Team4388/2023WayOfTheRobot
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Update RobotContainer.java

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aarav18
2023-02-09 19:34:59 -07:00
parent d80b4faccb
commit e7af2c9281
1 changed files with 16 additions and 12 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -12
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@@ -117,27 +117,31 @@ public class RobotContainer {
SwerveDriveConstants.AutoConstants.PATH_MAX_ACC).setKinematics(m_robotSwerveDrive.getKinematics());
// generate trajectory
// Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
// new Pose2d(0, 0, new Rotation2d(0)),
// List.of(
// new Translation2d(0, 1)),
// new Pose2d(0, 2, Rotation2d.fromDegrees(0)),
new Pose2d(0, 0, new Rotation2d(0)),
List.of(
new Translation2d(0, 1)),
new Pose2d(0, 2, Rotation2d.fromDegrees(0)),
// trajectoryConfig);
trajectoryConfig);
ArrayList<Pose2d> simplePath = new ArrayList<Pose2d>();
simplePath.add(new Pose2d(0, 0, new Rotation2d(0)));
simplePath.add(new Pose2d(0, -1, new Rotation2d(0)));
Trajectory trajectory = TrajectoryGenerator.generateTrajectory(simplePath, trajectoryConfig);
// Trajectory trajectory = TrajectoryGenerator.generateTrajectory(simplePath, trajectoryConfig);
// Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
// new Pose2d(0, 0, new Rotation2d(0),
// List.of(new Translation2d(0, 1)),
// new Pose2d(0, 2, new Rotation2d(0)),
// trajectoryConfig
// );
// ArrayList<double[]> states = new ArrayList<double[]>();
ArrayList<double[]> states = new ArrayList<double[]>();
for(double i = 0; i <=5.0; i += 0.1) {
Trajectory.State state = trajectory.sample(i);
states.add(new double[] {state.velocityMetersPerSecond, state.curvatureRadPerMeter});
}
//Defining PID Controller for tracking trajectory
PIDController xController = new PIDController(SwerveDriveConstants.AutoConstants.X_CONTROLLER.kP, 0, 0);