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Final adjustments

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This commit is contained in:
Mehooliu
2026-03-05 19:52:32 -05:00
parent cc41ea3f1b
commit 0e5561dba0
13 changed files with 183 additions and 52 deletions
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18
src/main/java/frc/robot/Constants.java
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@@ -7,6 +7,8 @@ package frc.robot;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator;
import com.pathplanner.lib.path.PathConstraints;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
@@ -98,7 +100,7 @@ public final class Constants {
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INDEXER_AND_RAMP_MOTOR_RPM = 20000;
public static double INDEXER_AND_RAMP_MOTOR_RPM = 30000;
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
@@ -128,16 +130,16 @@ public final class Constants {
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = .1;
public static final double INTAKE_ROTATOR_I = 0.0;
public static final double INTAKE_ROTATOR_D = 0.;
public static final double INTAKE_ROTATOR_P = .08;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0.01;
}
public static final double INTAKE_MOTOR_P = 0.0001;
public static final double INTAKE_MOTOR_I = 0;
public static final double INTAKE_MOTOR_D = 0;
public static final double INTAKE_COLLECT_ENCODER_VALUE = -0.2;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 1.4;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -3;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5.5;
@@ -175,6 +177,8 @@ public final class Constants {
public static Rotation2d HUB_ROTATION_BLUE;
public static Rotation2d HUB_ROTATION_RED;
public static Pose2d allianceHubPose = new Pose2d();
public static final double HUB_X_POSE_BLUE = 4.625;
public static final double HUB_Y_POSE_BLUE = 4.03;
@@ -182,10 +186,12 @@ public final class Constants {
public static final double HUB_X_POSE_RED = 11.915;
public static final double HUB_Y_POSE_RED = 4.03;
public static PathConstraints DRIVE_INTO_CLIMB_CONSTRAINTS;
public static final Transform3d ROBOT_TO_BACK_LEFT_CAM = new Transform3d(
new Translation3d(-Units.inchesToMeters(12.75), Units.inchesToMeters(6.25),
Units.inchesToMeters(13.1875)),
new Rotation3d(0, 0, Math.toRadians(205)));
new Rotation3d(0, 0, Math.toRadians(195)));
public static final Transform3d ROBOT_TO_BACK_RIGHT_CAM = new Transform3d(
new Translation3d(-Units.inchesToMeters(12.75), -Units.inchesToMeters(6.25), Units.inchesToMeters(14)),