Team_2648/2025_Robot_Code
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before mayhem elims

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Team 2648 2025-05-17 13:48:42 -04:00
parent 4386de4d4d
commit d312e125cd
6 changed files with 14 additions and 12 deletions
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8
src/main/deploy/pathplanner/paths/HP to 330 Right.path
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@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 3.6442622950819668,
"y": 5.031967213114754
"x": 3.609900518622585,
"y": 5.005924534374863
},
"prevControl": {
"x": 3.328722911520323,
"y": 5.557866185717494
"x": 3.2943611350609414,
"y": 5.531823506977602
},
"nextControl": null,
"isLocked": false,

8
src/main/deploy/pathplanner/paths/L Backup.path
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@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 3.6442622950819668,
"y": 5.031967213114754
"x": 3.609900518622585,
"y": 5.005924534374863
},
"prevControl": null,
"nextControl": {
"x": 3.5117625600811717,
"y": 5.243966789116026
"x": 3.47740078362179,
"y": 5.217924110376135
},
"isLocked": false,
"linkedName": "L"

2
src/main/java/frc/robot/Robot.java
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@ -7,7 +7,7 @@ package frc.robot;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.Logger;
//import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;

2
src/main/java/frc/robot/RobotContainer.java
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@ -113,7 +113,7 @@ public class RobotContainer {
drivetrain.drive(
() -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
() -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
() -> driver.getRightX(),
() -> true
)
);

2
src/main/java/frc/robot/constants/AutoConstants.java
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@ -16,6 +16,8 @@ public class AutoConstants {
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kMaxSpeedMetersPerSecondAutoAlign = 2.5;
public static final double kPXYController = 3.5;
public static final double kPThetaController = 5;

4
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -362,8 +362,8 @@ public class Drivetrain extends SubsystemBase {
);
double speed = Math.hypot(controlEffort.vxMetersPerSecond, controlEffort.vyMetersPerSecond);
if (speed > AutoConstants.kMaxSpeedMetersPerSecond) {
double mul = AutoConstants.kMaxSpeedMetersPerSecond / speed;
if (speed > AutoConstants.kMaxSpeedMetersPerSecondAutoAlign) {
double mul = AutoConstants.kMaxSpeedMetersPerSecondAutoAlign / speed;
controlEffort.vxMetersPerSecond *= mul;
controlEffort.vyMetersPerSecond *= mul;
}