Team_2648/2026-Robot-Code
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added values from calculations and cad.

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This commit is contained in:
Tylr-J42
2026-02-26 08:18:07 -05:00
parent e2c2eaafc9
commit 7621cfd009
10 changed files with 44 additions and 41 deletions
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2
src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path
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@@ -69,7 +69,7 @@
}, },
"prevControl": { "prevControl": {
"x": 8.08578683847011, "x": 8.08578683847011,
"y": 0.4907704016028375 "y": 0.49077040160283747
}, },
"nextControl": { "nextControl": {
"x": 8.318287488908608, "x": 8.318287488908608,

36
src/main/deploy/pathplanner/settings.json
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@@ -1,6 +1,6 @@
{ {
"robotWidth": 0.9, "robotWidth": 0.921,
"robotLength": 0.9, "robotLength": 0.787,
"holonomicMode": true, "holonomicMode": true,
"pathFolders": [], "pathFolders": [],
"autoFolders": [], "autoFolders": [],
@@ -9,24 +9,26 @@
"defaultMaxAngVel": 540.0, "defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0, "defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0, "defaultNominalVoltage": 12.0,
"robotMass": 74.088, "robotMass": 64.864,
"robotMOI": 6.883, "robotMOI": 37.809,
"robotTrackwidth": 0.546, "robotTrackwidth": 0.546,
"driveWheelRadius": 0.048, "driveWheelRadius": 0.051,
"driveGearing": 5.143, "driveGearing": 6.122,
"maxDriveSpeed": 5.45, "maxDriveSpeed": 4.66,
"driveMotorType": "krakenX60", "driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0, "driveCurrentLimit": 65.0,
"wheelCOF": 1.2, "wheelCOF": 1.2,
"flModuleX": 0.273, "flModuleX": 0.238,
"flModuleY": 0.273, "flModuleY": 0.3015,
"frModuleX": 0.273, "frModuleX": 0.238,
"frModuleY": -0.273, "frModuleY": -0.3015,
"blModuleX": -0.273, "blModuleX": -0.238,
"blModuleY": 0.273, "blModuleY": 0.3015,
"brModuleX": -0.273, "brModuleX": -0.238,
"brModuleY": -0.273, "brModuleY": -0.3015,
"bumperOffsetX": 0.0, "bumperOffsetX": 0.0,
"bumperOffsetY": 0.0, "bumperOffsetY": 0.0,
"robotFeatures": [] "robotFeatures": [
"{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.55,\"y\":0.0},\"size\":{\"width\":0.921,\"length\":0.305},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
]
} }

2
src/main/java/frc/robot/constants/AutoConstants.java
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@@ -14,7 +14,7 @@ import edu.wpi.first.math.util.Units;
// TODO This is all hold over from 2025, does any of it need to change? // TODO This is all hold over from 2025, does any of it need to change?
public class AutoConstants { public class AutoConstants {
public static final double kMaxSpeedMetersPerSecond = 5; public static final double kMaxSpeedMetersPerSecond = 4;
public static final double kMaxAccelerationMetersPerSecondSquared = 4; public static final double kMaxAccelerationMetersPerSecondSquared = 4;
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI; public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI;

3
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -9,8 +9,7 @@ import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units; import edu.wpi.first.math.util.Units;
public class DrivetrainConstants { public class DrivetrainConstants {
// TODO Hold over from 2025, adjust? public static final double kMaxSpeedMetersPerSecond = 4.663;
public static final double kMaxSpeedMetersPerSecond = 4.125;
public static final double kMaxAngularSpeed = 2 * Math.PI; public static final double kMaxAngularSpeed = 2 * Math.PI;
public static final double kTrackWidth = Units.inchesToMeters(23.75); public static final double kTrackWidth = Units.inchesToMeters(23.75);

2
src/main/java/frc/robot/constants/HoodConstants.java
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@@ -17,7 +17,7 @@ public class HoodConstants {
// TODO Real Values // TODO Real Values
public static final int kMotorCANID = 0; public static final int kMotorCANID = 0;
public static final double kConversionFactor = 0; public static final double kConversionFactor = 3.0*147.0/8.0;
public static final double kP = 0; public static final double kP = 0;
public static final double kI = 0; public static final double kI = 0;

