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Auto climb, auto aim, shooter tuned, intake rotation tuned

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This commit is contained in:
Mehooliu
2026-03-05 10:09:30 -05:00
parent 420fd90b12
commit cc41ea3f1b
18 changed files with 369 additions and 119 deletions
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58
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 = 140 * 0.453592; // 32lbs * kg per pound
public static final double ROBOT_MASS = 115 * 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(25);
public static final double MAX_SPEED = Units.feetToMeters(14.5);
// Maximum speed of the robot in meters per second, used to limit acceleration.
// public static final class AutonConstants
@@ -68,14 +68,14 @@ public final class Constants {
}
public static class ShooterConstants {
private static GenericEntry shooterRPM = programmingTab.add("Desired Shooter RPM", -4000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// private static GenericEntry shooterRPM = programmingTab.add("Desired Shooter RPM", -4000)
// .withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM;
public static double SHOOTER_RPM = -2700;
public static void updateShooterRPM() {
SHOOTER_RPM = shooterRPM.getDouble(-4000);
}
// public static void updateShooterRPM() {
// SHOOTER_RPM = shooterRPM.getDouble(-4000);
// }
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
public static final int LEFT_SHOOTER_MOTOR_ID = 41;
@@ -128,31 +128,45 @@ public final class Constants {
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
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_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_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;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5;
public static final double INTAKE_COLLECT_ENCODER_VALUE = -0.2;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -3;
public static final double INTAKE_RETRACT_ENCODER_VALUE = -5.5;
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;
}
// 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 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,
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,
Rotation2d.fromDegrees(-90));
public static final Pose2d RED_RIGHT_CLIMB_POSE = new Pose2d(15.474, 5.22, Rotation2d.fromDegrees(90));
public static final Pose2d RED_RIGHT_CLIMB_POSE_OFFSETTED = new Pose2d(15.474, 5.72,
Rotation2d.fromDegrees(90));
public static final Pose2d RED_LEFT_CLIMB_POSE = new Pose2d(15.474, 3.437, Rotation2d.fromDegrees(-90));
public static final Pose2d RED_LEFT_CLIMB_POSE_OFFSETTED = new Pose2d(15.474, 2.937,
Rotation2d.fromDegrees(-90));
public static final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Back Left Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Back Right Camera");
@@ -165,16 +179,17 @@ public final class Constants {
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 double HUB_X_POSE_RED = 11.915;
public static final double HUB_Y_POSE_RED = 4.03;
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 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)));
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)),
@@ -202,6 +217,5 @@ public final class Constants {
public static class LEDConstants {
public static final int LED_PWM_PORT = 6;
}
}