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Attempt to calibrate

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This commit is contained in:
Zach Wilke
2025-09-30 17:51:59 -06:00
parent 141a9eebc1
commit d437461ec4
6 changed files with 30 additions and 29 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -15
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@@ -79,12 +79,12 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera);// m_robotMap.rightCamera);
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
@@ -347,7 +347,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
@@ -388,8 +388,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -417,8 +417,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
@@ -437,8 +437,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -458,8 +458,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -735,7 +735,7 @@ public class RobotContainer {
.onTrue(thrustIntake.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, reefLidar));
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
// ? /* Operator Buttons */
@@ -748,10 +748,10 @@ public class RobotContainer {
// Button box
new JoystickButton(getButtonBox(), ButtonBox.Five)
.onTrue(AprilLidarAlignL4LeftSemiAuto);
.onTrue(AprilLidarAlignL4LeftFullAuto);
new JoystickButton(getButtonBox(), ButtonBox.One)
.onTrue(AprilLidarAlignL4RightSemiAuto);
.onTrue(AprilLidarAlignL4RightFullAuto);
new JoystickButton(getButtonBox(), ButtonBox.Six)
.onTrue(AprilLidarAlignL3Left);
@@ -813,7 +813,7 @@ public class RobotContainer {
.onTrue(AprilLidarAlignL4LeftFullAuto);
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4RightSemiAuto);
.onTrue(AprilLidarAlignL4RightFullAuto);
new Trigger(() -> getDeadbandedOperatorController().getLeftBumperButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL3Left);
src/main/java/frc4388/robot/RobotMap.java
+4 -4
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@@ -45,7 +45,7 @@ public class RobotMap {
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public final VisionIO leftCamera;
// public final VisionIO rightCamera;
public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -67,10 +67,10 @@ public class RobotMap {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
@@ -126,7 +126,7 @@ public class RobotMap {
// break;
default:
leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
reefLidar = new LidarIO() {};
reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 176;
public static final String GIT_SHA = "17239b8920efd45bc5a3b6a098baf4e5509fb558";
public static final String GIT_DATE = "2025-09-13 11:20:40 MDT";
public static final int GIT_REVISION = 177;
public static final String GIT_SHA = "141a9eebc14b755ea26b8215c3242834b4ceccbf";
public static final String GIT_DATE = "2025-09-13 14:26:35 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-09-13 14:19:44 MDT";
public static final long BUILD_UNIX_TIME = 1757794784689L;
public static final String BUILD_DATE = "2025-09-30 17:32:30 MDT";
public static final long BUILD_UNIX_TIME = 1759275150367L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+3 -3
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@@ -80,7 +80,7 @@ public final class Constants {
public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6);
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP;
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP + Units.inchesToMeters(-6);
// public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
@@ -114,8 +114,8 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), Units.inchesToMeters(8.75+3), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-15.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(0), -Units.inchesToMeters(0), Units.inchesToMeters(0)), new Rotation3d(0,0.0,0));
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), Units.inchesToMeters(8.75+6), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-15.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), -Units.inchesToMeters(8.75-3), Units.inchesToMeters(9)), new Rotation3d(0,0.0,15.0 * Math.PI / 180));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+1 -1
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@@ -277,7 +277,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
.withVelocityY(0)
.withTargetDirection(Rotation2d.fromDegrees(angle)));
if (Math.abs(angle - getGyroAngle()) < 5.0) {
if (Math.abs(angle - getGyroAngle()) < 2.0) {
return true;
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+2 -1
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@@ -98,9 +98,10 @@ public final class SwerveDriveConstants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
// -0.502686 -0.426025
//
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625 - (0.502686 - 0.426025));
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625 - (0.502686 - 0.426025) -(3.002686 - 2.629395));
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;