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fix things (not clickbait)
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@TheGamer1002
TheGamer1002 committed Mar 23, 2023
1 parent 4277a9a commit 2286a57
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Showing 6 changed files with 70 additions and 43 deletions.
48 changes: 32 additions & 16 deletions src/main/java/frc/robot/FieldConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,8 @@ public static final class Community {
// Region dimensions
public static final double innerX = 0.0;
public static final double midX = Units.inchesToMeters(132.375); // Tape to the left of charging station
public static final double outerX = Units.inchesToMeters(193.25); // Tape to the right of charging station
public static final double outerX = Units.inchesToMeters(193.25); // Tape to the right of charging
// station
public static final double leftY = Units.feetToMeters(18.0);
public static final double midY = leftY - Units.inchesToMeters(59.39) + tapeWidth;
public static final double rightY = 0.0;
Expand Down Expand Up @@ -84,7 +85,8 @@ public static final class Community {
public static final class Grids {
// X layout
public static final double outerX = Units.inchesToMeters(54.25);
public static final double lowX = outerX - (Units.inchesToMeters(14.25) / 2.0); // Centered when under cube
public static final double lowX = outerX - (Units.inchesToMeters(14.25) / 2.0); // Centered when under
// cube
// nodes
public static final double midX = outerX - Units.inchesToMeters(22.75);
public static final double highX = outerX - Units.inchesToMeters(39.75);
Expand Down Expand Up @@ -138,13 +140,15 @@ public static final class Grids {
midTranslations[i] = new Translation2d(midX, nodeY[i]);
mid3dTranslations[i] = new Translation3d(midX, nodeY[i], isCube ? midCubeZ : midConeZ);
highTranslations[i] = new Translation2d(highX, nodeY[i]);
high3dTranslations[i] = new Translation3d(highX, nodeY[i], isCube ? highCubeZ : highConeZ);
high3dTranslations[i] = new Translation3d(highX, nodeY[i],
isCube ? highCubeZ : highConeZ);
}
}

// Complex low layout (shifted to account for cube vs cone rows and wide edge
// nodes)
public static final double complexLowXCones = outerX - Units.inchesToMeters(16.0) / 2.0; // Centered X under
public static final double complexLowXCones = outerX - Units.inchesToMeters(16.0) / 2.0; // Centered X
// under
// cone nodes
public static final double complexLowXCubes = lowX; // Centered X under cube nodes
public static final double complexLowOuterYOffset = nodeY[0]
Expand Down Expand Up @@ -187,7 +191,8 @@ public static final class LoadingZone {
public static final double rightY = leftY - width;
public static final Translation2d[] regionCorners = new Translation2d[] {
new Translation2d(
midX, rightY), // Start at lower left next to border with opponent community
midX, rightY), // Start at lower left next to border with opponent
// community
new Translation2d(midX, midY),
new Translation2d(outerX, midY),
new Translation2d(outerX, leftY),
Expand All @@ -205,14 +210,17 @@ public static final class LoadingZone {
public static final double singleSubstationWidth = Units.inchesToMeters(22.75);
public static final double singleSubstationLeftX = FieldConstants.fieldLength - doubleSubstationLength
- Units.inchesToMeters(88.77);
public static final double singleSubstationCenterX = singleSubstationLeftX + (singleSubstationWidth / 2.0);
public static final double singleSubstationCenterX = singleSubstationLeftX
+ (singleSubstationWidth / 2.0);
public static final double singleSubstationRightX = singleSubstationLeftX + singleSubstationWidth;
public static final Translation2d singleSubstationTranslation = new Translation2d(singleSubstationCenterX,
public static final Translation2d singleSubstationTranslation = new Translation2d(
singleSubstationCenterX,
leftY);

public static final double singleSubstationHeight = Units.inchesToMeters(18.0);
public static final double singleSubstationLowZ = Units.inchesToMeters(27.125);
public static final double singleSubstationCenterZ = singleSubstationLowZ + (singleSubstationHeight / 2.0);
public static final double singleSubstationCenterZ = singleSubstationLowZ
+ (singleSubstationHeight / 2.0);
public static final double singleSubstationHighZ = singleSubstationLowZ + singleSubstationHeight;
}

Expand Down Expand Up @@ -242,28 +250,32 @@ public static final class StagingLocations {
Units.inchesToMeters(610.125),
Units.inchesToMeters(43.5),
Units.inchesToMeters(19.25),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
2,
new Pose3d(
Units.inchesToMeters(610.375),
Units.inchesToMeters(109.5),
Units.inchesToMeters(19.25),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
3,
new Pose3d(
Units.inchesToMeters(610.0),
Units.inchesToMeters(176.0),
Units.inchesToMeters(19.25),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
4,
new Pose3d(
Units.inchesToMeters(635.375),
Units.inchesToMeters(272.0),
Units.inchesToMeters(27.25),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
5,
new Pose3d(
Expand Down Expand Up @@ -302,28 +314,32 @@ public static final class StagingLocations {
Units.inchesToMeters(610.77),
Grids.nodeY[1],
Units.inchesToMeters(18.22),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
2,
new Pose3d(
Units.inchesToMeters(610.77),
Grids.nodeY[4],
Units.inchesToMeters(18.22),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
3,
new Pose3d(
Units.inchesToMeters(610.77),
Grids.nodeY[7],
Units.inchesToMeters(18.22),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
4,
new Pose3d(
Units.inchesToMeters(636.96),
LoadingZone.doubleSubstationCenterY,
Units.inchesToMeters(27.38),
new Rotation3d(0.0, 0.0, Math.PI))),
new Rotation3d(0.0, 0.0,
Math.PI))),
new AprilTag(
5,
new Pose3d(
Expand Down
6 changes: 6 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ public class RobotContainer {
private final FineDriveCommand m_FineDriveCommand = new FineDriveCommand(m_Tank);
private final LineupCommand m_LineupCommand = new LineupCommand(m_LineupPID);


