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I think this offset is working

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This commit is contained in:
Zach Wilke
2025-09-13 14:26:35 -06:00
parent 17239b8920
commit 141a9eebc1
4 changed files with 33 additions and 49 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+23 -39
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@@ -107,9 +107,9 @@ public class RobotContainer {
private Command autoCommand;
private Command waitFeedStation = new waitSupplier(m_robotElevator::readyToMove);
private Command waitDebuger = new waitSupplier(m_driverXbox::getXButtonPressed);
// private Command waitDebuger = new waitSupplier(m_driverXbox::getYButtonPressed);
// private Command waitDebugerManual = new waitSupplier(m_driverXbox::getYButtonPressed);
// private Command waitDebuger = new waitSupplier(() -> true);
private Command waitDebuger = new waitSupplier(() -> true);
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
@@ -289,58 +289,42 @@ public class RobotContainer {
private Command AprilLidarAlignL4LeftFullAuto = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
// new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
// new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true),
// ), () -> m_robotElevator.isL4Primed()),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
waitDebuger.asProxy(),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
// new MoveUntilSuply(
// m_robotSwerveDrive,
// new Translation2d(0,-0.5),
// new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
// ),
// new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
new Translation2d(0,-0.5),
new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
waitDebuger.asProxy(),
new waitEndefectorRefrence(m_robotElevator),
waitDebuger.asProxy(),
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
// // // new ConditionalCommand(
// // // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// () -> m_robotElevator.hasCoral()),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
// new ConditionalCommand(
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// () -> m_robotElevator.hasCoral())
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
@@ -692,8 +676,8 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL4LeftFullAuto);
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(AprilLidarAlignL4LeftFullAuto);
// ! /* Speed */
@@ -826,7 +810,7 @@ public class RobotContainer {
// Auto Scoring
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4LeftSemiAuto);
.onTrue(AprilLidarAlignL4LeftFullAuto);
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4RightSemiAuto);
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 175;
public static final String GIT_SHA = "93ba351a198d2f83e0592eed3444465fc5b408f6";
public static final String GIT_DATE = "2025-09-11 17:20:49 MDT";
public static final int GIT_REVISION = 176;
public static final String GIT_SHA = "17239b8920efd45bc5a3b6a098baf4e5509fb558";
public static final String GIT_DATE = "2025-09-13 11:20:40 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-09-13 11:19:55 MDT";
public static final long BUILD_UNIX_TIME = 1757783995171L;
public static final String BUILD_DATE = "2025-09-13 14:19:44 MDT";
public static final long BUILD_UNIX_TIME = 1757794784689L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+4 -4
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@@ -50,7 +50,7 @@ public final class Constants {
public static final class AutoConstants {
// public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
// public static final Gains XY_GAINS = new Gains(8,0,0.0);
public static final Gains XY_GAINS = new Gains(0.8,0,0.0);
public static final Gains XY_GAINS = new Gains(3,0,1.0);
// public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP);
// public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI);
// public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD);
@@ -79,8 +79,8 @@ public final class Constants {
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1);
public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 3) ;
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP - Units.inchesToMeters(3);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6);
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP;
// public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
@@ -114,7 +114,7 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), Units.inchesToMeters(8.75), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-15.0 * Math.PI / 180));
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), Units.inchesToMeters(8.75+3), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-15.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(0), -Units.inchesToMeters(0), Units.inchesToMeters(0)), new Rotation3d(0,0.0,0));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
src/main/java/frc4388/utility/compute/ReefPositionHelper.java
+1 -1
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@@ -55,7 +55,7 @@ public class ReefPositionHelper {
}
}
System.out.println(minPos.getRotation().getDegrees());
// System.out.println(minPos.getRotation().getDegrees());
return minPos;
}