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Elevator L2 Fix

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This commit is contained in:
Michael Mikovsky
2025-03-03 19:43:36 -07:00
parent 8bea597230
commit 6762ed16e6
3 changed files with 7 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -1
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@@ -329,6 +329,8 @@ public final class Constants {
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
// public static final Gains XY_GAINS = new Gains(3,0.3,0.0);
public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE,0.5, 0);
@@ -353,7 +355,7 @@ public final class Constants {
public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(1);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(2);
@@ -445,6 +447,7 @@ public final class Constants {
public static final double GEAR_RATIO_ENDEFECTOR = -100.0;
public static final double ENDEFECTOR_DRIVE_SLOW = -0.08;
//Max for endefector = 60%
public static final double L2_SCORE_ELEVATOR = -5;
public static final double L2_SCORE_ENDEFFECTOR = -19;
src/main/java/frc4388/robot/subsystems/Elevator.java
+1 -1
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@@ -139,7 +139,7 @@ public class Elevator extends Subsystem {
}
case L2Score: {
PIDPosition(elevatorMotor, ElevatorConstants.HOVERING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(elevatorMotor, ElevatorConstants.L2_SCORE_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.L2_SCORE_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
break;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -1
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@@ -326,7 +326,8 @@ public class SwerveDrive extends Subsystem {
rotTarget += deltaAngle;
}
swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);
swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);// - 0.020);
//back to the ~~future~~ *past*
}
// if(e.isPresent())