Team4388/2024AcrossTheRidgebotiverse
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drift correction and recorded one note taxi auto (im geekin)

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This commit is contained in:
Abhishrek05
2024-03-08 18:01:58 -07:00
parent ffcbbf39ad
commit e1b0864c28
3 changed files with 21 additions and 14 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -41,9 +41,9 @@ public final class Constants {
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 216.869140625;
public static final double FRONT_RIGHT_ROT_OFFSET = 226.119140625;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.5587969;
public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90;
public static final double FRONT_RIGHT_ROT_OFFSET = 229.4826875;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.646484375;
public static final double BACK_RIGHT_ROT_OFFSET = 140.009765625;
}
public static final class IDs {
@@ -67,7 +67,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.4, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -275,7 +275,7 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
DriverStation.silenceJoystickConnectionWarning(true);
@@ -334,12 +334,12 @@ public class RobotContainer {
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
"blue_center_1Note.auto"))
"Nuetral_Center_1note_taxi.auto"))
.onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
"blue_center_1Note.auto",
"Nuetral_Center_1note_taxi.auto",
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false))
.onFalse(new InstantCommand());
@@ -352,11 +352,11 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true), m_robotSwerveDrive));
//? /* Operator Buttons */
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+9 -2
View File
@@ -125,13 +125,20 @@ public class SwerveDrive extends SubsystemBase {
public void driveWithInputOrientation(Translation2d leftStick, double rightX, double rightY, boolean fieldRelative) {
Translation2d rightStick = new Translation2d(rightX, rightY);
Translation2d rightStick = new Translation2d(-rightX, rightY);
if(fieldRelative) {
double rot = 0;
if(rightStick.getNorm() > 0.5) {
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
Rotation2d tmp = orientRotTarget.minus(gyro.getRotation2d().minus(new Rotation2d(Math.PI)).interpolate(orientRotTarget, 0.5));
double min = tmp.getDegrees();
min = Math.max(Math.abs(min), 2);
if(tmp.getDegrees() < 0)
min*=-1;
tmp = new Rotation2d(min * Math.PI / 180);
rot = tmp.getRadians(); // x x - y/x
}
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);