working on pathplanner

src/main/deploy/pathplanner/autos/fein.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "fein"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/fein.path

@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.600204918039607,
+        "y": 6.374590163938041
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.600204918032786,
+        "y": 7.573360655737705
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.459426229508197,
+        "y": 5.978995901639344
+      },
+      "prevControl": {
+        "x": 5.370491803278689,
+        "y": 5.978995901639344
+      },
+      "nextControl": {
+        "x": 2.995158619919281,
+        "y": 5.978995901639344
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.6543032786885246,
+        "y": 6.254713114754098
+      },
+      "prevControl": {
+        "x": 2.613319672131147,
+        "y": 6.278688524590164
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/RobotContainer.java

@@ -125,7 +125,7 @@ public class RobotContainer {
 
 		manipulator.setDefaultCommand(
 			manipulator.runUntilCollected(
-				() -> 0
+				() -> 0.0
 			)
 		);
 
@@ -136,11 +136,19 @@ public class RobotContainer {
 		);
 
 		driver.rightTrigger().whileTrue(
-			manipulator.runManipulator(() -> 1, true)
+			manipulator.runManipulator(() -> 0.35, true)
 		);
 
 		driver.leftTrigger().whileTrue( 
-			manipulator.runUntilCollected(() -> 0.75)
+			manipulator.runUntilCollected(() -> 0.35)
+		);
+
+		driver.leftBumper().whileTrue(
+			manipulator.runUntilCollected(() -> 0.5)
+		);
+
+		driver.rightBumper().whileTrue(
+			manipulator.runManipulator(() -> 1, false)
 		);
 
 		driver.start().and(driver.back()).onTrue(
@@ -154,6 +162,7 @@ public class RobotContainer {
 
 		driver.povLeft().whileTrue(climberRollers.runRoller(0.5));
 		driver.povRight().whileTrue(climberRollers.runRoller(-0.5));
+		driver.a().whileTrue(manipulator.runManipulator(() -> 0.5, false));
 		
 		//Operator inputs
 		operator.povUp().onTrue(
@@ -274,6 +283,9 @@ public class RobotContainer {
 
 		sensorTab.addDouble("manipulator cg position", manipulatorPivot::getCGPosition);
 
+		sensorTab.addDouble("dt distance", drivetrain::driveDistance);
+
+
 
  	}
 

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
 public class DrivetrainConstants {
     // Driving Parameters - Note that these are not the maximum capable speeds of
     // the robot, rather the allowed maximum speeds
-    public static final double kMaxSpeedMetersPerSecond = 4.8;
+    public static final double kMaxSpeedMetersPerSecond = 5.5;
     public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
 
     // Chassis configuration

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -41,17 +41,19 @@ public class ElevatorConstants {
 
     public static final double kCoralIntakePosition = 0;
     public static final double kL1Position = 0;
-    public static final double kL2Position = 14.5;
+    public static final double kL2Position = 8;
-    public static final double kL3Position = 29.0;
+    public static final double kL3Position = 25.0;
-    public static final double kL4Position = 49.0;
+    public static final double kL4Position = 50.5;
     public static final double kL4TransitionPosition = 40.0;
-    public static final double kL2AlgaePosition = 22.0;
+    public static final double kL2AlgaePosition = 21.0;
     public static final double kL3AlgaePosition = 39.0;
     public static final double kProcessorPosition = 4.0;
     /**The position of the top of the elevator brace */
     public static final double kBracePosition = 0;
     public static final double kMaxHeight = 51.0; //actual is 51
 
+    public static final double kVoltageLimit = 7;
+
     // 1, 7, 10 are the defaults for these, change as necessary
     public static final double kSysIDRampRate = .25;
     public static final double kSysIDStepVolts = 3;

src/main/java/frc/robot/constants/ManipulatorPivotConstants.java

@@ -34,12 +34,12 @@ public class ManipulatorPivotConstants {
     public static final double kMaxAcceleration = Units.degreesToRadians(1000.0); // degrees per second^2 calculated max = 2100
     public static final double kMaxVelocity = Units.degreesToRadians(100.0); // degrees per second calculated max = 168
 
-    public static final double kEncoderOffset = 0.781;
+    public static final double kEncoderOffset = 0.780;
 
     public static final double kCoralIntakePosition = Units.degreesToRadians(175.0);
     public static final double kL1Position = Units.degreesToRadians(0.0);
-    public static final double kL2Position = Units.degreesToRadians(60.0);
+    public static final double kL2Position = Units.degreesToRadians(22.0);
-    public static final double kL3Position = Units.degreesToRadians(60.0);
+    public static final double kL3Position = Units.degreesToRadians(22.0);
     public static final double kL4Position = Units.degreesToRadians(45.0);
     public static final double kL2AlgaePosition = Units.degreesToRadians(175.0);
     public static final double kL3AlgaePosition = Units.degreesToRadians(175.0);

