Team4388/2025RidgeScape
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commit for robot swithc

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camera angles

l3 and l4 scoring distances
This commit is contained in:
Zach Wilke
2025-10-11 15:24:47 -06:00
parent 88a4a00c29
commit 4d20c50642
4 changed files with 94 additions and 9 deletions
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src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto
+31
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@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4 Left"
}
},
{
"type": "named",
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 4 to Bottom Feed"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/New New Path.path
+54
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.0769318181818182,
"y": 4.015028409090909
},
"prevControl": null,
"nextControl": {
"x": 1.997888002510365,
"y": 4.015028409090909
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.8618465909090913,
"y": 4.015028409090909
},
"prevControl": {
"x": 2.094034090909091,
"y": 4.015028409090909
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}
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 = 181;
public static final String GIT_SHA = "ba0cfce5774aac2b4e8c86abf532cbc0cac1ee7a";
public static final String GIT_DATE = "2025-10-10 18:51:29 MDT";
public static final int GIT_REVISION = 182;
public static final String GIT_SHA = "88a4a00c29a2e2bdd9c14715807a8fd26499f9cf";
public static final String GIT_DATE = "2025-10-10 20:22:54 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-10-10 20:08:21 MDT";
public static final long BUILD_UNIX_TIME = 1760148501289L;
public static final String BUILD_DATE = "2025-10-11 14:12:35 MDT";
public static final long BUILD_UNIX_TIME = 1760213555484L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+4 -4
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@@ -76,11 +76,11 @@ public final class Constants {
// X is tangent to reef side
// Y is normal to reef side
public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16-2);
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16);
public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6);
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP + Units.inchesToMeters(-4-4);
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP + Units.inchesToMeters(-4-2);
// public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
@@ -114,8 +114,8 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 2), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-19.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 2), Units.inchesToMeters(9)), new Rotation3d(0,0.0,20.0 * Math.PI / 180));
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-16.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75), Units.inchesToMeters(9)), new Rotation3d(0,0.0,22.0 * Math.PI / 180));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters