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Swerve calibration

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This commit is contained in:
Michael Mikovsky
2025-03-06 19:55:26 -07:00
parent 85965a892a
commit 5ae62c89e5
6 changed files with 112 additions and 43 deletions
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src/main/java/frc4388/robot/Constants.java
+12 -8
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@@ -113,7 +113,7 @@ public final class Constants {
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.22705078125+0.5);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
@@ -121,7 +121,7 @@ public final class Constants {
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.07666015625);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
@@ -129,7 +129,7 @@ public final class Constants {
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.37646484375);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
@@ -137,7 +137,7 @@ public final class Constants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.219970703125+0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
@@ -287,8 +287,12 @@ public final class Constants {
}
public static final class LiDARConstants {
public static final int REEF_LIDAR_DIO_CHANNEL = 7;
public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
public static final int HUMAN_PLAYER_STATION_DISTANCE = 25;
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_DIO_CHANNEL = 7;
public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000;
}
@@ -331,7 +335,7 @@ public final class Constants {
// public static final int L3_DRIVE_TIME = 500;
public static final int L2_DRIVE_TIME = 250; //Milliseconds
public static final int ALGAE_DRIVE_TIME = 500;
public static final double STOP_VELOCITY = 0.25;
public static final double STOP_VELOCITY = 0.0;
}
public static final class VisionConstants {
@@ -394,8 +398,8 @@ public final class Constants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 0;
public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 999;
public static final double SAFETY_ENDEFFECTOR_MAX_TORQUE = 75;
public static final double SAFETY_ENDEFFECTOR_MIN_VELOCITY = 20;
// public static final int BASIN_LIMIT_SWITCH = 8; // TODO: FIND