From 761c8ff912d9dddce7f3fb6e2ba8796688a5beb9 Mon Sep 17 00:00:00 2001 From: C4llSiqn <83995467+C4llSqin@users.noreply.github.com> Date: Sat, 15 Mar 2025 08:51:50 -0600 Subject: [PATCH] End of 2nd day utah --- src/main/java/frc4388/robot/Constants.java | 8 +++-- .../java/frc4388/robot/RobotContainer.java | 4 +-- src/main/java/frc4388/utility/Trim.java | 31 ++++++++++--------- 3 files changed, 23 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 546e1b4..f44d1d1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -305,6 +305,7 @@ public final class Constants { // 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); + // public static final Trim Y_OFFSET_TRIM = new Trim("Y Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 1.5); public static final Trim Y_OFFSET_TRIM = new Trim("Y Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.5, 0); public static final Trim ELEVATOR_OFFSET_TRIM = new Trim("Elevator Offset Trim", -ElevatorConstants.MAX_POSITION_ELEVATOR, ElevatorConstants.MAX_POSITION_ELEVATOR, 1, 0); public static final Trim ARM_OFFSET_TRIM = new Trim("ARM Offset Trim", -ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, 1, 0); @@ -319,14 +320,15 @@ public final class Constants { // X is tangent to reef side // Y is normal to reef side - public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // This is from the field - public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16); + public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field + public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1); public static final double L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(15); public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5.5); + // public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(4.5); 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(5); + public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(5+1); 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(0.5); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 0e97233..1b9eb45 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -511,10 +511,10 @@ public class RobotContainer { // While Left Trigger Pressed: Trims new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) - .onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp())); + .onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown())); new Trigger(() -> getDeadbandedDriverController().getPOV() == 180 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) - .onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown())); + .onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp())); new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) .onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp())); diff --git a/src/main/java/frc4388/utility/Trim.java b/src/main/java/frc4388/utility/Trim.java index 7a9d017..9b06575 100644 --- a/src/main/java/frc4388/utility/Trim.java +++ b/src/main/java/frc4388/utility/Trim.java @@ -81,21 +81,22 @@ public class Trim { } public boolean load() { - try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) { - double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8)); - currentValue = fileValue; - clampModify(); - modified = false; - if (fileValue != currentValue) { - System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping..."); - modified = true; - } - return true; - } catch (Exception e) { - // e.printStackTrace(); - System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value..."); - return false; - } + // try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) { + // double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8)); + // currentValue = fileValue; + // clampModify(); + // modified = false; + // if (fileValue != currentValue) { + // System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping..."); + // modified = true; + // } + // return true; + // } catch (Exception e) { + // // e.printStackTrace(); + // System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value..."); + // return false; + // } + return false; } public void dump() {