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Improve lidar align accuracy

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This commit is contained in:
Michael Mikovsky
2025-02-01 15:52:06 -07:00
parent e379794da1
commit 7fa93e6892
7 changed files with 71 additions and 21 deletions
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src/main/java/frc4388/robot/Constants.java
+6 -5
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@@ -250,8 +250,8 @@ public final class Constants {
public static final class Configurations {
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
public static final double NEUTRAL_DEADBAND = 0.04;
// POWER! (limiting)
@@ -283,7 +283,7 @@ public final class Constants {
// new ClosedLoopRampsConfigs()
// .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
);
private static final double SLIP_CURRENT = 100; // TODO: Tune???
public static final double SLIP_CURRENT = 60; // TODO: Tune???
}
// No mans land
@@ -355,8 +355,9 @@ public final class Constants {
public static final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = .2794
;
// public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(9.5);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5);
;;;;;;;;;;;;;;;;;;;;;;;;;;;;
// public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // Positive is Right
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(20);