Team_2648/2026-Robot-Code
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Some minor changes, either reducing duplicate code, or generalizing code

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This commit is contained in:
Bradley Bickford
2026-02-15 14:46:19 -05:00
parent 7f291e42a1
commit 701fbfc43e
5 changed files with 105 additions and 42 deletions
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9
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -1,7 +1,11 @@
package frc.robot.constants;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
public class DrivetrainConstants {
@@ -39,6 +43,11 @@ public class DrivetrainConstants {
public static final double kXTranslationP = .5;
public static final double kYTranslationP = .5;
// TODO How much do we trust gyro and encoders vs vision estimates.
// NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
new Translation2d(kWheelBase / 2, kTrackWidth / 2),