Merge pull request #52 from zaneal/main

After Tusla Day 1
fairviewrobotics · Mar 8, 2024 · ae46688 · ae46688
2 parents 274932a + adff7ca
commit ae46688
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Showing 20 changed files with 57 additions and 61 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -4,17 +4,19 @@
   "holonomicMode": true,
   "pathFolders": [
     "Back",
+    "FarAmpStuff",
     "FrontFromShoot",
     "FrontFromStart",
+    "FarSourceStuff",
     "Shoot"
   ],
   "autoFolders": [
     "Center",
     "Amp",
     "Source"
   ],
-  "defaultMaxVel": 6.7,
-  "defaultMaxAccel": 8.0,
+  "defaultMaxVel": 1.0,
+  "defaultMaxAccel": 0.5,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 7.0

diff --git a/src/main/deploy/pathplanner/paths/AmpShoot.path b/src/main/deploy/pathplanner/paths/AmpShoot.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Back1.path b/src/main/deploy/pathplanner/paths/Back1.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Back2.path b/src/main/deploy/pathplanner/paths/Back2.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Back3.path b/src/main/deploy/pathplanner/paths/Back3.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Back4.path b/src/main/deploy/pathplanner/paths/Back4.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Back5.path b/src/main/deploy/pathplanner/paths/Back5.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front1FromShoot.path b/src/main/deploy/pathplanner/paths/Front1FromShoot.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front1FromStart.path b/src/main/deploy/pathplanner/paths/Front1FromStart.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front2FromShoot.path b/src/main/deploy/pathplanner/paths/Front2FromShoot.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front2FromStart.path b/src/main/deploy/pathplanner/paths/Front2FromStart.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front3FromShoot.path b/src/main/deploy/pathplanner/paths/Front3FromShoot.path
@@ -48,8 +48,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Front3FromStart.path b/src/main/deploy/pathplanner/paths/Front3FromStart.path
@@ -48,8 +48,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/InitialShootCenter.path b/src/main/deploy/pathplanner/paths/InitialShootCenter.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/InitialShootLeft.path b/src/main/deploy/pathplanner/paths/InitialShootLeft.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/InitialShootRight.path b/src/main/deploy/pathplanner/paths/InitialShootRight.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 6.7,
-    "maxAcceleration": 8.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -189,15 +189,17 @@ public void configureButtonBindings() {
             new RunCommand(() -> indexerSubsystem.rotateAllWheelsPercent(0.0))
     );
 
-    new JoystickButton(secondaryController, XboxController.Button.kB.value).whileTrue(
-            new ParallelCommandGroup(
-
-              new RunCommand(() ->  indexerSubsystem.rotateMotorPercent(IndexerSubsystem.IndexerMotors.BOTTOM_WHEELS, -0.6)),
-              new RunCommand(() -> indexerSubsystem.rotateMotorPercent(IndexerSubsystem.IndexerMotors.TOP_WHEEL, -0.6))
-            )
-    ).whileFalse(
-            new RunCommand(() -> indexerSubsystem.rotateAllWheelsPercent(0.0))
-    );
+//    new JoystickButton(secondaryController, XboxController.Button.kB.value).whileTrue(
+//            new ParallelCommandGroup(
+//              new RunCommand(() ->  indexerSubsystem.rotateMotorPercent(IndexerSubsystem.IndexerMotors.BOTTOM_WHEELS, -0.6)),
+//              new RunCommand(() -> indexerSubsystem.rotateMotorPercent(IndexerSubsystem.IndexerMotors.TOP_WHEEL, -0.6)),
+//              new RunCommand(() -> intakeSubsystem.setTopSpeed(-0.4)),
+//              new RunCommand(() -> intakeSubsystem.setTopSpeed(-0.4))
+//            )
+//    ).whileFalse(
+//            new RunCommand(() -> indexerSubsystem.rotateAllWheelsPercent(0.0)),
+//            new RunCommand(() -> int)
+//    );
 //    new JoystickButton(secondaryController, XboxController.Button.kY.value).whileTrue(
 //            new RunCommand(() -> indexerSubsystem.rotateAllWheelsPercent(1.0))
 //    );

diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -8,15 +8,15 @@
 
 public class DrivetrainConstants {
 
-    public static final double maxSpeedMetersPerSecond = 7.0; //note, maybe it needs to come down, if its too high it will stop working or something, troubleshoot from coronado
+    public static final double maxSpeedMetersPerSecond = 6.3; //note, maybe it needs to come down, if its too high it will stop working or something, troubleshoot from coronado
     public static final double maxAngularSpeed = 2 * Math.PI;
 
-    public static final double directionSlewRate = 3.0; // rads/sec - turning was 4.0
-    public static final double magnitudeSlewRate = 4.0; // percent/second (1 = 100%) - forward/backward/traverse
-    public static final double rotationalSlewRate = 10.0; // percent/second (1 = 100%) - rotation was 12.0
+    public static final double directionSlewRate = 20; // rads/sec - turning was 4.0
+    public static final double magnitudeSlewRate = 20; // percent/second (1 = 100%) - forward/backward/traverse
+    public static final double rotationalSlewRate = 50; // percent/second (1 = 100%) - rotation was 12.0
 
-    public static final double drivingSpeedScalar = -1.0;
-    public static final double rotationSpeedScalar = -2.0;
+    public static final double drivingSpeedScalar = -1.0; //make positive so gyroreset with intake forward
+    public static final double rotationSpeedScalar = -2.0;//make positive so gyroreset with intake forward
 
     public static final double trackWidth = Units.inchesToMeters(18);
     public static final double wheelBase = Units.inchesToMeters(22.5);

diff --git a/src/main/java/frc/robot/subsystems/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/LEDSubsystem.java
@@ -7,12 +7,6 @@
 
 public class LEDSubsystem extends SubsystemBase {
     Spark blinkinDriver = new Spark(9);
-    DoublePublisher ledPublisher = NetworkTableInstance.getDefault().getTable("LEDs").getDoubleTopic("LEDValue").publish();
-
-    @Override
-    public void periodic() {
-        ledPublisher.set(blinkinDriver.get());
-    }
 
     /**
      * Sets the color of the LEDs on the robot

diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -151,18 +151,15 @@ public SwerveSubsystem() {
                 this::getRobotRelativeSpeeds,
                 this::driveRobotRelative,
                 new HolonomicPathFollowerConfig(
-                        new PIDConstants(1.0, 0.0, 0.0),
-                        new PIDConstants(1.0, 0.0, 0.0),
-                        6.7, //swervesubsystem.setmodulestate
+                        new PIDConstants(2.0, 0.0, 0.0),
+                        new PIDConstants(1, 0.0, 0.0),
+                        5.5, //swervesubsystem.setmodulestate
                         0.301625,//11.875 meters
                         new ReplanningConfig()
                 ),
                 () -> {
-                    var alliance = DriverStation.getAlliance();
-                    if (alliance.isPresent()) {
-                        return alliance.get() == DriverStation.Alliance.Red;
-                    }
-                    return false;
+                    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+                    return alliance.filter(value -> value == DriverStation.Alliance.Red).isPresent();
                 },
                 this
         );
@@ -492,6 +489,7 @@ public void setZero() {
      */
     public void zeroGyro() {
         gyro.reset();
+
     }
 
     /**