Team_2648/2026-Robot-Code
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after portland before UNH

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This commit is contained in:
Tylr-J42
2026-03-21 18:47:53 -04:00
parent d9c16bb05c
commit 80c2a4dd95
5 changed files with 18 additions and 7 deletions
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0
src/main/deploy/pathplanner/autos/Center to Shoot.auto → src/main/deploy/pathplanner/autos/Center Back up.auto
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0
src/main/deploy/pathplanner/autos/Left Shoot.auto → src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto
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12
src/main/deploy/pathplanner/paths/over bump to pile move.path
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@@ -16,16 +16,16 @@
}, },
{ {
"anchor": { "anchor": {
"x": 7.616223350253808, "x": 7.2386903553299495,
"y": 7.207197969543147 "y": 7.326903553299493
}, },
"prevControl": { "prevControl": {
"x": 6.616223350253808, "x": 6.2386903553299495,
"y": 7.207197969543147 "y": 7.326903553299493
}, },
"nextControl": { "nextControl": {
"x": 8.616223350253813, "x": 8.238690355329947,
"y": 7.207197969543147 "y": 7.326903553299493
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null

11
src/main/java/frc/robot/RobotContainer.java
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@@ -14,6 +14,7 @@ import org.littletonrobotics.junction.Logger;
import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands; import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.events.EventTrigger; import com.pathplanner.lib.events.EventTrigger;
import com.pathplanner.lib.path.EventMarker; import com.pathplanner.lib.path.EventMarker;
@@ -113,6 +114,16 @@ public class RobotContainer {
if(AutoConstants.kAutoConfigOk) { if(AutoConstants.kAutoConfigOk) {
autoChooser = AutoBuilder.buildAutoChooser(); autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser); SmartDashboard.putData("Auto Chooser", autoChooser);
autoChooser.addOption(
"MOVE B____ right to center",
new PathPlannerAuto("MOVE B____ left to center", true)
);
autoChooser.addOption(
"right to center",
new PathPlannerAuto("left to center", true)
);
} }
} }

2
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -46,7 +46,7 @@ public class DrivetrainConstants {
// TODO How much do we trust gyro and encoders vs vision estimates. // 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 // 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> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9); public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.3, 0.3, 0.3);
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM // 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( public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(