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elevator testing

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This commit is contained in:
Michael Mikovsky
2025-02-15 15:42:17 -07:00
parent 7a2126a2de
commit 7335c8e73b
3 changed files with 11 additions and 11 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
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@@ -237,7 +237,7 @@ public final class Constants {
public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0); public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0);
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_DIO_CHANNEL = 2; public static final int LIDAR_DIO_CHANNEL = 7;
public static final int LIDAR_MICROS_TO_CM = 10; public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000; public static final int SECONDS_TO_MICROS = 1000000;
@@ -343,8 +343,8 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT"; public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT"; public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI)); 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(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI)); 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 = 1; // Meters public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
@@ -405,7 +405,7 @@ public final class Constants {
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR; public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 4-6 off the ground public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 4-6 off the ground
public static final double MAX_POSITION_ELEVATOR = 20 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
public static final double GEAR_RATIO_ENDEFECTOR = 100.0; public static final double GEAR_RATIO_ENDEFECTOR = 100.0;
@@ -415,7 +415,7 @@ public final class Constants {
public static final double COMPLETLY_TOP_ENDEFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR; public static final double COMPLETLY_TOP_ENDEFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs() public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(1) .withKP(.1)
.withKI(0) .withKI(0)
.withKD(0); .withKD(0);
src/main/java/frc4388/robot/subsystems/Elevator.java
+5 -5
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@@ -107,10 +107,10 @@ public class Elevator extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
if (currentState == CoordinationState.Waiting) { // if (currentState == CoordinationState.Waiting) {
periodicWaiting(); // periodicWaiting();
} else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) { // } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
periodicScoring(); // periodicScoring();
} // }
} }
} }
src/main/java/frc4388/utility/ReefPositionHelper.java
+1 -1
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@@ -87,6 +87,6 @@ public class ReefPositionHelper {
return new Pose2d(new Translation2d( return new Pose2d(new Translation2d(
oldTranslation.getX() + Math.cos(rot + Math.PI/2) * xoffset + Math.cos(rot) * yoffset, oldTranslation.getX() + Math.cos(rot + Math.PI/2) * xoffset + Math.cos(rot) * yoffset,
oldTranslation.getY() + Math.sin(rot + Math.PI/2) * xoffset + Math.sin(rot) * yoffset oldTranslation.getY() + Math.sin(rot + Math.PI/2) * xoffset + Math.sin(rot) * yoffset
), oldPose.getRotation()); ), oldPose.getRotation().rotateBy(Rotation2d.k180deg));
} }
} }