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Swerve calibration, L2, Autos

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This commit is contained in:
Michael Mikovsky
2025-03-04 19:46:52 -07:00
parent 6762ed16e6
commit 7dc6105145
7 changed files with 34 additions and 50 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -1
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@@ -90,7 +90,7 @@ public class RobotContainer {
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Lidar m_lidar = new Lidar();
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.basinLimitSwitch, m_robotLED);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.IRIntakeBeam, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -250,6 +250,7 @@ public class RobotContainer {
private Command AprilLidarAlignL2Left = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT),
new LidarAlign(m_robotSwerveDrive, m_lidar),
@@ -265,6 +266,7 @@ public class RobotContainer {
private Command AprilLidarAlignL2Right = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT),
new LidarAlign(m_robotSwerveDrive, m_lidar),