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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
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@@ -305,6 +305,7 @@ public final class Constants {
// public static final Gains ROT_GAINS = new Gains(0.05,0,0.0); // 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); 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 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 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); 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 // X is tangent to reef side
// Y is normal 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 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); 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_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(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_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_PREP_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5); public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(0.5);
src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -511,10 +511,10 @@ public class RobotContainer {
// While Left Trigger Pressed: Trims // While Left Trigger Pressed: Trims
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8) 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) 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) new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp())); .onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
src/main/java/frc4388/utility/Trim.java
+15 -14
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@@ -81,22 +81,23 @@ public class Trim {
} }
public boolean load() { public boolean load() {
try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) { // try (FileInputStream stream = new FileInputStream("/home/lvuser/trims/" + trimName)) {
double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8)); // double fileValue = DataUtils.byteArrayToDouble(stream.readNBytes(8));
currentValue = fileValue; // currentValue = fileValue;
clampModify(); // clampModify();
modified = false; // modified = false;
if (fileValue != currentValue) { // 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..."); // 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; // modified = true;
} // }
return true; // return true;
} catch (Exception e) { // } catch (Exception e) {
// e.printStackTrace(); // // e.printStackTrace();
System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value..."); // System.out.println("TRIMS: Unable to read trim file `" + trimName + "`, using current value...");
// return false;
// }
return false; return false;
} }
}
public void dump() { public void dump() {
try (FileOutputStream stream = new FileOutputStream("/home/lvuser/trims/" + trimName)) { try (FileOutputStream stream = new FileOutputStream("/home/lvuser/trims/" + trimName)) {