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Merge branch 'master' into autos-and-intake-fixes

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This commit is contained in:
C4llSiqn
2025-02-28 18:49:52 -07:00
parent bd67c9e8d3 eea43692fc
commit 125cfa929f
3 changed files with 175 additions and 204 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+138 -186
View File
@@ -16,6 +16,7 @@ import java.util.List;
import java.util.function.BooleanSupplier;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
@@ -115,6 +116,7 @@ public class RobotContainer {
private String lastAutoName = "defualt.auto";
private SendableChooser<String> autoChooser;
private Command autoCommand;
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
// () -> autoplaybackName.get(), // lastAutoName
@@ -289,8 +291,13 @@ public class RobotContainer {
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
private Command thrustIntake = new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 100, true),
new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)
);
private Boolean operatorManualMode = false;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -338,11 +345,12 @@ public class RobotContainer {
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// m_robotElevator.setDefaultCommand(new RunCommand(() -> {
// m_robotElevator.driveElevatorStick(m_operatorXbox.getRight());
// }, m_robotElevator)
// .withName("Elevator"));
m_robotElevator.setDefaultCommand(new RunCommand(() -> {
m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
}, m_robotElevator)
.withName("Default Manual Controls"));
makeAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
@@ -387,98 +395,90 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
boolean driverPreferenceControls = false;
// ? /* Driver Buttons */
if (!driverPreferenceControls) {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
} else {
}
// ? /* Operator Buttons */
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
if (!driverPreferenceControls) {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
// While Left Trigger Pressed: Trims
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
new JoystickButton(getButtonBox(), ButtonBox.Five)
.onTrue(AprilLidarAlignL4Left);
new JoystickButton(getButtonBox(), ButtonBox.One)
.onTrue(AprilLidarAlignL4Right);
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
new JoystickButton(getButtonBox(), ButtonBox.Six)
.onTrue(AprilLidarAlignL3Left);
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
// While Left Trigger NOT Pressed: Fine Alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1 && !(getDeadbandedDriverController().getLeftTriggerAxis() > 0.8))
.whileTrue(new RunCommand(
() -> m_robotSwerveDrive.driveFine(
new Translation2d(
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
new JoystickButton(getButtonBox(), ButtonBox.Two)
.onTrue(AprilLidarAlignL3Right);
new JoystickButton(getButtonBox(), ButtonBox.Seven)
.onTrue(AprilLidarAlignL2Left);
new JoystickButton(getButtonBox(), ButtonBox.Three)
.onTrue(AprilLidarAlignL2Right);
// Lower algae removal
new JoystickButton(getButtonBox(), ButtonBox.Eight)
.onTrue(leftAlgaeRemove);
// Upper algae removal
new JoystickButton(getButtonBox(), ButtonBox.Four)
.onTrue(rightAlgaeRemove);
// ? /* Operator Buttons */
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
// Button box
new JoystickButton(getButtonBox(), ButtonBox.Five)
.onTrue(AprilLidarAlignL4Left);
new JoystickButton(getButtonBox(), ButtonBox.One)
.onTrue(AprilLidarAlignL4Right);
new JoystickButton(getButtonBox(), ButtonBox.Six)
.onTrue(AprilLidarAlignL3Left);
new JoystickButton(getButtonBox(), ButtonBox.Two)
.onTrue(AprilLidarAlignL3Right);
new JoystickButton(getButtonBox(), ButtonBox.Seven)
.onTrue(AprilLidarAlignL2Left);
new JoystickButton(getButtonBox(), ButtonBox.Three)
.onTrue(AprilLidarAlignL2Right);
// Lower algae removal
new JoystickButton(getButtonBox(), ButtonBox.Eight)
.onTrue(leftAlgaeRemove);
// Upper algae removal
new JoystickButton(getButtonBox(), ButtonBox.Four)
.onTrue(rightAlgaeRemove);
// Cancel button
@@ -489,106 +489,58 @@ public class RobotContainer {
m_robotSwerveDrive.endSlowPeriod();
}, m_robotElevator));
// Score prep
// Prime 4
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator));
// Manual Mode Buttons
new Trigger(() -> (getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 || getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8) && operatorManualMode)
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator))
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
// Prime 3
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator));
//Trims
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
} else {
// States: ready/waiting
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
//Controller Coral Scoring
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
.onTrue(AprilLidarAlignL4Left);
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
.onTrue(AprilLidarAlignL4Right);
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(AprilLidarAlignL3Left);
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(AprilLidarAlignL3Right);
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(AprilLidarAlignL2Left);
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL2Right);
//Controller Lower Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(leftAlgaeRemove);
//Controller Upper Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(rightAlgaeRemove);
//Button Box Coral Scoring
new JoystickButton(getButtonBox(), ButtonBox.Five)
.onTrue(AprilLidarAlignL4Left);
new JoystickButton(getButtonBox(), ButtonBox.One)
.onTrue(AprilLidarAlignL4Right);
new JoystickButton(getButtonBox(), ButtonBox.Six)
.onTrue(AprilLidarAlignL3Left);
new JoystickButton(getButtonBox(), ButtonBox.Two)
.onTrue(AprilLidarAlignL3Right);
new JoystickButton(getButtonBox(), ButtonBox.Seven)
.onTrue(AprilLidarAlignL2Left);
new JoystickButton(getButtonBox(), ButtonBox.Three)
.onTrue(AprilLidarAlignL2Right);
// Button Box Lower algae removal
new JoystickButton(getButtonBox(), ButtonBox.Eight)
.onTrue(leftAlgaeRemove);
// Button Box Upper algae removal
new JoystickButton(getButtonBox(), ButtonBox.Four)
.onTrue(rightAlgaeRemove);
// Cancel button
new JoystickButton(getButtonBox(), ButtonBox.White)
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
//Manual Controls
