Team4388/2026KPopRobotHunters
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New shooter model and auto tester

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This commit is contained in:
mimigamin
2026-03-21 13:38:34 -06:00
parent 3c1b94a2d8
commit 75cab187e2
7 changed files with 29 additions and 149 deletions
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src/main/deploy/pathplanner/paths/Shoot driving across.path
+4 -4
View File
@@ -53,11 +53,11 @@
},
"prevControl": {
"x": 1.9337461053582308,
"y": 1.9128436544318115
"y": 1.912843654431812
},
"nextControl": {
"x": 1.9315103048981825,
"y": 1.4128486532604976
"y": 1.4128486532604971
},
"isLocked": false,
"linkedName": null
@@ -81,7 +81,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxVelocity": 0.8,
"maxAcceleration": 10.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -95,7 +95,7 @@
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"velocity": 0.0,
"rotation": 180.0
},
"useDefaultConstraints": false
src/main/deploy/pathplanner/paths/Shoot driving vertical.path
-118
View File
@@ -1,118 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.956,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 2.707930530821583,
"y": 4.031008683647302
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.3,
"y": 4.0
},
"prevControl": {
"x": 1.5499999999999998,
"y": 4.0
},
"nextControl": {
"x": 1.05,
"y": 4.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.9559102564102573,
"y": 4.0
},
"prevControl": {
"x": 2.7118639603594925,
"y": 3.9457652751099213
},
"nextControl": {
"x": 3.199956552461022,
"y": 4.054234724890079
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.3,
"y": 4.0
},
"prevControl": {
"x": 1.5434594129947146,
"y": 4.0568112156556175
},
"nextControl": {
"x": 1.0565405870052855,
"y": 3.9431887843443825
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.0,
"y": 4.0
},
"prevControl": {
"x": 2.7532300973825357,
"y": 3.9599423520140395
},
"nextControl": {
"x": 3.2467699026174643,
"y": 4.040057647985961
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.3,
"y": 4.0
},
"prevControl": {
"x": 1.526511041060335,
"y": 4.105795785727803
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 10.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 180;
public static final String GIT_SHA = "89a1f34a4a4751acadc1509890fed15d6d870930";
public static final String GIT_DATE = "2026-03-20 23:50:03 MDT";
public static final int GIT_REVISION = 181;
public static final String GIT_SHA = "3c1b94a2d86a624a9320493a0240ee552491beca";
public static final String GIT_DATE = "2026-03-21 13:04:40 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-21 13:00:47 MDT";
public static final long BUILD_UNIX_TIME = 1774119647384L;
public static final String BUILD_DATE = "2026-03-21 13:30:10 MDT";
public static final long BUILD_UNIX_TIME = 1774121410165L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+1 -1
View File
@@ -39,7 +39,7 @@ public class ShooterConstants {
public static final ConfigurableDouble POS_OFFSET = new ConfigurableDouble("Positive offset", 8.);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.1);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+2
View File
@@ -141,6 +141,8 @@ public class ShooterReal implements ShooterIO {
// Math.abs(currentLimit.in(Amps)) > current &&
// Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
// ) {
state.motor1TargetVelocity = RotationsPerSecond.of(percentOutput);
state.motor2TargetVelocity = RotationsPerSecond.of(percentOutput);
m_shooter1Motor.set(percentOutput);
m_shooter2Motor.set(percentOutput);
// } else {
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+16 -19
View File
@@ -416,19 +416,20 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// Drive with the robot facing towards a specific position
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
// Get the current speed of the robot
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
// Calculate a point to aim ahead of the actual position.
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
// Calculate the angle between the current position and the lead position
Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
double yDistance = Math.abs(getPose2d().getTranslation().getY() - fieldPos.getY());
if ((chassisSpeeds.vyMetersPerSecond >0 &&getPose2d().getTranslation().getY() >4)||(chassisSpeeds.vyMetersPerSecond <0 &&getPose2d().getTranslation().getY() <4)){
if (Math.abs(chassisSpeeds.vyMetersPerSecond) > 0.2) {
if (TimesNegativeOne.isRed){
robotSpeedYOnly = new Translation2d(-SwerveDriveConstants.FAR_OFFSET.get() * yDistance * (getPose2d().getTranslation().getX()-7.28989525), chassisSpeeds.vyMetersPerSecond);
} else {
robotSpeedYOnly = new Translation2d((getPose2d().getTranslation().getX())* yDistance* SwerveDriveConstants.FAR_OFFSET.get(), chassisSpeeds.vyMetersPerSecond);
}
} }
Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
Pose2d fieldPosLeadLog = new Pose2d(fieldPosLead, new Rotation2d());
Logger.recordOutput("Lead Aim", fieldPosLeadLog);
driveFieldAngle(leftStick, ang);
}
@@ -541,13 +542,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
}
public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
System.out.println("field pos lead: " + fieldPosLead);
Logger.recordOutput("Auto Aim", fieldPosLead);
Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
m_rotationOverrideTarget = fieldPosLead;
m_useRotationOverride = true;
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+1 -2
View File
@@ -73,8 +73,7 @@ public final class SwerveDriveConstants {
public static final boolean INVERT_Y = true;
public static final boolean INVERT_ROTATION = false;
public static ConfigurableDouble distanceTolerence = new ConfigurableDouble("Distance Tolerence", 0.5);
public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05);
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
public static final class ModuleSpecificConstants { //2026