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Add trims and get reef position

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This commit is contained in:
Michael Mikovsky
2025-01-16 19:41:05 -07:00
parent 56f3ccf0c5
commit 9db9d25f5b
6 changed files with 64 additions and 28 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -3
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@@ -52,6 +52,7 @@ import edu.wpi.first.units.measure.Distance;
import frc4388.utility.CanDevice;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
import frc4388.utility.ReefPositionHelper;
import frc4388.utility.Trim;
/**
@@ -103,7 +104,7 @@ public final class Constants {
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
// public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
private static final class ModuleSpecificConstants {
//Front Left
@@ -199,11 +200,14 @@ public final class Constants {
public static final Gains XY_GAINS = new Gains(3,0,0);
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, 0.05, 0);
public static final double XY_TOLERANCE = 0.05;
public static final double ROT_TOLERANCE = 1;
public static final Pose2d targetpos = new Pose2d(new Translation2d(0.3,0), new Rotation2d());
// public static final Pose2d targetpos = new Pose2d(new Translation2d(0.3,0), new Rotation2d());
// public static final Pose2d targetpos =
}
@@ -311,7 +315,9 @@ public final class Constants {
public static final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2025Reefscape.loadAprilTagLayoutField();
public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(13);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5);
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(20);
// Test april tag field layout