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remove autochooser

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This commit is contained in:
Michael Mikovsky
2025-01-28 17:05:10 -07:00
parent 1b9b7ed00c
commit 526cea9e64
6 changed files with 44 additions and 7 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -282,7 +282,7 @@ public final class Constants {
// new ClosedLoopRampsConfigs()
// .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
);
private static final double SLIP_CURRENT = 20; // TODO: Tune???
private static final double SLIP_CURRENT = 100; // TODO: Tune???
}
// No mans land
@@ -343,7 +343,7 @@ public final class Constants {
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
public static final double MIN_ESTIMATION_DISTANCE = 0; // Meters
public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
// Photonvision thing
// The standard deviations of our vision estimated poses, which affect correction rate
src/main/java/frc4388/robot/Robot.java
+2
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@@ -17,6 +17,7 @@ import com.ctre.phoenix6.CANBus.CANBusStatus;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -85,6 +86,7 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
SmartDashboard.putNumber("Time", System.currentTimeMillis());
//System.out.println(m_robotContainer.limelight.isNearSpeaker());
//mled.updateLED();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -131,7 +131,7 @@ public class RobotContainer {
public RobotContainer() {
NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
NamedCommands.registerCommand("april-allign", aprilAlign);
NamedCommands.registerCommand("april-allign", AutoGotoPosition);
NamedCommands.registerCommand("place-coral", placeCoral);
NamedCommands.registerCommand("grab-coral", grabCoral);
@@ -307,10 +307,10 @@ public class RobotContainer {
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
return autoChooser.getSelected().andThen(new InstantCommand(() -> System.err.println("Auto Ded!")));
//return autoChooser.getSelected();
// try{
// // Load the path you want to follow using its name in the GUI
// return new PathPlannerAuto("New Auto");
return new PathPlannerAuto("Red Center Cage");
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return Commands.none();