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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 05a0163..333ae46 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -65,10 +65,10 @@ public final class Constants { public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); // swerve auto constants - public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0); - public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0); + public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ffb363b..f9d0ff7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -15,6 +15,7 @@ import javax.swing.plaf.nimbus.State; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; import com.pathplanner.lib.commands.PPSwerveControllerCommand; import edu.wpi.first.math.controller.HolonomicDriveController; @@ -137,9 +138,12 @@ public class RobotContainer { m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive); + PathPlannerState state = (PathPlannerState) traj.sample(0); + return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))), + //new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), ppSCC, new InstantCommand(() -> m_robotSwerveDrive.stopModules()) ); @@ -181,8 +185,8 @@ public class RobotContainer { // ppSwerveControllerCommand, // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) // ); - // return runAuto("Move Forward", 5.0, 5.0); - return runAuto("Five Ball", 1.0, 1.0); + // return runAuto("Move Forward", 1.0, 1.0); + return runAuto("Move Down", 1.0, 1.0); } /**