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odo chooser stuff

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This commit is contained in:
aarav18
2022-03-20 17:28:10 -06:00
parent 520d748afe
commit 7f1061ab9a
4 changed files with 8 additions and 16 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -9
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@@ -170,9 +170,7 @@ public class Robot extends TimedRobot {
// SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); // SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
// SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); // SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
// odo chooser stuff // odo chooser stuff
addOdoChoices(new Pose2d(1, 1, new Rotation2d(Math.PI/6)), addOdoChoices(new Pose2d(3.2766, -0.9398, new Rotation2d(0)));
new Pose2d(1, 2, new Rotation2d(Math.PI/3)),
new Pose2d(1, 3, new Rotation2d(Math.PI/4)));
updateOdoChooser(); updateOdoChooser();
SmartDashboard.putData("Odometry Chooser", odoChooser); SmartDashboard.putData("Odometry Chooser", odoChooser);
} }
@@ -185,7 +183,7 @@ public class Robot extends TimedRobot {
public void addOdoChoices(Pose2d... points) { public void addOdoChoices(Pose2d... points) {
for (Pose2d point : points) { for (Pose2d point : points) {
String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + "°)"; String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + ")";
odoChoices.put(key, point); odoChoices.put(key, point);
} }
} }
@@ -253,17 +251,13 @@ public class Robot extends TimedRobot {
public void teleopInit() { public void teleopInit() {
LOGGER.fine("teleopInit()"); LOGGER.fine("teleopInit()");
Robot.alliance = DriverStation.getAlliance(); Robot.alliance = DriverStation.getAlliance();
// m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
selectedOdo = odoChooser.getSelected(); selectedOdo = odoChooser.getSelected();
if (selectedOdo == null) { if (selectedOdo == null) {
selectedOdo = m_robotContainer.getOdometry(); selectedOdo = m_robotContainer.getOdometry();
} }
// m_robotContainer.resetOdometry(selectedOdo); m_robotContainer.resetOdometry(selectedOdo);
// This makes sure that the autonomous stops running when // This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to // teleop starts running. If you want the autonomous to
src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+2 -4
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@@ -121,10 +121,8 @@ public class Shoot extends CommandBase {
timerStarted = false; timerStarted = false;
startTime = 0; startTime = 0;
// this.turret.gotoMidpoint(); this.odoX = 0.9398;//-this.swerve.getOdometry().getY(); // 3.2766
this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // 0.9398
this.odoX = 0;//-m_swerve.getOdometry().getY();
this.odoY = -8;//-m_swerve.getOdometry().getX();
this.distance = Math.hypot(odoX, odoY); this.distance = Math.hypot(odoX, odoY);
src/main/java/frc4388/robot/subsystems/Claws.java
+2 -2
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@@ -153,8 +153,8 @@ public class Claws extends SubsystemBase {
// @Override // @Override
public void periodic() { public void periodic() {
SmartDashboard.putNumber("Servo Left Pos", m_leftClaw.getRaw()); // SmartDashboard.putNumber("Servo Left Pos", m_leftClaw.getRaw());
SmartDashboard.putNumber("Servo Right Pos", m_rightClaw.getRaw()); // SmartDashboard.putNumber("Servo Right Pos", m_rightClaw.getRaw());
// if (fullyOpen() || fullyClosed()) { // if (fullyOpen() || fullyClosed()) {
// m_leftClaw.setSpeed(0.0); // m_leftClaw.setSpeed(0.0);
// m_rightClaw.setSpeed(0.0); // m_rightClaw.setSpeed(0.0);
src/main/java/frc4388/robot/subsystems/Hood.java
+1 -1
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@@ -61,7 +61,7 @@ public class Hood extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition()); // SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition());
// * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
runVelocityRamping(); runVelocityRamping();