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functional pathplanner... needs autos.

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This commit is contained in:
C4llSiqn
2025-01-17 16:59:32 -07:00
parent 1bd3c12327
commit dd033d0768
3 changed files with 10 additions and 9 deletions
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src/main/deploy/pathplanner/paths/Example Path.path
+7 -7
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@@ -3,13 +3,13 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 2.780674342105263, "x": 2.415049342105263,
"y": 5.112253289473684 "y": 4.785115131578947
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.7421875, "x": 2.905756578947368,
"y": 6.016694078947369 "y": 4.794736842105262
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
@@ -20,8 +20,8 @@
"y": 5.862746710526316 "y": 5.862746710526316
}, },
"prevControl": { "prevControl": {
"x": 3.5794407894736837, "x": 3.0693256578947365,
"y": 5.862746710526316 "y": 5.872368421052631
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -48,7 +48,7 @@
"folder": null, "folder": null,
"idealStartingState": { "idealStartingState": {
"velocity": 0, "velocity": 0,
"rotation": 132.26189909327812 "rotation": -2.4366482468102095
}, },
"useDefaultConstraints": true "useDefaultConstraints": true
} }
src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -103,7 +103,8 @@ public final class Constants {
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, 1.d, 10);
private static final class ModuleSpecificConstants { private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125); private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true; private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true; private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -74,7 +74,7 @@ public class SwerveDrive extends Subsystem {
AutoBuilder.configure( AutoBuilder.configure(
() -> { () -> {
var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()); var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1)); // pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;//getRotation().times(-1) return pose;//getRotation().times(-1)
}, // Robot pose supplier }, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose) swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)