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Auto align Consistency improvements

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This commit is contained in:
Michael Mikovsky
2025-02-28 11:46:48 -07:00
parent a063f4b309
commit 90684ffc7b
7 changed files with 85 additions and 139 deletions
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src/main/java/frc4388/robot/Constants.java
+42 -47
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@@ -229,29 +229,7 @@ public final class Constants {
public static final Gains DRIFT_CORRECTION_GAINS = new Gains(2.5, 0, 0.1);
public static final Gains RELATIVE_LOCKED_ANGLE_GAINS = new Gains(5, 0, 0.1); // TODO: TEST
}
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(3,0.01,0.0);
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 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);
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_DIO_CHANNEL = 7;
public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000;
public static final double XY_TOLERANCE = 0.07; // Meters
public static final double ROT_TOLERANCE = 5; // Degrees
// public static final Pose2d targetpos = new Pose2d(new Translation2d(0.3,0), new Rotation2d());
// public static final Pose2d targetpos =
}
public static final class Configurations {
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.
@@ -342,6 +320,48 @@ public final class Constants {
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class LiDARConstants {
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_DIO_CHANNEL = 7;
public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000;
}
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(3,0.01,0.0);
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 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);
public static final double XY_TOLERANCE = 0.07; // Meters
public static final double ROT_TOLERANCE = 5; // Degrees
// 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 L4_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L4_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L3_DISTANCE_PREP = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L3_DISTANCE_SCORE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L2_SCORE_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(1);
public static final double ALGAE_REMOVAL_DISTANCE = Y_SCORING_POSITION_OFFSET + Units.inchesToMeters(3);
public static final int L4_DRIVE_TIME = 250; //Milliseconds
// public static final int L3_DRIVE_TIME = 500;
public static final int L2_DRIVE_TIME = 250; //Milliseconds
public static final int ALGAE_DRIVE_TIME = 500;
}
public static final class VisionConstants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
@@ -360,31 +380,6 @@ 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 = 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(16);
public static final double L4_DISTANCE_1 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L4_DISTANCE_2 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L3_DISTANCE_1 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(6);
public static final double L3_DISTANCE_2 = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(12);
public static final double L2_ALGAE_REMOVAL = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(3);
public static final double L2_SCORE_DISTANCE = VERTICAL_SCORING_POSITION_OFFSET + Units.inchesToMeters(1);
public static final int L4_DRIVE_TIME = 250; //Milliseconds
// public static final int L3_DRIVE_TIME = 500;
public static final int L2_DRIVE_TIME = 250; //Milliseconds
public static final int ALGAE_DRIVE_TIME = 500;
// Test april tag field layout
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(