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Worlds #78

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Worlds #78

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f538ede
climb lowers automatically at start of auton
MysticalApple Apr 16, 2024
ee26c99
Adds NT entry for currently selected auton
6kn4eakfr4s Apr 18, 2024
0a6e374
Merge pull request #77 from grt192/auton-selector
6kn4eakfr4s Apr 18, 2024
91958ad
added back elevator bindings
CrolineCrois Apr 17, 2024
e7b3714
feed before shuttle
penguin212 Apr 9, 2024
0526a58
practice day changes
CrolineCrois Apr 18, 2024
a59f588
quals day 1 changes
CrolineCrois Apr 18, 2024
e70f806
old swerve tuning
CrolineCrois Apr 19, 2024
058b82b
swerve offsets
CrolineCrois Apr 19, 2024
eaf9693
worlds quals day 2
CrolineCrois Apr 20, 2024
c8d853c
fix swerve print offsets func by negativeizing it fornow
CrolineCrois Apr 20, 2024
58a7ee9
update photonlib
CrolineCrois Sep 19, 2024
4da4032
add wait command to amp -> integration command bc apparently it never…
CrolineCrois Sep 19, 2024
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13 changes: 9 additions & 4 deletions .OutlineViewer/outlineviewer.json
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Original file line number Diff line number Diff line change
@@ -1,15 +1,21 @@
{
"Clients": {
"open": true
},
"Connections": {
"open": true
},
"NetworkTables Settings": {
"mode": "Client (NT4)",
"serverTeam": "192"
},
"Retained Values": {
"Server": {
"open": true
},
"Transitory Values": {
"open": false
},
"Server": {
"outlineviewer@1": {
"open": true
},
"transitory": {
Expand All @@ -21,8 +27,7 @@
}
},
"open": true
},
"open": true
}
}
}
}
6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/autos/A.auto
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Expand Up @@ -2,10 +2,10 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.325730468864645,
"y": 5.515804013063089
"x": 0.6699236223008809,
"y": 6.651755158003897
},
"rotation": 58.75307058652307
"rotation": 61.24763157278565
},
"command": {
"type": "sequential",
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/autos/M.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6465019492093177,
"y": 4.50867207012588
"x": 1.290597959227301,
"y": 5.515804013063089
},
"rotation": -1.2453642667683855
"rotation": -0.9548412538721452
},
"command": {
"type": "sequential",
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/paths/2W.path
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Expand Up @@ -32,10 +32,10 @@
"constraintZones": [
{
"name": "Shoot 1",
"minWaypointRelativePos": 0,
"minWaypointRelativePos": 0.75,
"maxWaypointRelativePos": 1.0,
"constraints": {
"maxVelocity": 0.5,
"maxVelocity": 0.1,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
Expand All @@ -62,7 +62,7 @@
},
{
"name": "Shoot 1",
"waypointRelativePos": 0.5,
"waypointRelativePos": 0.75,
"command": {
"type": "parallel",
"data": {
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/32.path
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Expand Up @@ -33,7 +33,7 @@
{
"name": "Shoot 1",
"minWaypointRelativePos": 0.35,
"maxWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 0.65,
"constraints": {
"maxVelocity": 0.6,
"maxAcceleration": 3.0,
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10 changes: 5 additions & 5 deletions src/main/deploy/pathplanner/paths/8Z7.path
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Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,12 @@
},
{
"anchor": {
"x": 7.380232963033308,
"y": 2.096239741692716
"x": 6.87666699156508,
"y": 2.1665047609695787
},
"prevControl": {
"x": 5.4011015867962335,
"y": 0.9368669236603471
"x": 4.897535615328006,
"y": 1.0071319429372099
},
"nextControl": null,
"isLocked": false,
Expand Down Expand Up @@ -113,7 +113,7 @@
},
"goalEndState": {
"velocity": 2.0,
"rotation": 22.873665190626774,
"rotation": 37.0249602700071,
"rotateFast": false
},
"reversed": false,
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9 changes: 8 additions & 1 deletion src/main/deploy/pathplanner/paths/E6.path
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Expand Up @@ -71,7 +71,14 @@
"command": {
"type": "parallel",
"data": {
"commands": []
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
}
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9 changes: 8 additions & 1 deletion src/main/deploy/pathplanner/paths/E7.path
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,14 @@
"command": {
"type": "parallel",
"data": {
"commands": []
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
}
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29 changes: 18 additions & 11 deletions src/main/deploy/pathplanner/paths/E8.path
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Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,12 @@
},
{
"anchor": {
"x": 7.391943799579468,
"y": 1.1242403083950245
"x": 6.513631058645855,
"y": 1.0071319429372099
},
"prevControl": {
"x": 6.255992654638661,
"y": 1.5106979144058135
"x": 5.6118966446206775,
"y": 0.9602885967540827
},
"nextControl": null,
"isLocked": false,
Expand All @@ -53,11 +53,11 @@
],
"constraintZones": [
{
"name": "New Constraints Zone",
"minWaypointRelativePos": 0.35,
"maxWaypointRelativePos": 0.5,
"name": "Shoot E",
"minWaypointRelativePos": 0.25,
"maxWaypointRelativePos": 0.4,
"constraints": {
"maxVelocity": 0.5,
"maxVelocity": 0.25,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
Expand All @@ -67,11 +67,18 @@
"eventMarkers": [
{
"name": "Shoot E",
"waypointRelativePos": 0.35,
"waypointRelativePos": 0.25,
"command": {
"type": "parallel",
"data": {
"commands": []
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
}
Expand All @@ -84,7 +91,7 @@
},
"goalEndState": {
"velocity": 2.0,
"rotation": -21.938480467706555,
"rotation": 17.856223257314213,
"rotateFast": false
},
"reversed": false,
Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ public static class CameraConstants {

/** Constants for the elevator subsystem. */
public static class ElevatorConstants {
public static final boolean LIMIT_SWITCH_ENABLED = true;
public static final boolean LIMIT_SWITCH_ENABLED = false;

public static final int EXTENSION_ID = 10;
public static final int EXTENSION_FOLLOW_ID = 11;
Expand All @@ -40,7 +40,7 @@ public static class ElevatorConstants {
public static final double TRAP_POSITION = 1.;

public static final double EXTENSION_P = 2.3;
public static final double EXTENSION_I = 0.0035;
public static final double EXTENSION_I = 0.01;
public static final double EXTENSION_D = 0;
public static final double EXTENSION_TOLERANCE = 0.008;

Expand All @@ -64,19 +64,19 @@ public static class TestSingleModuleSwerveConstants {
public static class SwerveConstants {
public static final int FL_DRIVE = 8;
public static final int FL_STEER = 1;
public static final double FL_OFFSET = -.9201 - Math.PI / 2;
public static final double FL_OFFSET = -2.48;

public static final int FR_DRIVE = 2;
public static final int FR_STEER = 3;
public static final double FR_OFFSET = .6216 + Math.PI / 2;
public static final double FR_OFFSET = -4.12;

public static final int BL_DRIVE = 4;
public static final int BL_STEER = 5;
public static final double BL_OFFSET = .2301 - Math.PI / 2;
public static final double BL_OFFSET = -6.31;

public static final int BR_DRIVE = 6;
public static final int BR_STEER = 7;
public static final double BR_OFFSET = 2.828 + Math.PI / 2;
public static final double BR_OFFSET = -1.79;

public static double MODULE_DIST = Units.inchesToMeters(27.25 / 2.0);
public static final Translation2d FL_POS = new Translation2d(MODULE_DIST, MODULE_DIST);
Expand All @@ -98,7 +98,7 @@ public static class IntakeConstants {
public static final int BACK_MOTOR_ID = 18;
public static final int PIVOT_MOTOR_ID = 16;

public static final double PIVOT_P = 1;
public static final double PIVOT_P = 1; //old 2.5
public static final double PIVOT_I = 0;
public static final double PIVOT_D = 0;
public static final double PIVOT_CONVERSION_FACTOR = 0.2142;
Expand Down
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