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I think this offset is working

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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/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