Team4388/2025RidgeScape
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merge swerve branch

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Connorppeach
2025-01-14 17:28:01 -07:00
parent 27602056df 882acc9b93
commit b7da705c0c
10 changed files with 652 additions and 17 deletions
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src/main/java/frc4388/robot/Constants.java
+36 -2
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@@ -10,6 +10,10 @@ package frc4388.robot;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Rotations;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
@@ -27,6 +31,18 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
@@ -269,7 +285,25 @@ public final class Constants {
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class VisionConstants {
public static final class VisionConstants {
public static final String CAMERA_NAME = "Camera_Module_v1";
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413*0, .2794), new Rotation3d(0,0.52333,Math.PI));
// public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
Arrays.asList(new AprilTag[] {
new AprilTag(1, new Pose3d(
new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
)),
}), 100, 100);
// The standard deviations of our vision estimated poses, which affect correction rate
// (Fake values. Experiment and determine estimation noise on an actual robot.)
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(4, 4, 8);
public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1);
}
public static final class DriveConstants {
@@ -289,4 +323,4 @@ public final class Constants {
public static final double LEFT_AXIS_DEADBAND = 0.1;
}
}
}