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lidar debugging

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This commit is contained in:
C4llSiqn
2025-01-30 16:32:45 -07:00
parent 42e7896f5f
commit 4afbf1656f
2 changed files with 4 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -237,7 +237,7 @@ public final class Constants {
public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0); public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0);
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_DIO_CHANNEL = 0; public static final int LIDAR_DIO_CHANNEL = 2;
public static final int LIDAR_MICROS_TO_CM = 10; public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000; public static final int SECONDS_TO_MICROS = 1000000;
src/main/java/frc4388/robot/commands/LidarAlign.java
+3 -3
View File
@@ -37,7 +37,7 @@ public class LidarAlign extends Command {
@Override @Override
public void initialize() { public void initialize() {
this.currentFinderTick = 0; this.currentFinderTick = 0;
this.speed = 0.05; // TODO: find good speed for this this.speed = 0.1; // TODO: find good speed for this
this.foundReef = false; this.foundReef = false;
this.headedRight = constructedHeadedRight; this.headedRight = constructedHeadedRight;
} }
@@ -76,10 +76,10 @@ public class LidarAlign extends Command {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
if (foundReef && lidar.withinDistance()) { if (foundReef && lidar.withinDistance()) { // spot on
swerveDrive.stopModules(); swerveDrive.stopModules();
return true; return true;
} else if (foundReef && !lidar.withinDistance()) { } else if (foundReef && !lidar.withinDistance()) { // over shot
speed = speed / 2; speed = speed / 2;
headedRight = !headedRight; headedRight = !headedRight;
currentFinderTick = 0; currentFinderTick = 0;