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Greatly Improved auto alignment.

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C4llSiqn
2025-03-07 21:46:25 -07:00
parent 5ae62c89e5
commit 63808a652e
6 changed files with 55 additions and 32 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -4
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@@ -193,7 +193,7 @@ public final class Constants {
.withKS(0).withKV(0.124);
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(5, 0.2, 0.1); // TODO: TEST
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(2.5, 0.2, 1);
}
public static final class Configurations {
@@ -314,6 +314,8 @@ public final class Constants {
public static final double MIN_XY_PID_OUTPUT = 0.0;
public static final double MIN_ROT_PID_OUTPUT = 0.0;
public static final double VELOCITY_THRESHHOLD = 0.005;
// X is tangent to reef side
// Y is normal to reef side
@@ -324,10 +326,10 @@ public final class Constants {
public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5);
public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15);
public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5);
public static final double L2_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5);
public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
@@ -343,7 +345,7 @@ public final class Constants {
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547+(1*-1)), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters