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Tweaked Trapezoidal Profile, removed assistfuelCommand from right trigger

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Mehooliu
2026-03-03 19:35:30 -05:00
parent 670de7dd90
commit 420fd90b12
5 changed files with 26 additions and 20 deletions
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22
src/main/java/frc/robot/Constants.java
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@@ -38,10 +38,10 @@ public final class Constants {
private static ShuffleboardTab programmingTab = Shuffleboard.getTab("Programming");
public static final double ROBOT_MASS = 115 * 0.453592; // 32lbs * kg per pound
public static final double ROBOT_MASS = 140 * 0.453592; // 32lbs * kg per pound
public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS);
public static final double LOOP_TIME = 0.13; // s, 20ms + 110ms sprk max velocity lag
public static final double MAX_SPEED = Units.feetToMeters(14.5);
public static final double MAX_SPEED = Units.feetToMeters(25);
// Maximum speed of the robot in meters per second, used to limit acceleration.
// public static final class AutonConstants
@@ -98,7 +98,7 @@ public final class Constants {
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INDEXER_AND_RAMP_MOTOR_RPM = 10000;
public static double INDEXER_AND_RAMP_MOTOR_RPM = 20000;
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
@@ -116,7 +116,7 @@ public final class Constants {
* programmingTab.add("Desired Intake RPM", -1000)
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INTAKE_WHEELS_MOTOR_RPM = -7000;
public static double INTAKE_WHEELS_MOTOR_RPM = -6250;
/*
* public static void updateIntakeWheelsRPM() {
@@ -128,9 +128,9 @@ public final class Constants {
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 10;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 2;
public static final double INTAKE_ROTATOR_P = .5;
public static final double INTAKE_ROTATOR_I = 0.01;
public static final double INTAKE_ROTATOR_D = 0;
}
public static final double INTAKE_MOTOR_P = 0.0001;
@@ -141,9 +141,9 @@ public final class Constants {
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5;
public static final double INTAKE_THROUGHBORE_ENCODER_DEPLOY = .26;
public static final double INTAKE_THROUGHBORE_ENCODER_RETRACT = .64;
public static final double INTAKE_THROUGHBORE_ENCODER_MIDDLE = .54;
public static final double INTAKE_THROUGHBORE_ENCODER_DEPLOY = .13;
public static final double INTAKE_THROUGHBORE_ENCODER_RETRACT = .49;
public static final double INTAKE_THROUGHBORE_ENCODER_MIDDLE = .389;
}
@@ -178,7 +178,7 @@ public final class Constants {
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));
new Rotation3d(0, 74, 0));
public static final Transform3d ROBOT_TO_FRONT_RIGHT_CAM = new Transform3d(
new Translation3d(0, 0, 0),