Team_2648/2025_Robot_Code
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pre champs changes

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This commit is contained in:
Tylr-J42 2025-04-15 02:14:49 -04:00
parent dd26ff6de4
commit 4ada896603
4 changed files with 61 additions and 5 deletions
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8
src/main/deploy/pathplanner/paths/HP to K.path
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@ -8,8 +8,8 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 1.7741803278688524, "x": 2.058518835616438,
"y": 6.530430327868851 "y": 6.624443493150685
}, },
"isLocked": false, "isLocked": false,
"linkedName": "HP Left Position" "linkedName": "HP Left Position"
@ -20,8 +20,8 @@
"y": 5.211782786885246 "y": 5.211782786885246
}, },
"prevControl": { "prevControl": {
"x": 3.2246926229508195, "x": 2.975085616438356,
"y": 6.230737704918033 "y": 6.023416095890411
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

54
src/main/deploy/pathplanner/paths/New Path.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.756421232876712,
"y": 5.227054794520548
},
"prevControl": {
"x": 2.756421232876712,
"y": 5.227054794520548
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.5,
"maxAcceleration": 1.75,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -59.18537788806707
},
"reversed": false,
"folder": "Left Paths",
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

2
src/main/java/frc/robot/constants/VisionConstants.java
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@ -85,6 +85,6 @@ public class VisionConstants {
{5.322, 2.511}//22 {5.322, 2.511}//22
}; };
public static final double latencyFudge = 0.03; public static final double latencyFudge = 0.0;
} }

2
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -204,6 +204,7 @@ public class Drivetrain extends SubsystemBase {
Logger.recordOutput("orange dist", vision.getOrangeDist()); Logger.recordOutput("orange dist", vision.getOrangeDist());
Logger.recordOutput("orange detected", vision.getOrangeTagDetected()); Logger.recordOutput("orange detected", vision.getOrangeTagDetected());
Logger.recordOutput("orange tag", vision.getOrangeTagDetected()); Logger.recordOutput("orange tag", vision.getOrangeTagDetected());
Logger.recordOutput("orange FPS", vision.getOrangeFPS());
if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){ if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
@ -230,6 +231,7 @@ public class Drivetrain extends SubsystemBase {
Logger.recordOutput("black dist", vision.getBlackDist()); Logger.recordOutput("black dist", vision.getBlackDist());
Logger.recordOutput("black detected", vision.getBlackTagDetected()); Logger.recordOutput("black detected", vision.getBlackTagDetected());
Logger.recordOutput("black tag", vision.getBlackTagDetected()); Logger.recordOutput("black tag", vision.getBlackTagDetected());
Logger.recordOutput("black FPS", vision.getBlackFPS());
Logger.recordOutput("drive velocity", getVelocity()); Logger.recordOutput("drive velocity", getVelocity());
Logger.recordOutput("closest tag", getClosestTag()); Logger.recordOutput("closest tag", getClosestTag());