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End of 2nd day utah

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C4llSiqn
2025-03-15 08:51:50 -06:00
parent 9a159fae29
commit 761c8ff912
3 changed files with 23 additions and 20 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -3
View File
@@ -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);
src/main/java/frc4388/robot/RobotContainer.java
+2 -2
View File
@@ -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()));