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Changed code for robot

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This commit is contained in:
Mehooliu
2026-03-02 16:25:15 -05:00
parent 69279812f3
commit 1b84701184
10 changed files with 407 additions and 271 deletions
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115
src/main/java/frc/robot/Constants.java
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@@ -82,37 +82,47 @@ public final class Constants {
public static final int RIGHT_SHOOTER_MOTOR_ID = 40;
public static final int INDEXER_MOTOR_ID = 43;
public static double SHOOTER_MOTOR_P = 0.0018;
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
public static double SHOOTER_MOTOR_D = 0.001;
public static double SHOOTER_MOTOR_S = 0.2;
public static double SHOOTER_MOTOR_V = 0.0015;
public static double INDEXER_MOTOR_P = 0.0001;
public static double INDEXER_MOTOR_I = 0;
public static double INDEXER_MOTOR_D = 0;
/*private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer RPM", 2000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();*/
/*
* private static GenericEntry indexerAndRampRPM =
* programmingTab.add("Desired Ramp + Indexer RPM", 2000)
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INDEXER_AND_RAMP_MOTOR_RPM = 10000;
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
/*public static void updateIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(2000);
}*/
/*
* public static void updateIndexerAndRampMotorRPM() {
* INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(2000);
* }
*/
}
public static class IntakeConstants {
/* private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry(); */
/*
* private static GenericEntry intakeRPM =
* programmingTab.add("Desired Intake RPM", -1000)
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INTAKE_WHEELS_MOTOR_RPM = -7000;
/*public static void updateIntakeWheelsRPM() {
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
}*/
/*
* public static void updateIntakeWheelsRPM() {
* INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
* }
*/
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
@@ -122,61 +132,70 @@ public final class Constants {
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0;
}
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 = 5;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 0;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -3;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5;
}
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
public static class TargetingConstants {
public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90));
public static final Pose2d LEFT_CLIMB_POSE = new Pose2d(1.075, 2.75, Rotation2d.fromDegrees(-90));
public static final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Rear Left Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Rear Right Camera");
public static final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Back Left Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Back Right Camera");
public static final PhotonCamera RED_PHOTON_CAM = new PhotonCamera("Front Left Camera");
public static final PhotonCamera PURPLE_PHOTON_CAM = new PhotonCamera("Front Right Camera");
public static final Pose2d HUB_POSE = new Pose2d(4.625, 4.03, new Rotation2d());
public static Rotation2d HUB_ROTATION_BLUE;
public static Rotation2d HUB_ROTATION_RED;
public static final Transform3d ORANGE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d BLACK_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d RED_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d PURPLE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
public static final double HUB_X_POSE_BLUE = 4.625;
public static final double HUB_Y_POSE_BLUE = 4.03;
public static final double HUB_X_POSE_RED = 4.625;
public static final double HUB_Y_POSE_RED = 0;
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)));
public static final Transform3d ROBOT_TO_BACK_RIGHT_CAM = new Transform3d(
new Translation3d(-Units.inchesToMeters(12.75), -Units.inchesToMeters(6.25), Units.inchesToMeters(14)),
new Rotation3d(0, 0, Math.toRadians(200)));
public static final Transform3d ROBOT_TO_FRONT_LEFT_CAM = new Transform3d(
new Translation3d(Units.inchesToMeters(23.375), 0, Units.inchesToMeters(13)),
new Rotation3d(0, 0, 0));
public static final PhotonPoseEstimator ORANGE_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
ORANGE_ROBOT_TO_CAM);
public static final PhotonPoseEstimator BLACK_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
BLACK_ROBOT_TO_CAM);
public static final PhotonPoseEstimator RED_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
RED_ROBOT_TO_CAM);
public static final PhotonPoseEstimator PURPLE_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
PURPLE_ROBOT_TO_CAM);
public static final Transform3d ROBOT_TO_FRONT_RIGHT_CAM = new Transform3d(
new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
}
public static class ClimberConstants {
public static final int CLIMB_MOTOR_ID = 60;
public static final int RATCHET_PWM_PORT = 9;
public static final int CLIMB_MOTOR_ID = 52;
public static final double RATCHET_UNLOCK_ANGLE = 0;
public static final double RATCHET_LOCK_ANGLE = 180;
public static final double CLIMBER_SPEED = .5;
public static final double CLIMBER_PID_P = 5;
public static final double CLIMBER_PID_I = 0;
public static final double CLIMBER_PID_D = 0;
public static final double CLIMBER_LIFTED_SETPOINT_VALUE = 45;
public static final double CLIMBER_LOWERED_SETPOINT_VALUE = 0;
}
public static class LEDConstants {
public static final int LED_DIO_PORT = 0;
}
}