Team_2648/2025_Robot_Code
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I AM STUPID MAN

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Team 2648 2025-03-21 19:06:45 -04:00
parent 3e6fa986e7
commit c4134ef713
2 changed files with 16 additions and 4 deletions
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12
src/main/java/frc/robot/subsystems/Manipulator.java
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@ -73,6 +73,18 @@ public class Manipulator extends SubsystemBase {
); );
}).unless(() -> !coralBeamBreak.get()) }).unless(() -> !coralBeamBreak.get())
.until(() -> !coralBeamBreak.get()); .until(() -> !coralBeamBreak.get());
/*
return run(() -> {
if(getCoralBeamBreak()) {
manipulatorMotor.set(
speed.getAsDouble()
);
} else {
manipulatorMotor.set(
speed.getAsDouble()
);
}
*/
} }
public Command retractCommand(DoubleSupplier retractSpeed){ public Command retractCommand(DoubleSupplier retractSpeed){

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

@ -84,9 +84,9 @@ public class Vision{
// System.out.println(gyroBuffer.getSample(timestamp)); // System.out.println(gyroBuffer.getSample(timestamp));
double distance2d = Units.inchesToMeters(totalDist) * Math.cos(-Units.degreesToRadians( camPose[1]) + Units.degreesToRadians(ty)); double distance2d = Units.inchesToMeters(totalDist) * Math.cos(-camPose[1] + Units.degreesToRadians(ty));
Rotation2d camToTagRotation = new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180))).plus(Rotation2d.fromRadians(Units.degreesToRadians(camPose[2])).plus(Rotation2d.fromRadians(Units.degreesToRadians(-tx)))); Rotation2d camToTagRotation = new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180))).plus(Rotation2d.fromRadians(camPose[2]).plus(Rotation2d.fromRadians(Units.degreesToRadians(-tx))));
Pose2d tagPose2d = new Pose2d(Units.inchesToMeters(VisionConstants.globalTagCoords[tagID][0]), Pose2d tagPose2d = new Pose2d(Units.inchesToMeters(VisionConstants.globalTagCoords[tagID][0]),
Units.inchesToMeters(VisionConstants.globalTagCoords[tagID][1]), Units.inchesToMeters(VisionConstants.globalTagCoords[tagID][1]),
@ -97,8 +97,8 @@ public class Vision{
.getTranslation(); .getTranslation();
Pose2d robotPose = new Pose2d( Pose2d robotPose = new Pose2d(
fieldToCameraTranslation, fieldToCameraTranslation,
new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180))).plus(new Rotation2d(Units.degreesToRadians( camPose[2])))) new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180))).plus(new Rotation2d(camPose[2])))
.transformBy(new Transform2d(new Pose2d(new Translation2d(Units.inchesToMeters(camPose[3]), Units.inchesToMeters(camPose[4])), new Rotation2d(Units.degreesToRadians(camPose[2]))), Pose2d.kZero)); .transformBy(new Transform2d(new Pose2d(new Translation2d(Units.inchesToMeters(camPose[3]), Units.inchesToMeters(camPose[4])), new Rotation2d(camPose[2])), Pose2d.kZero));
robotPose = new Pose2d(robotPose.getTranslation(), new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180)))); robotPose = new Pose2d(robotPose.getTranslation(), new Rotation2d(Units.degreesToRadians(gyroBuffer.getSample(timestamp).get()+Units.degreesToRadians(180))));