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turned off idle speed for testing; added sysid code

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This commit is contained in:
Mehooliu
2026-03-12 19:21:00 -04:00
parent 0e5561dba0
commit 4bb240138d
35 changed files with 950 additions and 2409 deletions
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40
src/main/java/frc/robot/Constants.java
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@@ -74,6 +74,8 @@ public final class Constants {
// .withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM = -2700;
public static final double IDLE_SHOOTER_RPM = -1800;
public static final double AUTO_SHOOTER_RPM = -3100; //always negative to shoot
// public static void updateShooterRPM() {
// SHOOTER_RPM = shooterRPM.getDouble(-4000);
@@ -100,7 +102,7 @@ public final class Constants {
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INDEXER_AND_RAMP_MOTOR_RPM = 30000;
public static double INDEXER_AND_RAMP_MOTOR_RPM = 15000; //always positive when feeding into shooter
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
@@ -118,7 +120,9 @@ public final class Constants {
* programmingTab.add("Desired Intake RPM", -1000)
* .withWidget(BuiltInWidgets.kNumberBar).getEntry();
*/
public static double INTAKE_WHEELS_MOTOR_RPM = -6250;
public static double INTAKE_WHEELS_MOTOR_RPM_FAST = -8000; // always negative when intaking
public static double INTAKE_WHEELS_MOTOR_RPM_SLOW = -5000; // always negative when intaking
/*
* public static void updateIntakeWheelsRPM() {
@@ -130,36 +134,36 @@ public final class Constants {
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = .08;
public static final double INTAKE_ROTATOR_P = .07;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0.01;
public static final double INTAKE_ROTATOR_D = 0.03;
}
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_MOTOR_D = 0.00005;
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;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 1;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -4;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -6.2;
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;
public static final double INTAKE_MANUAL_SPEED = .1;
public static final double INTAKE_MANUAL_SPEED = .15;
}
// 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 BLUE_LEFT_CLIMB_POSE = new Pose2d(1.066, 4.633, Rotation2d.fromDegrees(90));
public static final Pose2d BLUE_LEFT_CLIMB_POSE_OFFSETTED = new Pose2d(1.066, 5.133,
public static final Pose2d BLUE_LEFT_CLIMB_POSE = new Pose2d(1.14, 4.25, Rotation2d.fromDegrees(90));
public static final Pose2d BLUE_LEFT_CLIMB_POSE_OFFSETTED = new Pose2d(1.14, 5.0,
Rotation2d.fromDegrees(90));
public static final Pose2d BLUE_RIGHT_CLIMB_POSE = new Pose2d(1.066, 2.87, Rotation2d.fromDegrees(-90));
public static final Pose2d BLUE_RIGHT_CLIMB_POSE_OFFSETTED = new Pose2d(1.066, 2.37,
public static final Pose2d BLUE_RIGHT_CLIMB_POSE = new Pose2d(1.14, 2.046, Rotation2d.fromDegrees(-90));
public static final Pose2d BLUE_RIGHT_CLIMB_POSE_OFFSETTED = new Pose2d(1.14, 3.25,
Rotation2d.fromDegrees(-90));
public static final Pose2d RED_RIGHT_CLIMB_POSE = new Pose2d(15.474, 5.22, Rotation2d.fromDegrees(90));
@@ -198,12 +202,12 @@ public final class Constants {
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, 74, 0));
new Translation3d(Units.inchesToMeters(1.3), Units.inchesToMeters(11.25), Units.inchesToMeters(26)),
new Rotation3d(0, Math.toRadians(10), 0));
public static final Transform3d ROBOT_TO_FRONT_RIGHT_CAM = new Transform3d(
new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
new Translation3d(Units.inchesToMeters(1.5), Units.inchesToMeters(-11.25), Units.inchesToMeters(26)),
new Rotation3d(0, Math.toRadians(-10), 0));
}
public static class ClimberConstants {
@@ -215,7 +219,7 @@ public final class Constants {
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_LIFTED_SETPOINT_VALUE = 65;
public static final double CLIMBER_LOWERED_SETPOINT_VALUE = 0;
}