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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
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.780674342105263,
"y": 5.112253289473684
"x": 2.415049342105263,
"y": 4.785115131578947
},
"prevControl": null,
"nextControl": {
"x": 2.7421875,
"y": 6.016694078947369
"x": 2.905756578947368,
"y": 4.794736842105262
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 5.862746710526316
},
"prevControl": {
"x": 3.5794407894736837,
"y": 5.862746710526316
"x": 3.0693256578947365,
"y": 5.872368421052631
},
"nextControl": null,
"isLocked": false,
@@ -48,7 +48,7 @@
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 132.26189909327812
"rotation": -2.4366482468102095
},
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/Constants.java
+2 -1
View File
@@ -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);
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 boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
View File
@@ -74,7 +74,7 @@ public class SwerveDrive extends Subsystem {
AutoBuilder.configure(
() -> {
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)
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)