959372722, "bumperWidth": 0.9334494959372722, - "wheelRadius": 0.048005974076774 + "wheelRadius": 0.04902197352813429 }, "paths": { "Test": { @@ -26910,13 +26910,13 @@ "controlIntervalCount": 22 }, { - "x": 7.56422233581543, - "y": 0.6548528075218201, + "x": 7.4668803215026855, + "y": 0.6444029211997986, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 5 + "controlIntervalCount": 6 }, { "x": 7.8014421463012695, @@ -26937,13 +26937,13 @@ "controlIntervalCount": 16 }, { - "x": 7.644400119781494, - "y": 2.139909267425537, + "x": 7.581819534301758, + "y": 2.1098744869232178, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - 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10.359959168066133 + "angularVelocity": 5.992330569433229e-28, + "velocityX": -2.118227587402143e-26, + "velocityY": -3.7330200927302134e-26, + "timestamp": 10.757930492826413 } ], "eventMarkers": [] diff --git a/src/main/java/org/codeorange/frc2024/auto/AutoManager.java b/src/main/java/org/codeorange/frc2024/auto/AutoManager.java index ad955fb..e1764b1 100644 --- a/src/main/java/org/codeorange/frc2024/auto/AutoManager.java +++ b/src/main/java/org/codeorange/frc2024/auto/AutoManager.java @@ -20,6 +20,7 @@ public class AutoManager { private final TwoFarSourceSubwooferStart TWO_FAR_SOURCE_SUBWOOFER; private final ThreePointFiveFarSource THREE_PT_FIVE_FAR_SOURCE; private final FivePointFive FIVE_PT_FIVE; + private final FourPieceSource FOUR_PC; private final TunePathFollowerPID TUNE_PID; public static AutoManager getInstance() { @@ -41,6 +42,7 @@ private AutoManager() { TWO_FAR_SOURCE_SUBWOOFER = new TwoFarSourceSubwooferStart(); THREE_PT_FIVE_FAR_SOURCE = new ThreePointFiveFarSource(); FIVE_PT_FIVE = new FivePointFive(); + FOUR_PC = new FourPieceSource(); TUNE_PID = new TunePathFollowerPID(); } @@ -58,6 +60,7 @@ public void loadAuto(int key) { case 9 -> selectedRoutine = TWO_FAR_SOURCE_SUBWOOFER; case 10 -> selectedRoutine = THREE_PT_FIVE_FAR_SOURCE; case 11 -> selectedRoutine = FIVE_PT_FIVE; + case 12 -> selectedRoutine = FOUR_PC; case 100 -> selectedRoutine = TUNE_PID; } System.out.println("Selected routine " + selectedRoutine.getClass().getName()); diff --git a/src/main/java/org/codeorange/frc2024/auto/actions/DrivePath.java b/src/main/java/org/codeorange/frc2024/auto/actions/DrivePath.java index f1eb6f6..12e83b1 100644 --- a/src/main/java/org/codeorange/frc2024/auto/actions/DrivePath.java +++ b/src/main/java/org/codeorange/frc2024/auto/actions/DrivePath.java @@ -37,7 +37,7 @@ public void start() { pathTimer.start(); PIDController translationController = new PIDController(7, 0, 0.0); - PIDController rotationController = new PIDController(3.5, 0, 0.0); + PIDController rotationController = new PIDController(3, 0, 0.0); choreoController = Choreo.choreoSwerveController(translationController, translationController, rotationController); Logger.recordOutput("Auto/Final Pose", trajectory.getFinalState().getPose()); } diff --git a/src/main/java/org/codeorange/frc2024/auto/routines/FourPieceSource.java b/src/main/java/org/codeorange/frc2024/auto/routines/FourPieceSource.java index 5b93635..5186458 100644 --- a/src/main/java/org/codeorange/frc2024/auto/routines/FourPieceSource.java +++ b/src/main/java/org/codeorange/frc2024/auto/routines/FourPieceSource.java @@ -30,7 +30,6 @@ protected void configureRoutine() { new SeriesAction( new Wait(1.18), new RunKicker(), - new Stow(), new GroundIntake(), new ShootFromGround(19) ) diff --git a/src/main/java/org/codeorange/frc2024/robot/Constants.java b/src/main/java/org/codeorange/frc2024/robot/Constants.java index 3bcada9..1771eb7 100644 --- a/src/main/java/org/codeorange/frc2024/robot/Constants.java +++ b/src/main/java/org/codeorange/frc2024/robot/Constants.java @@ -125,9 +125,9 @@ public static class Ports { } case HALEIWA -> { FL_ABSOLUTE_ENCODER_OFFSET = -0.16748046875; - BL_ABSOLUTE_ENCODER_OFFSET = -0.521728515625; - FR_ABSOLUTE_ENCODER_OFFSET = -0.836181640625; - BR_ABSOLUTE_ENCODER_OFFSET = -0.453857421875; + BL_ABSOLUTE_ENCODER_OFFSET = -0.523681640625; + FR_ABSOLUTE_ENCODER_OFFSET = -0.826904296875; + BR_ABSOLUTE_ENCODER_OFFSET = -0.424560546875; WRIST_ABSOLUTE_ENCODER_OFFSET = 0.0739746; ARM_ABSOLUTE_ENCODER_OFFSET = 0.3251953125; } diff --git a/src/main/java/org/codeorange/frc2024/robot/Robot.java b/src/main/java/org/codeorange/frc2024/robot/Robot.java index 04b21bb..f28c52a 100644 --- a/src/main/java/org/codeorange/frc2024/robot/Robot.java +++ b/src/main/java/org/codeorange/frc2024/robot/Robot.java @@ -206,6 +206,7 @@ public void robotInit() { autoChooser.addOption("Cursed path", 9); autoChooser.addOption("3.5 Far Source", 10); autoChooser.addOption("5.5", 11); + autoChooser.addOption("4 source", 12); autoChooser.addOption("Tune PID", 100); sideChooser.addDefaultOption("Blue", "blue"); sideChooser.addOption("Red", "red"); @@ -452,7 +453,7 @@ public void teleopPeriodic() { shooter.stop(); } if(xbox.getRisingEdge(XboxButtons.Y)) { - superstructure.wantedAngle = AngleLookupInterpolation.SHOOTER_ANGLE_BACK_LOW.get(drive.findDistanceToSpeaker()) + superstructure.wantedAngle = AngleLookupInterpolation.SHOOTER_ANGLE_BACK_LOW.get(drive.findDistanceToSpeaker()); superstructure.isFlipped = drive.isForward(); superstructure.setGoalState(Superstructure.States.SPEAKER); } diff --git a/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java b/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java index 03bf6a7..58a4aa3 100644 --- a/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java +++ b/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java @@ -82,7 +82,7 @@ private void processVisionData(VisionIO io, VisionIO.VisionInputs inputs) { if(Math.abs(drive.getPose().getRotation().minus(inputs.botPose2d.getRotation()).getDegrees()) > 5) return; //exit if tags are too far in auto - // if(inputs.avgDist > 4 && DriverStation.isAutonomous()) return; + if(inputs.avgDist > 4 && DriverStation.isAutonomous()) return; Logger.recordOutput("Vision/" + io.getName() + "/Accepted Pose", inputs.botPose2d); @@ -97,7 +97,7 @@ private void processVisionData(VisionIO io, VisionIO.VisionInputs inputs) { public void updateBotOrientation(double yaw, double yawVel, double pitch, double pitchVel, double roll, double rollVel) { for(VisionIO io : visionIO) { - LimelightHelpers.SetRobotOrientation(io.getName(), yaw, yawVel, pitch, pitchVel, roll, rollVel); + LimelightHelpers.SetRobotOrientation(io.getName(), yaw, 0, 0, 0, 0, 0); } } }