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Add Drift correction

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This commit is contained in:
C4llSiqn
2025-01-18 11:36:26 -07:00
parent a6a9d7d5c1
commit 453f56cf59
2 changed files with 220 additions and 191 deletions
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src/main/java/frc4388/robot/Constants.java
+13 -5
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@@ -84,7 +84,7 @@ public final class Constants {
public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
public static final int STARTING_GEAR = 0;
// dimensions
// Dimensions
public static final double WIDTH = 18.5; // TODO: validate
public static final double HEIGHT = 18.5; // TODO: validate
public static final double HALF_WIDTH = WIDTH / 2.d;
@@ -101,11 +101,17 @@ 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_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
// Operation
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
public static final boolean DRIFT_CORRECTION_ENABLED = true;
public static final boolean INVERT_X = true;
public static final boolean INVERT_Y = false;
public static final boolean INVERT_ROTATION = false;
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
private static final class ModuleSpecificConstants { //2025
/* private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
@@ -137,9 +143,9 @@ public final class Constants {
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_YPOS = Inches.of(-HALF_HEIGHT);
}
} */
/* private static final class ModuleSpecificConstants { // 2024
private static final class ModuleSpecificConstants { // 2024
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
@@ -171,7 +177,7 @@ public final class Constants {
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_YPOS = Inches.of(-HALF_HEIGHT);
} */
}
public static final class IDs {
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
@@ -219,6 +225,8 @@ public final class Constants {
public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
.withKP(0.1).withKI(0).withKD(0)
.withKS(0).withKV(0.124);
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
}
public static final class AutoConstants {