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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/subsystems/Lidar.java
+4 -4
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@@ -7,7 +7,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
import frc4388.robot.Constants.LiDARConstants;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Status.ReportLevel;
@@ -16,7 +16,7 @@ import frc4388.utility.Status.ReportLevel;
public class Lidar extends Subsystem {
private double distance = -1;
Counter LidarPWM = new Counter(AutoConstants.LIDAR_DIO_CHANNEL);
Counter LidarPWM = new Counter(LiDARConstants.LIDAR_DIO_CHANNEL);
public Lidar() {
LidarPWM.setMaxPeriod(1.00); //set the max period that can be measured
@@ -29,7 +29,7 @@ public class Lidar extends Subsystem {
if(LidarPWM.get() < 1)
distance = -1;
else
distance = (LidarPWM.getPeriod() * AutoConstants.SECONDS_TO_MICROS) / AutoConstants.LIDAR_MICROS_TO_CM;
distance = (LidarPWM.getPeriod() * LiDARConstants.SECONDS_TO_MICROS) / LiDARConstants.LIDAR_MICROS_TO_CM;
}
public double getDistance(){
@@ -38,7 +38,7 @@ public class Lidar extends Subsystem {
public boolean withinDistance(){
if(distance == -1) return false;
return distance < AutoConstants.LIDAR_DETECT_DISTANCE;
return distance < LiDARConstants.LIDAR_DETECT_DISTANCE;
}
ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")