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End of practice day, autos are completely function

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This commit is contained in:
Zach Wilke
2025-03-13 20:17:11 -06:00
parent 274249b485
commit 9a159fae29
5 changed files with 10 additions and 8 deletions
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src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path
+2 -2
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@@ -20,7 +20,7 @@
"y": 2.3675
},
"prevControl": {
"x": 2.5831884107032717,
"x": 2.583188410703272,
"y": 1.782750079374932
},
"nextControl": null,
@@ -50,5 +50,5 @@
"velocity": 0,
"rotation": 53.426969021480645
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -290,7 +290,7 @@ public final class Constants {
public static final int REEF_LIDAR_DIO_CHANNEL = 7;
public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
public static final int HUMAN_PLAYER_STATION_DISTANCE = 25;
public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
public static final int LIDAR_MICROS_TO_CM = 10;
src/main/java/frc4388/robot/RobotContainer.java
+5 -3
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@@ -398,7 +398,8 @@ public class RobotContainer {
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, false));
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// NamedCommands.registerCommand("feed-driveback", Commands.none());
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
@@ -537,8 +538,9 @@ public class RobotContainer {
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new LidarAlign(m_robotSwerveDrive, m_reefLidar));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());
src/main/java/frc4388/robot/commands/DriveUntilLiDAR.java
+1 -1
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@@ -40,7 +40,7 @@ public class DriveUntilLiDAR extends Command {
@Override
public void execute() {
swerveDrive.driveFine(leftStick, rightStick, 0.1);
swerveDrive.driveFine(leftStick, rightStick, 0.3);
}
@Override
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -341,7 +341,7 @@ public class SwerveDrive extends Subsystem {
vision.setLastOdomPose(curpose);
setLastOdomSpeed(curpose, lastPose, freq);
if (vision.isTag() || true) {
if (vision.isTag()) {
Pose2d pose = vision.getPose2d();
if (!robotKnowsWhereItIs) {
robotKnowsWhereItIs = true;