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fix 2025 module possitions

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This commit is contained in:
C4llSiqn
2025-01-16 19:41:08 -07:00
parent a8bfc1543f
commit 1bd3c12327
4 changed files with 37 additions and 30 deletions
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src/main/deploy/pathplanner/paths/Example Path.path
+9 -9
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@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 0.0, "x": 2.780674342105263,
"y": 0.0 "y": 5.112253289473684
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 0.25, "x": 2.7421875,
"y": 0.0 "y": 6.016694078947369
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 2.0, "x": 3.8294407894736837,
"y": 0.0 "y": 5.862746710526316
}, },
"prevControl": { "prevControl": {
"x": 1.75, "x": 3.5794407894736837,
"y": 0.0 "y": 5.862746710526316
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -48,7 +48,7 @@
"folder": null, "folder": null,
"idealStartingState": { "idealStartingState": {
"velocity": 0, "velocity": 0,
"rotation": 0.0 "rotation": 132.26189909327812
}, },
"useDefaultConstraints": true "useDefaultConstraints": true
} }
src/main/java/frc4388/robot/Constants.java
+17 -17
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@@ -99,41 +99,41 @@ 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_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 MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
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 Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10); public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants { private static final class ModuleSpecificConstants {
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25); private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false; private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true; private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false; 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_HEIGHT);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT); private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_WIDTH);
//Front Right //Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25); private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false; private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true; private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false; 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_XPOS = 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_WIDTH);
//Back Left //Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5); private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false; private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true; private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false; 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_XPOS = 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_WIDTH);
//Back Right //Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25); private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.07666015625);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false; private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true; private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false; 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_HEIGHT);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT); private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_WIDTH);
} }
public static final class IDs { public static final class IDs {
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -14,6 +14,7 @@ import java.util.ArrayList;
import java.util.List; import java.util.List;
import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.GenericHID;
import frc4388.utility.controller.XboxController; import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController; import frc4388.utility.controller.DeadbandedXboxController;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10 -4
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@@ -5,6 +5,7 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import java.util.Optional; import java.util.Optional;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.CANcoder;
@@ -69,8 +70,13 @@ public class SwerveDrive extends Subsystem {
// Handle exception as needed // Handle exception as needed
config = null; config = null;
} }
// DoubleSupplier a = () -> 1.d;
AutoBuilder.configure( AutoBuilder.configure(
() -> swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()), // Robot pose supplier () -> {
var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;//getRotation().times(-1)
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose) swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE () -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds() (speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
@@ -121,7 +127,7 @@ public class SwerveDrive extends Subsystem {
if (fieldRelative) { if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric() swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(-leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust) .withRotationalRate(rightStick.getX()*rotSpeedAdjust)
); );
// double rot = 0; // double rot = 0;
@@ -159,8 +165,8 @@ public class SwerveDrive extends Subsystem {
// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1)); // chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
} else { // Create robot-relative speeds. } else { // Create robot-relative speeds.
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric() swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX()*-speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(-leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust) .withRotationalRate(rightStick.getX()*rotSpeedAdjust)
); );
} }