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Debug autos

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This commit is contained in:
Michael Mikovsky
2025-01-25 14:47:23 -07:00
parent a7ac44c25d
commit 1b9b7ed00c
23 changed files with 272 additions and 62 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -7
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@@ -230,7 +230,7 @@ public final class Constants {
}
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(3,0,0);
public static final Gains XY_GAINS = new Gains(3,0.01,0);
public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0);
@@ -240,7 +240,7 @@ public final class Constants {
public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000;
public static final double XY_TOLERANCE = 0.05;
public static final double XY_TOLERANCE = 0.1;
public static final double ROT_TOLERANCE = 1;
// public static final Pose2d targetpos = new Pose2d(new Translation2d(0.3,0), new Rotation2d());
@@ -249,8 +249,8 @@ public final class Constants {
public static final class Configurations {
public static final double OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double NEUTRAL_DEADBAND = 0.04;
// POWER! (limiting)
@@ -282,7 +282,7 @@ public final class Constants {
// new ClosedLoopRampsConfigs()
// .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
);
private static final double SLIP_CURRENT = 100; // TODO: Tune???
private static final double SLIP_CURRENT = 20; // TODO: Tune???
}
// No mans land
@@ -343,7 +343,7 @@ public final class Constants {
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
public static final double MIN_ESTIMATION_DISTANCE = 0; // Meters
// Photonvision thing
// The standard deviations of our vision estimated poses, which affect correction rate
@@ -354,7 +354,8 @@ public final class Constants {
public static final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = 0;
public static final double HORISONTAL_SCORING_POSITION_OFFSET = .2794
;
// public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // Positive is Right
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(20);