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Fix 2024 auto align

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This commit is contained in:
Michael Mikovsky
2025-01-15 17:55:24 -07:00
parent 5f9a38f55d
commit 063fb74b78
4 changed files with 22 additions and 21 deletions
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src/main/java/frc4388/robot/Constants.java
+18 -18
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@@ -99,50 +99,50 @@ public final class Constants {
public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
// public static final double FORWARD_OFFSET = 270; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
// public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
//Front Left
// private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
// private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
// private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
// private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
// private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625);
// private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
// private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
// private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
//Back Left
// private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5);
// private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
// private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
// private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Right
// private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5);
// private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
// private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
// private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
}
src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -89,6 +89,7 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
@@ -101,7 +102,7 @@ public class RobotContainer {
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
false);
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -79,7 +79,7 @@ public class SwerveDrive extends Subsystem {
if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
);
src/main/java/frc4388/robot/subsystems/Vision.java
+1 -1
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@@ -110,7 +110,7 @@ public class Vision extends Subsystem {
}
lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d();
lastVisionPose.rotateBy(Rotation2d.k180deg);
// lastVisionPose.rotateBy(Rotation2d.k180deg);
// lastVisionPose = new Pose2d(
// lastVisionPose.getTranslation(),
// lastPhysOdomPose.getRotation()