Team_2648/2025_Robot_Code
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Team 2648 2025-04-03 19:59:58 -04:00
parent a391cc7910
commit 3dcbac25cc
7 changed files with 34 additions and 34 deletions
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8
src/main/deploy/pathplanner/paths/30 Right to HP.path
View File

@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 1.1987704918032787, "x": 1.0549180327868852,
"y": 7.189754098360656 "y": 7.285655737704918
}, },
"prevControl": { "prevControl": {
"x": 2.055234532899169, "x": 1.9113820738827756,
"y": 6.243135947675724 "y": 6.339037587019986
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

20
src/main/deploy/pathplanner/paths/HP to 330 Right.path
View File

@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 1.1987704918032787, "x": 1.0549180327868852,
"y": 7.189754098360656 "y": 7.285655737704918
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.490979395912868, "x": 2.3471269368964744,
"y": 6.964368824388053 "y": 7.060270463732315
}, },
"isLocked": false, "isLocked": false,
"linkedName": "HP Left Position" "linkedName": "HP Left Position"
}, },
{ {
"anchor": { "anchor": {
"x": 3.6202868852459016, "x": 3.65625,
"y": 5.031967213114754 "y": 5.05594262295082
}, },
"prevControl": { "prevControl": {
"x": 3.304747501684258, "x": 3.3407106164383564,
"y": 5.557866185717494 "y": 5.581841595553559
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -46,7 +46,7 @@
], ],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.5, "maxVelocity": 3.5,
"maxAcceleration": 1.75, "maxAcceleration": 1.25,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0, "maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@ -62,5 +62,5 @@
"velocity": 0, "velocity": 0,
"rotation": -53.97262661489646 "rotation": -53.97262661489646
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

8
src/main/deploy/pathplanner/paths/HP to K.path
View File

@ -3,13 +3,13 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 1.1987704918032787, "x": 1.0549180327868852,
"y": 7.189754098360656 "y": 7.285655737704918
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 1.7142418032786886, "x": 1.5703893442622952,
"y": 6.638319672131147 "y": 6.734221311475409
}, },
"isLocked": false, "isLocked": false,
"linkedName": "HP Left Position" "linkedName": "HP Left Position"

16
src/main/deploy/pathplanner/paths/L Backup.path
View File

@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 3.6202868852459016, "x": 3.65625,
"y": 5.031967213114754 "y": 5.05594262295082
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 3.4877871502451065, "x": 3.523750264999205,
"y": 5.243966789116026 "y": 5.267942198952092
}, },
"isLocked": false, "isLocked": false,
"linkedName": "L" "linkedName": "L"
}, },
{ {
"anchor": { "anchor": {
"x": 1.1987704918032787, "x": 1.0549180327868852,
"y": 7.189754098360656 "y": 7.285655737704918
}, },
"prevControl": { "prevControl": {
"x": 1.4025614754098363, "x": 1.258709016393443,
"y": 6.914036885245903 "y": 7.009938524590164
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

4
src/main/deploy/pathplanner/paths/Start to 30 Right.path
View File

@ -46,7 +46,7 @@
], ],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.5, "maxVelocity": 3.5,
"maxAcceleration": 1.75, "maxAcceleration": 1.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0, "maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@ -62,5 +62,5 @@
"velocity": 0, "velocity": 0,
"rotation": -90.0 "rotation": -90.0
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

8
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -112,7 +112,7 @@ public class Drivetrain extends SubsystemBase {
}, },
new Pose2d(), new Pose2d(),
VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)), VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)),
VecBuilder.fill(1, 1, Units.degreesToRadians(360)) VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360))
); );
pidHeading = new ProfiledPIDController(AutoConstants.kAlignPThetaController, 0, 0, AutoConstants.kAlignThetaControllerConstraints); pidHeading = new ProfiledPIDController(AutoConstants.kAlignPThetaController, 0, 0, AutoConstants.kAlignThetaControllerConstraints);
@ -177,11 +177,11 @@ public class Drivetrain extends SubsystemBase {
gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees()); gyroBuffer.addSample(Timer.getFPGATimestamp(), m_estimator.getEstimatedPosition().getRotation().getDegrees());
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.10, 0.10, Units.degreesToRadians(360)));
if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){ if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
if(vision.getOrangeDist() < 60){ if(vision.getOrangeDist() < 60){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
} }
// if the detected tags match your alliances reef tags use their pose estimates // if the detected tags match your alliances reef tags use their pose estimates
@ -199,7 +199,7 @@ public class Drivetrain extends SubsystemBase {
if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){ if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
if(vision.getBlackDist() < 60){ if(vision.getBlackDist() < 60){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
} }
if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){ if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){

4
src/main/java/frc/robot/subsystems/Manipulator.java
View File

@ -84,8 +84,8 @@ public class Manipulator extends SubsystemBase {
*/ */
public Command runUntilCollected(DoubleSupplier speed) { public Command runUntilCollected(DoubleSupplier speed) {
return run(() -> { return run(() -> {
manipulatorMotor.set( manipulatorMotor.setVoltage(
speed.getAsDouble() speed.getAsDouble()*12
); );
indexerMotor.set(1); indexerMotor.set(1);