Team_2648/2025_Robot_Code
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base: Team_2648:83db16794f0aab84892c69db5f743256a4ce40c5
Branches Tags
Team_2648:main
Team_2648:faster_elevator
Team_2648:maybe_fix_field_oriented
Team_2648:brad_elevator_control_rework
Team_2648:kraken_swerve
Team_2648:2025-2-1-setup
...
compare: Team_2648:339bf642a1aa7b8e1f30f2a2e4368b2dd047e99f
Branches Tags
Team_2648:main
Team_2648:faster_elevator
Team_2648:maybe_fix_field_oriented
Team_2648:brad_elevator_control_rework
Team_2648:kraken_swerve
Team_2648:2025-2-1-setup

3 Commits
83db16794f ... 339bf642a1

Author SHA1 Message Date
Team 2648
339bf642a1 post-dcmp code 2025-04-08 17:30:11 -04:00
Team 2648
c75554dfc5 before selectino 2025-04-05 08:23:29 -04:00
Team 2648
e98b3a585e 2 piece worked in match 2025-04-04 11:09:09 -04:00
7 changed files with 40 additions and 40 deletions
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10
src/main/deploy/pathplanner/paths/30 Right to HP.path
View File

@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 1.0549180327868852, "x": 1.2587090163934425,
"y": 7.285655737704918 "y": 7.08186475409836
}, },
"prevControl": { "prevControl": {
"x": 1.9113820738827756, "x": 2.115173057489333,
"y": 6.339037587019986 "y": 6.135246603413428
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -34,7 +34,7 @@
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 5.0, "maxVelocity": 5.0,
"maxAcceleration": 2.5, "maxAcceleration": 2.0,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0, "maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,

18
src/main/deploy/pathplanner/paths/HP to 330 Right.path
View File

@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 1.0549180327868852, "x": 1.2587090163934425,
"y": 7.285655737704918 "y": 7.08186475409836
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.3471269368964744, "x": 2.550917920503032,
"y": 7.060270463732315 "y": 6.856479480125757
}, },
"isLocked": false, "isLocked": false,
"linkedName": "HP Left Position" "linkedName": "HP Left Position"
}, },
{ {
"anchor": { "anchor": {
"x": 3.5723360655737704, "x": 3.6442622950819668,
"y": 4.996004098360656 "y": 5.031967213114754
}, },
"prevControl": { "prevControl": {
"x": 3.256796682012127, "x": 3.328722911520323,
"y": 5.521903070963395 "y": 5.557866185717494
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -46,7 +46,7 @@
], ],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.5, "maxVelocity": 3.5,
"maxAcceleration": 1.25, "maxAcceleration": 1.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0, "maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,

8
src/main/deploy/pathplanner/paths/HP to K.path
View File

@ -3,13 +3,13 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 1.0549180327868852, "x": 1.2587090163934425,
"y": 7.285655737704918 "y": 7.08186475409836
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 1.5703893442622952, "x": 1.7741803278688524,
"y": 6.734221311475409 "y": 6.530430327868851
}, },
"isLocked": false, "isLocked": false,
"linkedName": "HP Left Position" "linkedName": "HP Left Position"

16
src/main/deploy/pathplanner/paths/L Backup.path
View File

@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 3.5723360655737704, "x": 3.6442622950819668,
"y": 4.996004098360656 "y": 5.031967213114754
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 3.4398363305729753, "x": 3.5117625600811717,
"y": 5.208003674361928 "y": 5.243966789116026
}, },
"isLocked": false, "isLocked": false,
"linkedName": "L" "linkedName": "L"
}, },
{ {
"anchor": { "anchor": {
"x": 1.0549180327868852, "x": 1.2587090163934425,
"y": 7.285655737704918 "y": 7.08186475409836
}, },
"prevControl": { "prevControl": {
"x": 1.258709016393443, "x": 1.4625000000000001,
"y": 7.009938524590164 "y": 6.8061475409836065
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

4
src/main/java/frc/robot/Robot.java
View File

@ -7,7 +7,7 @@ package frc.robot;
import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.Logger; 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.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter; import org.littletonrobotics.junction.wpilog.WPILOGWriter;
@ -35,7 +35,7 @@ public Robot() {
if (isReal()) { if (isReal()) {
Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs") Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables //Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
} else { } else {
setUseTiming(false); // Run as fast as possible setUseTiming(false); // Run as fast as possible

4
src/main/java/frc/robot/RobotContainer.java
View File

@ -226,8 +226,8 @@ public class RobotContainer {
operator.back().onTrue(elevator.homeCommand()); operator.back().onTrue(elevator.homeCommand());
operator.start().toggleOnTrue( operator.start().toggleOnTrue(
climberPivot.runPivot(() -> -operator.getRightY()*0.5) climberPivot.runPivot(() -> -operator.getRightY())
.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5))); .alongWith(climberRollers.runRoller(() -> operator.getLeftY())));
operator.a().onTrue( operator.a().onTrue(
safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition) safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)

20
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -180,13 +180,13 @@ public class Drivetrain extends SubsystemBase {
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.40, 0.40, Units.degreesToRadians(360)));
if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){ if(vision.getOrangeTagDetected() && vision.getOrangeTagDetected()){
if(vision.getOrangeDist() < 60 && getVelocity() < 2){ if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) < 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
}else if(vision.getOrangeDist() < 100 && getVelocity() < 2){ }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) < 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
}else if(vision.getOrangeDist() < 60 && getVelocity() > 2){ }else if(vision.getOrangeDist() < 60 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.15, 0.15, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
}else if(vision.getOrangeDist() < 100 && getVelocity() > 2){ }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
} }
@ -206,13 +206,13 @@ public class Drivetrain extends SubsystemBase {
if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){ if(vision.getBlackTagDetected() && vision.getBlackTagDetected()){
if(vision.getBlackDist() < 60 && getVelocity() < 2){ if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) < 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(360)));
}else if(vision.getBlackDist() < 100 && getVelocity() < 2){ }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) < 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(360)));
}else if(vision.getBlackDist() < 60 && getVelocity() > 2){ }else if(vision.getBlackDist() < 60 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.15, 0.15, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
}else if(vision.getBlackDist() < 100 && getVelocity() > 2){ }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
} }