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -22,7 +22,7 @@ public class ModuleConstants {
     public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
     // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15
     // teeth on the bevel pinion
-    public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
+    public static final double kDrivingMotorReduction = (45.0 * 20) / (kDrivingMotorPinionTeeth * 15);
     public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
         / kDrivingMotorReduction;
 

src/main/java/frc/robot/constants/NeoMotorConstants.java

@@ -1,5 +1,5 @@
 package frc.robot.constants;
 
 public class NeoMotorConstants {
-    public static final double kFreeSpeedRpm = 5676;
+    public static final double kFreeSpeedRpm = 6000; //for kraken not neo
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -281,4 +281,8 @@ public class Drivetrain extends SubsystemBase {
     public void addVisionMeasurement(Pose2d pose, double timestamp){
         m_estimator.addVisionMeasurement(pose, timestamp);
     }
+
+    public double driveDistance(){
+        return m_frontLeft.getTotalDist();
+    }
 }

src/main/java/frc/robot/subsystems/Elevator.java

@@ -76,6 +76,8 @@ public class Elevator extends SubsystemBase {
 
         pidControllerUp.setTolerance(ElevatorConstants.kAllowedError);
 
+        
+
         feedForward = new ElevatorFeedforward(
             ElevatorConstants.kFeedForwardS, 
             ElevatorConstants.kFeedForwardG, 
@@ -141,34 +143,32 @@ public class Elevator extends SubsystemBase {
     public Command maintainPosition() {
 
         return startRun(() -> {
-            System.out.println("maintain position");
+/* 
-
+            pidControllerUp.reset();
+            pidControllerDown.reset();
+            */
         }, 
         () -> {
-            /* 
+/* 
-            if (!pidControllerUp.atSetpoint()) {
+            double upOutput = pidControllerUp.calculate(getEncoderPosition());
-                if(encoder.getPosition()>pidControllerUp.getSetpoint()){
+            double downOutput = pidControllerDown.calculate(getEncoderPosition());
-                    elevatorMotor1.setVoltage(
+
-                        pidControllerUp.calculate(
+            if(pidControllerUp.getSetpoint()>encoder.getPosition()) 
-                            encoder.getPosition()
+                elevatorMotor1.setVoltage( MathUtil.clamp(
-                        ) + feedForward.calculate(0)
+                    upOutput + feedForward.calculate(0), -1, 1)
-                    );
-                }else{
-                    elevatorMotor1.setVoltage(
-                        pidControllerDown.calculate(
-                            encoder.getPosition()
-                        ) + feedForward.calculate(0)
-                    );
-                }
-            } else {
-                elevatorMotor1.setVoltage(
-                    feedForward.calculate(0)
                 );
-            }*/
+            else{
+                elevatorMotor1.setVoltage(
+                    MathUtil.clamp(
+                    downOutput + feedForward.calculate(0), -1, 1)
+                );
+            } 
+            */
 
             elevatorMotor1.setVoltage(
-                feedForward.calculate(0)
+                    feedForward.calculate(0)
-            );
+                );
+
         });
         
     }
@@ -181,33 +181,62 @@ public class Elevator extends SubsystemBase {
      * @return Sets motor voltage to achieve the target destination
      */
     public Command goToSetpoint(DoubleSupplier setpoint) {
-
+            
-        return startRun(() -> {
+        if (setpoint.getAsDouble() == 0) {
+            return startRun(() -> {
         
-        pidControllerUp.reset();
+                pidControllerUp.reset();
-        pidControllerDown.reset();
+                pidControllerDown.reset();
-        pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
-        pidControllerDown.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
-
+                
-
+                }, 
-        System.out.println("go to setpoint");
+                () -> {
-        }, 
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
-        () -> {
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
-            double upOutput = pidControllerUp.calculate(getEncoderPosition());
+        
-            double downOutput = pidControllerDown.calculate(getEncoderPosition());
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
-
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
-            if(setpoint.getAsDouble()>encoder.getPosition())
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimit * -1, ElevatorConstants.kVoltageLimit)
-                elevatorMotor1.setVoltage(
+                        );
-                    upOutput + feedForward.calculate(0)
+                    else{
-                );
+                        elevatorMotor1.setVoltage(
-            else{
+                            MathUtil.clamp(
-                elevatorMotor1.setVoltage(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimit * -1, ElevatorConstants.kVoltageLimit)
-                    downOutput + feedForward.calculate(0)
+                        );
-                );
+                    }
-            }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint())
+                    .andThen(runManualElevator(() -> -.1)
+                    .until(() -> encoder.getPosition() == 0));
+
+        } else {
+            return startRun(() -> {
+        
+                pidControllerUp.reset();
+                pidControllerDown.reset();
+                pidControllerUp.setSetpoint(setpoint.getAsDouble());
+                pidControllerDown.setSetpoint(setpoint.getAsDouble());
+        
+                },
+                () -> {
+                    double upOutput = pidControllerUp.calculate(getEncoderPosition());
+                    double downOutput = pidControllerDown.calculate(getEncoderPosition());
+        
+                    if(setpoint.getAsDouble()>encoder.getPosition()) 
+                        elevatorMotor1.setVoltage( MathUtil.clamp(
+                            upOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimit * -1, ElevatorConstants.kVoltageLimit)
+                        );
+                    else{
+                        elevatorMotor1.setVoltage(
+                            MathUtil.clamp(
+                            downOutput + feedForward.calculate(0), ElevatorConstants.kVoltageLimit * -1, ElevatorConstants.kVoltageLimit)
+                        );
+                    }
+                
+                }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
+        }
         
-        }).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint());
-  
             
             /*
             elevatorMotor1.setVoltage(

src/main/java/frc/robot/subsystems/MAXSwerveModule.java

@@ -138,4 +138,8 @@ public class MAXSwerveModule {
     public void resetEncoders() {
         m_drive.setPosition(0);
     }
+
+    public double getTotalDist(){
+        return m_drive.getPosition().getValueAsDouble();
+    }
 }