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C4llSiqn
2025-01-15 16:32:13 -07:00
parent 036514a478
commit 5f9a38f55d
4 changed files with 21 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+9
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@@ -99,40 +99,49 @@ 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;
// public static final double FORWARD_OFFSET = 270; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
//Front Left
// private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
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;
// private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
// private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.133056640625);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
// private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
//Back Left
// private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.47705078125 + 0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.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;
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
// private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Right
// private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.355224609375 + 0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
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;
// private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
}
src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -155,14 +155,14 @@ public class RobotContainer {
// @ /* Trim Test Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -181,7 +181,7 @@ public class SwerveDrive extends Subsystem {
}
public void stopModules() {
// swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
}
@Override
src/main/java/frc4388/robot/subsystems/Vision.java
+5 -1
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@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.numbers.N1;
@@ -73,6 +74,9 @@ public class Vision extends Subsystem {
@Override
public void periodic() {
var result = camera.getLatestResult();
// var results = camera.getAllUnreadResults();
// if (results.size() == 0) return;
// var result = results.get(results.size()-1);
isTag = result.hasTargets();
// Optional<MultiTargetPNPResult> multitag = result.getMultiTagResult();
@@ -106,7 +110,7 @@ public class Vision extends Subsystem {
}
lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d();
// lastVisionPose.rotateBy(lastVisionPose.getRotation().minus(lastPhysOdomPose.getRotation()));
lastVisionPose.rotateBy(Rotation2d.k180deg);
// lastVisionPose = new Pose2d(
// lastVisionPose.getTranslation(),
// lastPhysOdomPose.getRotation()