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Fix odometry, elevatorchange

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This commit is contained in:
Michael Mikovsky
2025-10-12 10:32:39 -07:00
parent 52fc524c0f
commit 28868fdaf9
11 changed files with 90 additions and 15 deletions
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src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto
-6
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@@ -15,12 +15,6 @@
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 4 to Bottom Feed"
}
}
]
}
src/main/deploy/pathplanner/autos/1 Coral Right Barge Bottom.auto
+25
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@@ -0,0 +1,25 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Cage 6 to Reef"
}
},
{
"type": "named",
"data": {
"name": "place-coral-left-l4"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Copy of 1 Coral Right Barge Bottom.auto
+25
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@@ -0,0 +1,25 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Cage 1 to Reef"
}
},
{
"type": "named",
"data": {
"name": "place-coral-left-l4"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Forward L4 Left.auto
+12
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@@ -0,0 +1,12 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": []
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/New Path.path
+2 -2
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@@ -16,11 +16,11 @@
},
{
"anchor": {
"x": 4.0,
"x": 3.53925,
"y": 6.0
},
"prevControl": {
"x": 4.249520880858856,
"x": 3.7887708808588547,
"y": 5.984529705386749
},
"nextControl": null,
src/main/java/frc4388/robot/RobotContainer.java
+8
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@@ -536,6 +536,12 @@ public class RobotContainer {
new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive),
new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod(), m_robotSwerveDrive)
);
private Command moveForwardL4 = new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.startSlowPeriod(), m_robotSwerveDrive),
new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 1500, true),
new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod(), m_robotSwerveDrive)
);
private Boolean operatorManualMode = false;
@@ -596,6 +602,8 @@ public class RobotContainer {
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour))
));
NamedCommands.registerCommand("move-forward-l4", moveForwardL4);
configureButtonBindings();
configureVirtualButtonBindings();
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 = 183;
public static final String GIT_SHA = "4d20c5064279d9e0ac890c93e644e81dbabf929c";
public static final String GIT_DATE = "2025-10-11 15:24:47 MDT";
public static final int GIT_REVISION = 184;
public static final String GIT_SHA = "52fc524c0f614a15bb103c76c3bbecf8f7476f9e";
public static final String GIT_DATE = "2025-10-11 17:35:41 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-10-11 16:46:07 MDT";
public static final long BUILD_UNIX_TIME = 1760222767896L;
public static final String BUILD_DATE = "2025-10-12 09:09:45 MDT";
public static final long BUILD_UNIX_TIME = 1760281785887L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -181,7 +181,7 @@ public final class Constants {
//Max for elevator = 50%
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = -9.5 - 1.5; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_ELEVATOR = -9.5 - 0.5; // TODO: find 2-4 in off the pipe
public static final double HOVERING_POSITION_ELEVATOR = -7.5; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = -5; // TODO: find on the pipe
public static final double SCORING_THREE_ELEVATOR = -9.25;
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+2 -1
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@@ -7,6 +7,7 @@ package frc4388.robot.subsystems.swerve;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -76,7 +77,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// DoubleSupplier a = () -> 1.d;
AutoBuilder.configure(
() -> {
return getPose2d();
return io.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(initalPose2d);
}, // Robot pose supplier
this::setOdoPose, // Method to reset odometry (will be called if your auto has a starting
// pose)
src/main/java/frc4388/robot/subsystems/swerve/SwerveIO.java
+3
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@@ -1,6 +1,7 @@
package frc4388.robot.subsystems.swerve;
import java.util.List;
import java.util.Optional;
import org.littletonrobotics.junction.AutoLog;
@@ -30,4 +31,6 @@ public interface SwerveIO {
public default void addVisionMeasurement(List<PoseObservation> poses) {}
public default void updateInputs(SwerveState state) {}
public default Optional<Pose2d> samplePoseAt(double time) {return Optional.empty();}
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveReal.java
+7
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@@ -1,6 +1,7 @@
package frc4388.robot.subsystems.swerve;
import java.util.List;
import java.util.Optional;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -10,6 +11,7 @@ import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveModule;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.geometry.Pose2d;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
@@ -53,6 +55,11 @@ public class SwerveReal implements SwerveIO {
}
}
@Override
public Optional<Pose2d> samplePoseAt(double time) {
return swerveDriveTrain.samplePoseAt(time);
}
@Override
public void addVisionMeasurement(List<PoseObservation> poses) {
for(PoseObservation pose : poses) {