17
src/main/java/frc/robot/constants/IntakePivotConstants.java
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@@ -7,8 +7,8 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
public class IntakePivotConstants { public class IntakePivotConstants {
// TODO Real values // TODO Real values
public enum IntakePivotPosition { public enum IntakePivotPosition {
kUp(0), kUp(Math.toRadians(116.0)),
kDown(0); kDown(Math.toRadians(0.0));
private double positionRadians; private double positionRadians;
private IntakePivotPosition(double positionRadians) { private IntakePivotPosition(double positionRadians) {
@@ -23,7 +23,7 @@ public class IntakePivotConstants {
public static final int kLeftMotorCANID = 0; public static final int kLeftMotorCANID = 0;
public static final int kRightMotorCANID = 0; public static final int kRightMotorCANID = 0;
public static final double kConversionFactor = 0; public static final double kConversionFactor = 60.0/11.0*60.0/18.0*38.0/16.0;
// Ultra conservative multiplier to prevent 1/8" lexan destruction, modify at your own peril // Ultra conservative multiplier to prevent 1/8" lexan destruction, modify at your own peril
public static final double kMaxManualSpeedMultiplier = .3; public static final double kMaxManualSpeedMultiplier = .3;
@@ -32,8 +32,9 @@ public class IntakePivotConstants {
public static final double kI = 0; public static final double kI = 0;
public static final double kD = 0; public static final double kD = 0;
public static final double kS = 0; public static final double kS = 0;
public static final double kV = 0; public static final double kV = 5.26;
public static final double kA = 0; public static final double kA = 0.05;
public static final double kG = 0.25;
public static final boolean kInvertMotors = false; public static final boolean kInvertMotors = false;
@@ -51,17 +52,17 @@ public class IntakePivotConstants {
.idleMode(kIdleMode) .idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit) .smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors); .inverted(kInvertMotors);
KLeftMotorConfig.absoluteEncoder KLeftMotorConfig.encoder
.positionConversionFactor(kConversionFactor) .positionConversionFactor(kConversionFactor)
.velocityConversionFactor(kConversionFactor / 60); .velocityConversionFactor(kConversionFactor / 60);
KLeftMotorConfig.closedLoop KLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder) .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
.pid(kP, kI, kD) .pid(kP, kI, kD)
.outputRange(-1, 1) .outputRange(-1, 1)
.positionWrappingEnabled(true) .positionWrappingEnabled(true)
.positionWrappingInputRange(0, 2 * Math.PI) .positionWrappingInputRange(0, 2 * Math.PI)
.feedForward .feedForward
.sva(kS, kV, kA); .svag(kS, kV, kA, kG);
kRightMotorConfig kRightMotorConfig
.idleMode(kIdleMode) .idleMode(kIdleMode)

2
src/main/java/frc/robot/constants/IntakeRollerConstants.java
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@@ -8,7 +8,7 @@ public class IntakeRollerConstants {
public static final int kLeftMotorCANID = 0; public static final int kLeftMotorCANID = 0;
public static final int kRightMotorCANID = 0; public static final int kRightMotorCANID = 0;
public static final int kCurrentLimit = 30; public static final int kCurrentLimit = 40;
public static final boolean kInvertMotors = false; public static final boolean kInvertMotors = false;

8
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -24,7 +24,7 @@ public class ShooterConstants {
// TODO Conversion factor? // TODO Conversion factor?
public static final double kWheelDiameter = Units.inchesToMeters(6); public static final double kWheelDiameter = Units.inchesToMeters(4);
// TODO Real values // TODO Real values
public static final int kLeftShooterMotor1CANID = 0; public static final int kLeftShooterMotor1CANID = 0;
@@ -41,20 +41,20 @@ public class ShooterConstants {
public static final double kLeftI = 0; public static final double kLeftI = 0;
public static final double kLeftD = 0; public static final double kLeftD = 0;
public static final double kLeftS = 0; public static final double kLeftS = 0;
public static final double kLeftV = 0; public static final double kLeftV = 0.21;
public static final double kLeftA = 0; public static final double kLeftA = 0;
public static final double kRightP = 0; public static final double kRightP = 0;
public static final double kRightI = 0; public static final double kRightI = 0;
public static final double kRightD = 0; public static final double kRightD = 0;
public static final double kRightS = 0; public static final double kRightS = 0;
public static final double kRightV = 0; public static final double kRightV = 0.21;
public static final double kRightA = 0; public static final double kRightA = 0;
public static final double kShooterHeightMeters = 0; public static final double kShooterHeightMeters = 0;
// TODO Is this value sane? // TODO Is this value sane?
public static final int kCurrentLimit = 30; public static final int kCurrentLimit = 50;
public static final IdleMode kShooterIdleMode = IdleMode.kCoast; public static final IdleMode kShooterIdleMode = IdleMode.kCoast;

6
src/main/java/frc/robot/constants/SpindexerConstants.java
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@@ -12,9 +12,9 @@ public class SpindexerConstants {
public static final int kSpindexerMotorCANID = 0; public static final int kSpindexerMotorCANID = 0;
public static final int kFeederMotorCANID = 0; public static final int kFeederMotorCANID = 0;
public static final int kSpindexerStatorCurrentLimit = 80; public static final int kSpindexerStatorCurrentLimit = 90;
public static final int kSpindexerSupplyCurrentLimit = 30; public static final int kSpindexerSupplyCurrentLimit = 50;
public static final int kFeederCurrentLimit = 30; public static final int kFeederCurrentLimit = 40;
public static final boolean kFeederMotorInverted = false; public static final boolean kFeederMotorInverted = false;

7
src/main/java/frc/robot/subsystems/IntakePivot.java
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@@ -5,8 +5,8 @@ import java.util.function.DoubleSupplier;
import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.Logger;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.PersistMode; import com.revrobotics.PersistMode;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.ResetMode; import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkMax;
@@ -22,7 +22,7 @@ public class IntakePivot extends SubsystemBase {
private SparkMax leftMotor; private SparkMax leftMotor;
private SparkMax rightMotor; private SparkMax rightMotor;
private AbsoluteEncoder encoder; private RelativeEncoder encoder;
private SparkClosedLoopController controller; private SparkClosedLoopController controller;
@@ -46,7 +46,8 @@ public class IntakePivot extends SubsystemBase {
controller = leftMotor.getClosedLoopController(); controller = leftMotor.getClosedLoopController();
encoder = leftMotor.getAbsoluteEncoder(); encoder = leftMotor.getEncoder();
encoder.setPosition(IntakePivotConstants.IntakePivotPosition.kUp.getPositionRadians());
} }
@Override @Override