m_robotElevator.setDefaultCommand(new RunCommand(() -> {
m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
}, m_robotElevator)
.withName("Default Manual Controls"));
new Trigger(() -> (getDeadbandedOperatorController().getLeftBumperButton() || getDeadbandedOperatorController().getRightBumperButton()) && operatorManualMode)
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator))
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator));
}
new Trigger(() -> (getDeadbandedOperatorController().getXButton() || getDeadbandedOperatorController().getYButton()) && operatorManualMode)
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.L2Score), m_robotElevator));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && operatorManualMode)
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed), m_robotElevator))
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go), m_robotElevator));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && operatorManualMode)
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed), m_robotElevator))
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go), m_robotElevator));
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> {operatorManualMode = !operatorManualMode;}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.togggleAutoIntaking()));
// Auto Scoring
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4Left);
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4Right);
new Trigger(() -> getDeadbandedOperatorController().getLeftBumperButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL3Left);
new Trigger(() -> getDeadbandedOperatorController().getRightBumperButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL3Right);
new Trigger(() -> getDeadbandedOperatorController().getXButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL2Left);
new Trigger(() -> getDeadbandedOperatorController().getYButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL2Right);
//Controller Lower Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && !operatorManualMode)
.onTrue(leftAlgaeRemove);
//Controller Upper Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && !operatorManualMode)
.onTrue(rightAlgaeRemove);
// ? /* Programer Buttons (Controller 3)*/
src/main/java/frc4388/robot/subsystems/Elevator.java
+14
View File
@@ -6,6 +6,8 @@ package frc4388.robot.subsystems;
import java.time.Instant;
import org.opencv.ml.RTrees;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
@@ -43,6 +45,8 @@ public class Elevator extends Subsystem {
private boolean elevatorManualStop = true;
private boolean endefectorManualStop = true;
private boolean disableAutoIntake = false;
private DigitalInput basinBeamBreak;
private DigitalInput endeffectorLimitSwitch;
@@ -200,6 +204,10 @@ public class Elevator extends Subsystem {
}
public void togggleAutoIntaking() {
disableAutoIntake = !disableAutoIntake;
}
public boolean elevatorAtReference() {
// double elevatorRefrence = elevatorMotor.getClosedLoopReference().getValueAsDouble();
double elevatorPosition = elevatorMotor.getPosition().getValueAsDouble();
@@ -256,6 +264,8 @@ public class Elevator extends Subsystem {
public void manualElevatorVel(double velocity) {
if (Math.abs(velocity) > 0.1) {
elevatorMotor.set(velocity);
elevatorManualStop = false;
return;
}
if (!elevatorManualStop) {
elevatorManualStop = true;
@@ -266,6 +276,8 @@ public class Elevator extends Subsystem {
public void manualEndeffectorVel(double velocity) {
if (Math.abs(velocity) > 0.1) {
endeffectorMotor.set(velocity);
endefectorManualStop = false;
return;
}
if (!endefectorManualStop) {
endefectorManualStop = true;
@@ -280,6 +292,8 @@ public class Elevator extends Subsystem {
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
SmartDashboard.putNumber("endefector", endeffectorLimitSwitch.get() ? 1 : 0);
SmartDashboard.putString("State", currentState.toString());
if (disableAutoIntake) return;
if (currentState == CoordinationState.Waiting) {
periodicWaiting();
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+23 -18
View File
@@ -51,6 +51,7 @@ public class SwerveDrive extends Subsystem {
private int gear_index = SwerveDriveConstants.STARTING_GEAR;
private boolean stopped = false;
private boolean robotKnowsWhereItIs = false;
public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
@@ -59,6 +60,7 @@ public class SwerveDrive extends Subsystem {
public Pose2d initalPose2d = null;
public double rotTarget = 0.0;
public Rotation2d orientRotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
@@ -170,24 +172,7 @@ public class SwerveDrive extends Subsystem {
SmartDashboard.putBoolean("drift correction", true);
}
// // SmartDashboard.putBoolean("drift correction", true);
// // rot = ((rotTarget - gyro.getAngle()) / 360) *
// SwerveDriveConstants.ROT_CORRECTION_SPEED;
// }
// // Use the left joystick to set speed. Apply a cubic curve and the set max
// speed.
// Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00),
// Math.pow(speed.getY(), 3.00));
// // Convert field-relative speeds to robot-relative speeds.
// // chassisSpeeds = chassisSpeeds.
// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 *
// speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction,
// gyro.getRotation2d().times(-1));
} else { // Create robot-relative speeds.
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX() * speedAdjust)
@@ -196,6 +181,16 @@ public class SwerveDrive extends Subsystem {
}
}
public void driveFine(Translation2d leftStick, Translation2d rightStick, double percentOutput) {
stopped = false;
// Create robot-relative speeds.
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
.withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
}
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical
// reason to have a robot
// relitive version of
@@ -291,6 +286,8 @@ public class SwerveDrive extends Subsystem {
public void resetGyro() {
swerveDriveTrain.tareEverything();
robotKnowsWhereItIs = false;
rotTarget = 0;
}
@@ -321,6 +318,14 @@ public class SwerveDrive extends Subsystem {
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
if (vision.isTag()) {
Pose2d pose = vision.getPose2d();
if (!robotKnowsWhereItIs) {
robotKnowsWhereItIs = true;
Pose2d currPose = getPose2d();
double deltaAngle = pose.getRotation().getDegrees() - currPose.getRotation().getDegrees();
rotTarget += deltaAngle;
}
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
}