/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the button bindings
Expand Down Expand Up @@ -207,4 +208,9 @@ public void initTeleop() {
m_Turret.setDefaultCommand(m_MoveArmXCommand);
m_Arm.setDefaultCommand(m_MoveArmYCommand);
}

public void initTest() {
// Set the default tank command to DriveCommand

}
}
8 changes: 5 additions & 3 deletions src/main/java/frc/robot/commands/DriveCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,14 @@ public DriveCommand(Tank subsystem) {
}

@Override
public void initialize() {}
public void initialize() {
// nothing to do here
}

@Override
public void execute() {
// double check getMaxSpeed(), might be wrong
m_drivebase.arcadeDrive(
Tank.arcadeDrive(
RobotContainer.getDriverControllerLeftStickYAdjusted() * Constants.CanConstants.maxSpeed,
RobotContainer.getDriverControllerRightStickXAdjusted() * Constants.CanConstants.maxSpeed);

Expand All @@ -34,7 +36,7 @@ public void execute() {

@Override
public void end(boolean interrupted) {
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
}

@Override
Expand Down
8 changes: 5 additions & 3 deletions src/main/java/frc/robot/commands/FineDriveCommand.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,18 +18,20 @@ public FineDriveCommand(Tank subsystem) {
}

@Override
public void initialize() {}
public void initialize() {
// nothing to do here
}

@Override
public void execute() {
// double check getMaxSpeed(), might be wrong
m_drivebase.arcadeDrive(
Tank.arcadeDrive(
RebindHat.ControllerToYAxis() * 0.43, RebindHat.ControllerToXAxis() * 0.43);
}

@Override
public void end(boolean interrupted) {
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
}

@Override
Expand Down
18 changes: 9 additions & 9 deletions src/main/java/frc/robot/commands/tests/TestDrivebaseCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,27 +14,27 @@ public TestDrivebaseCommand(Tank subsystem) {

@Override
public void execute() {
m_drivebase.arcadeDrive(1, 0);
Tank.arcadeDrive(1, 0);
Timer.delay(1);
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
Timer.delay(1);
m_drivebase.arcadeDrive(-1, 0);
Tank.arcadeDrive(-1, 0);
Timer.delay(1);
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
Timer.delay(1);
m_drivebase.arcadeDrive(0, 1);
Tank.arcadeDrive(0, 1);
Timer.delay(1);
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
Timer.delay(1);
m_drivebase.arcadeDrive(0, -1);
Tank.arcadeDrive(0, -1);
Timer.delay(1);
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
Timer.delay(1);
}

@Override
public void end(boolean interrupted) {
m_drivebase.arcadeDrive(0, 0);
Tank.arcadeDrive(0, 0);
}

@Override
Expand Down
25 changes: 13 additions & 12 deletions src/main/java/frc/robot/subsystems/Tank.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -188,9 +188,11 @@ public Tank() {
// implement odometry
odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(gyro.getAngle()),
Units.inchesToMeters(
(leftFront.getEncoder().getPosition() / 10) * (leftFront.getEncoder().getPosition() / 10) * Math.PI),
(leftFront.getEncoder().getPosition() / 10) * (leftFront.getEncoder().getPosition() / 10)
* Math.PI),
Units.inchesToMeters(
(rightFront.getEncoder().getPosition() / 10) * (rightFront.getEncoder().getPosition() / 10) * Math.PI));
(rightFront.getEncoder().getPosition() / 10) * (rightFront.getEncoder().getPosition() / 10)
* Math.PI));

field2d = new Field2d();
SmartDashboard.putData(field2d);
Expand Down Expand Up @@ -231,9 +233,11 @@ public void periodic() {

odometry.update(Rotation2d.fromDegrees(gyro.getAngle()),
Units.inchesToMeters(
(leftFront.getEncoder().getPosition() / 10) * (leftFront.getEncoder().getPosition() / 10) * Math.PI),
(leftFront.getEncoder().getPosition() / 10) * (leftFront.getEncoder().getPosition() / 10)
* Math.PI),
Units.inchesToMeters(
(rightFront.getEncoder().getPosition() / 10) * (rightFront.getEncoder().getPosition() / 10) * Math.PI));
(rightFront.getEncoder().getPosition() / 10) * (rightFront.getEncoder().getPosition() / 10)
* Math.PI));

field2d.setRobotPose(odometry.getPoseMeters());
}
Expand Down Expand Up @@ -306,14 +310,11 @@ public void simulationPeriodic() {

/** Change the ramp rate of the motor controllers. */
public void setRampRate(double rampRate) {
try {
leftFront.setOpenLoopRampRate(rampRate);
leftRear.setOpenLoopRampRate(rampRate);
rightFront.setOpenLoopRampRate(rampRate);
rightRear.setOpenLoopRampRate(rampRate);
} catch (Exception e) {
throw e;
}
leftFront.setOpenLoopRampRate(rampRate);
leftRear.setOpenLoopRampRate(rampRate);
rightFront.setOpenLoopRampRate(rampRate);
rightRear.setOpenLoopRampRate(rampRate);

}

// for some reason -speed is forward. dont ask me why
Expand Down

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