Team4388/2024AcrossTheRidgebotiverse
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Add reverse mode

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- Add reverse mode of autoAlign

TODO:
-  Shoot between normal and reverse mode
- Use the robot
- Make the math in autoAlign
This commit is contained in:
Astatin3
2024-02-16 12:59:22 -07:00
parent 20bac49f8d
commit 4b7cb07c1b
8 changed files with 175 additions and 81 deletions
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src/main/java/frc4388/robot/Constants.java
+21 -13
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@@ -9,6 +9,8 @@ package frc4388.robot;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.geometry.Translation2d;
import frc4388.utility.LEDPatterns;
import frc4388.utility.Gains;
@@ -119,24 +121,29 @@ public final class Constants {
}
public static final class VisionConstants {
public static final String NAME = "photonCamera";
// public static final String NAME = "photonCamera";
public static final int LIME_HIXELS = 640;
public static final int LIME_VIXELS = 480;
// public static final int LIME_HIXELS = 640;
// public static final int LIME_VIXELS = 480;
public static final double H_FOV = 59.6;
public static final double V_FOV = 45.7;
// public static final double H_FOV = 59.6;
// public static final double V_FOV = 45.7;
public static final double LIME_HEIGHT = 6.0;
public static final double LIME_ANGLE = 55.0;
// public static final double LIME_HEIGHT = 6.0;
// public static final double LIME_ANGLE = 55.0;
// public static final double HIGH_TARGET_HEIGHT = 46.0;
public static final double HIGH_TAPE_HEIGHT = 44.0;
// // public static final double HIGH_TARGET_HEIGHT = 46.0;
// public static final double HIGH_TAPE_HEIGHT = 44.0;
// public static final double MID_TARGET_HEIGHT = 34.0;
public static final double MID_TAPE_HEIGHT = 24.0;
// // public static final double MID_TARGET_HEIGHT = 34.0;
// public static final double MID_TAPE_HEIGHT = 24.0;
public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
// public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
public static final Translation2d RedSpeakerCenter = new Translation2d(7.914259, -3.221609);
public static final Translation2d BlueSpeakerCenter = new Translation2d(-8.308975, 1.442593);
public static final double SpeakerBubbleDistance = 1.5;
}
@@ -160,9 +167,10 @@ public final class Constants {
public static final class ShooterConstants {
public static final int LEFT_SHOOTER_ID = 15; // final
public static final int RIGHT_SHOOTER_ID = 16; // final
public static final double SHOOTER_SPEED = 1.0; // final
public static final double SHOOTER_IDLE = 0.4; // final
public static final double SHOOTER_IDLE_LIMELIGHT = 0.8;
}
public static final class IntakeConstants {