From 4d260809d8c5d0adab2add555d93059d2c56bd3f Mon Sep 17 00:00:00 2001 From: Team 2648 Date: Sat, 22 Feb 2025 19:28:38 -0500 Subject: [PATCH] pathplanner directions wrong --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/constants/AutoConstants.java | 6 +++--- src/main/java/frc/robot/constants/DrivetrainConstants.java | 7 +++++++ src/main/java/frc/robot/constants/ModuleConstants.java | 2 +- src/main/java/frc/robot/subsystems/MAXSwerveModule.java | 6 +++--- 5 files changed, 15 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0b30b53..63f5dbc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -285,7 +285,7 @@ public class RobotContainer { sensorTab.addDouble("dt distance", drivetrain::driveDistance); - + //sensorTab.add("odometry", drivetrain::getPose); } diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java index 963f4ed..2e30d65 100644 --- a/src/main/java/frc/robot/constants/AutoConstants.java +++ b/src/main/java/frc/robot/constants/AutoConstants.java @@ -16,9 +16,9 @@ public class AutoConstants { public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; - public static final double kPXController = 1; - public static final double kPYController = 1; - public static final double kPThetaController = 1; + public static final double kPXController = 15; + public static final double kPYController = 15; + public static final double kPThetaController = 5; // Constraint for the motion profiled robot angle controller public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints( diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java index 7d57c66..fb5fe68 100644 --- a/src/main/java/frc/robot/constants/DrivetrainConstants.java +++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java @@ -22,10 +22,17 @@ public class DrivetrainConstants { 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; public static final double kFrontRightChassisAngularOffset = -Math.PI / 2; public static final double kBackLeftChassisAngularOffset = Math.PI / 2; public static final double kBackRightChassisAngularOffset = 0; +*/ + + public static final double kFrontLeftChassisAngularOffset = 0; + public static final double kFrontRightChassisAngularOffset = Math.PI / 2; + public static final double kBackLeftChassisAngularOffset = -Math.PI / 2; + public static final double kBackRightChassisAngularOffset = Math.PI; // 1, 7, 10 is the default for these three values public static final double kSysIDDrivingRampRate = 1; diff --git a/src/main/java/frc/robot/constants/ModuleConstants.java b/src/main/java/frc/robot/constants/ModuleConstants.java index d52fff7..fdb54aa 100644 --- a/src/main/java/frc/robot/constants/ModuleConstants.java +++ b/src/main/java/frc/robot/constants/ModuleConstants.java @@ -47,7 +47,7 @@ public class ModuleConstants { public static final IdleMode kTurnIdleMode = IdleMode.kBrake; - public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive; + public static final InvertedValue kDriveInversionState = InvertedValue.CounterClockwise_Positive; public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake; // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM diff --git a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java index b88bc3a..a787c51 100644 --- a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java +++ b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java @@ -74,7 +74,7 @@ public class MAXSwerveModule { public SwerveModuleState getState() { // Apply chassis angular offset to the encoder position to get the position // relative to the chassis. - return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble(), + return new SwerveModuleState(m_drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset)); } @@ -86,7 +86,7 @@ public class MAXSwerveModule { public SwerveModulePosition getPosition() { // Apply chassis angular offset to the encoder position to get the position // relative to the chassis. - return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble(), + return new SwerveModulePosition(m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, new Rotation2d(m_turningEncoder.getPosition() - m_chassisAngularOffset)); } @@ -140,6 +140,6 @@ public class MAXSwerveModule { } public double getTotalDist(){ - return m_drive.getPosition().getValueAsDouble(); + return m_drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters; } }