Team_2648/2025_Robot_Code
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changing a bunch of constants and fixing stuff

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This commit is contained in:
Tylr-J42 2025-01-30 03:49:33 -05:00
parent 34a547026d
commit 3af046f058
12 changed files with 285 additions and 106 deletions
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1
src/main/deploy/pathplanner/navgrid.json Normal file
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File diff suppressed because one or more lines are too long

72
src/main/deploy/pathplanner/paths/300 Right to HP.path Normal file
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@ -0,0 +1,72 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.6061643835666786,
"y": 5.031720890416444
},
"prevControl": null,
"nextControl": {
"x": 3.065239726031196,
"y": 5.647773972598556
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2510679859194649,
"y": 7.0812357195448
},
"prevControl": {
"x": 1.6678510274010594,
"y": 6.6394691780780075
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.498997995991984,
"rotationDegrees": -52.46519085612145
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Score L4",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
},
{
"name": "HP Pickup",
"waypointRelativePos": 0.16666666666666663,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -53.98486432191523
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -59.99999999999999
},
"useDefaultConstraints": true
}

61
src/main/deploy/pathplanner/paths/HP to 300 Left.path Normal file
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@ -0,0 +1,61 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.3072345890410957,
"y": 7.135316780821918
},
"prevControl": null,
"nextControl": {
"x": 2.5994434931506847,
"y": 6.909931506849315
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.026883561643835,
"y": 5.257106164383561
},
"prevControl": {
"x": 3.7113441780821916,
"y": 5.783005136986301
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Score L4",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -59.69923999693802
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -53.97262661489646
},
"useDefaultConstraints": true
}

32
src/main/deploy/pathplanner/settings.json Normal file
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@ -0,0 +1,32 @@
{
"robotWidth": 0.8763,
"robotLength": 0.8763,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 4.0,
"defaultMaxAccel": 4.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 48.35,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.038,
"driveGearing": 4.29,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 65.0,
"wheelCOF": 1.1,
"flModuleX": 0.31115,
"flModuleY": 0.31115,
"frModuleX": 0.31115,
"frModuleY": -0.31115,
"blModuleX": -0.31115,
"blModuleY": 0.31115,
"brModuleX": -0.31115,
"brModuleY": -0.31115,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}

4
src/main/java/frc/robot/constants/AutoConstants.java
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@ -11,8 +11,8 @@ import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
public class AutoConstants {
public static final double kMaxSpeedMetersPerSecond = 3;
public static final double kMaxAccelerationMetersPerSecondSquared = 3;
public static final double kMaxSpeedMetersPerSecond = 4;
public static final double kMaxAccelerationMetersPerSecondSquared = 4;
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;

6
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@ -17,9 +17,9 @@ public class DrivetrainConstants {
public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
// Chassis configuration
public static final double kTrackWidth = Units.inchesToMeters(26.5);
public static final double kTrackWidth = Units.inchesToMeters(24.5);
// Distance between centers of right and left wheels on robot
public static final double kWheelBase = Units.inchesToMeters(26.5);
public static final double kWheelBase = Units.inchesToMeters(24.5);
// Angular offsets of the modules relative to the chassis in radians
public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
@ -48,7 +48,7 @@ public class DrivetrainConstants {
public static final int kFrontRightTurningCanId = 14;
public static final int kRearRightTurningCanId = 16;
public static final boolean kGyroReversed = false;
public static final boolean kGyroReversed = true;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM

6
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -19,7 +19,7 @@ public class ElevatorConstants {
public static final double kEncoderConversionFactor = 0;
public static final int kMotorAmpsMax = 0;
public static final int kMotorAmpsMax = 40;
public static final double kPositionControllerP = 0;
public static final double kPositionControllerI = 0;
@ -30,8 +30,8 @@ public class ElevatorConstants {
public static final double kVelocityControllerD = 0;
public static final double kFeedForwardS = 0;
public static final double kFeedForwardG = 0;
public static final double kFeedForwardV = 0;
public static final double kFeedForwardG = 0.41; // calculated value
public static final double kFeedForwardV = 1.75; // calculated value
public static final double kMaxVelocity = 0;

7
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -17,7 +17,7 @@ public class ManipulatorPivotConstants {
public static final int kArmMotorID = 0;
public static final int kCANcoderID = 0;
public static final int kMotorAmpsMax = 0;
public static final int kMotorAmpsMax = 40;
public static final double kPivotMaxVelocity = 0;
@ -29,6 +29,11 @@ public class ManipulatorPivotConstants {
public static final double kVelocityP = 0;
public static final double kVelocityI = 0;
public static final double kVelocityD = 0;
public static final double kFeedForwardS = 0;
public static final double kFeedForwardG = 0.41; // calculated value
public static final double kFeedForwardV = 0.68; //calculated value
// TODO Is this reasonable?
public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;

5
src/main/java/frc/robot/constants/ModuleConstants.java
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@ -41,7 +41,8 @@ public class ModuleConstants {
public static final double kTurnI = 0;
public static final double kTurnD = 0;
public static final int kDriveMotorStatorCurrentLimit = 120;
public static final int kDriveMotorStatorCurrentLimit = 100;
public static final int kDriveMotorSupplyCurrentLimit = 65;
public static final int kTurnMotorCurrentLimit = 20;
public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
@ -62,7 +63,9 @@ public class ModuleConstants {
kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
kDriveMotorConfig.Inverted = kDriveInversionState;
kDriveMotorConfig.NeutralMode = kDriveIdleMode;

6
src/main/java/frc/robot/subsystems/ManipulatorPivot.java
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@ -58,6 +58,12 @@ public class ManipulatorPivot extends SubsystemBase {
canCoder = new CANcoder(ManipulatorPivotConstants.kCANcoderID);
canCoder.getConfigurator().apply(ManipulatorPivotConstants.canCoderConfig);
feedForward = new ArmFeedforward(
ManipulatorPivotConstants.kFeedForwardS,
ManipulatorPivotConstants.kFeedForwardG,
ManipulatorPivotConstants.kFeedForwardV
);
}
/**

5
src/main/java/frc/robot/subsystems/Vision.java → src/main/java/frc/robot/subsystems/TylerVision.java
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@ -4,9 +4,8 @@ import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Vision extends SubsystemBase{
public class TylerVision{
private DoubleSubscriber cam1GlobalPose;
private DoubleSubscriber cam1ClosestTag;
@ -14,7 +13,7 @@ public class Vision extends SubsystemBase{
private DoubleSubscriber framerate;
public Vision(){
public TylerVision(){
NetworkTableInstance inst = NetworkTableInstance.getDefault();
NetworkTable visionTable = inst.getTable("Fiducial");