From d62989fdce58f821e3e8f9affa8eb04ef4c13516 Mon Sep 17 00:00:00 2001 From: silasnerad <117960008+Evan-Callies@users.noreply.github.com> Date: Tue, 17 Jun 2025 18:04:06 -0500 Subject: [PATCH 1/2] State champs changes --- .../paths/shortAdvancedLeft.0.path | 33 +++-------------- .../paths/shortAdvancedRight.0.path | 37 ++++--------------- .../commands/ReefScoreCommandFactory.java | 10 ++--- .../java/frc/robot/commands/StowToL4.java | 2 +- .../arm/constants/ShoulderConstants.java | 2 +- 5 files changed, 19 insertions(+), 65 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path b/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path index c9d4a54f..133bc30d 100644 --- a/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path +++ b/src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.562295081967213, - "y": 5.361629098360655 + "x": 5.885963114754098, + "y": 5.889088114754099 }, "prevControl": { - "x": 5.865504098360656, - "y": 5.310881147540982 + "x": 6.189172131147541, + "y": 5.838340163934426 }, "nextControl": null, "isLocked": false, @@ -31,30 +31,7 @@ "rotationTargets": [], "constraintZones": [], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "StowToL4Arm", - "waypointRelativePos": 0.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "StowToL4Arm" - } - } - }, - { - "name": "StowToL4Elevator", - "waypointRelativePos": 1.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "StowToL4Elevator" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, "maxAcceleration": 4.0, diff --git a/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path b/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path index ff175351..c6579bcf 100644 --- a/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path +++ b/src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.562295081967213, - "y": 2.83837090163934 + "x": 5.933913934426228, + "y": 1.993084016393442 }, "prevControl": { - "x": 5.865504098360656, - "y": 2.88911885245902 + "x": 6.237122950819671, + "y": 2.043831967213122 }, "nextControl": null, "isLocked": false, @@ -31,30 +31,7 @@ "rotationTargets": [], "constraintZones": [], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "StowToL4Arm", - "waypointRelativePos": 0.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "StowToL4Arm" - } - } - }, - { - "name": "StowToL4Elevator", - "waypointRelativePos": 1.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "StowToL4Elevator" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, "maxAcceleration": 4.0, @@ -65,13 +42,13 @@ }, "goalEndState": { "velocity": 0.0, - "rotation": -60.0684881594923 + "rotation": -60.068488159492304 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 0 + "rotation": 0.0 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java b/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java index e5e7ffca..811e8fd5 100644 --- a/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java +++ b/src/main/java/frc/robot/commands/ReefScoreCommandFactory.java @@ -73,18 +73,18 @@ public static enum ReefPosition { //Left level overrides private static LoggedTunableNumber offsetLL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L1", 0.1804); private static LoggedTunableNumber offsetLL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L2", 0.18); - private static LoggedTunableNumber offsetLL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L3", 0.19); - private static LoggedTunableNumber offsetLL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L4", 0.22); + private static LoggedTunableNumber offsetLL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L3", 0.20); + private static LoggedTunableNumber offsetLL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Left/L4", 0.25); //Right level overrides private static LoggedTunableNumber offsetRL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L1", 0.1238); private static LoggedTunableNumber offsetRL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L2", 0.15); - private static LoggedTunableNumber offsetRL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L3", 0.16); - private static LoggedTunableNumber offsetRL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L4", 0.09); + private static LoggedTunableNumber offsetRL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L3", 0.15); + private static LoggedTunableNumber offsetRL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Right/L4", 0.11); //Back level overrides (Overrides on how far back each level will be scored) private static LoggedTunableNumber offsetBFinalL1 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L1", 0.638); private static LoggedTunableNumber offsetBFinalL2 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L2", 0.7); private static LoggedTunableNumber offsetBFinalL3 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L3", 0.71); - private static LoggedTunableNumber offsetBFinalL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L4", 0.685); + private static LoggedTunableNumber offsetBFinalL4 = new LoggedTunableNumber("AutoAlignCommands/ReefAlignCommand/Offsets/Back/L4",0.72); /** * Finds the closest reef april tag (from the list of this alliance's apriltags) to a position. diff --git a/src/main/java/frc/robot/commands/StowToL4.java b/src/main/java/frc/robot/commands/StowToL4.java index a3113823..9814d0ed 100644 --- a/src/main/java/frc/robot/commands/StowToL4.java +++ b/src/main/java/frc/robot/commands/StowToL4.java @@ -83,7 +83,7 @@ public Angle angle() { private enum ElevatorPositions { Starting(new LoggedTunableNumber("Positions/StowToL4Command/elevator/StartingInches", 0)), SafeToSwingShoulder(new LoggedTunableNumber("Positions/StowToL4Command/elevator/SafeToSwingShoulderInches", 5.0)), - Final(new LoggedTunableNumber("Positions/StowToL4Command/elevator/FinalInches", 18)); + Final(new LoggedTunableNumber("Positions/StowToL4Command/elevator/FinalInches", 20)); DoubleSupplier position; MutDistance distance; diff --git a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java index ef2fc8ae..1a40af4d 100644 --- a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java +++ b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java @@ -48,7 +48,7 @@ public ShoulderConstants() { this.XPosition = Meters.of(0.07); this.YPosition = Inches.of(0); this.ZPosition = Meters.of(0.377); - this.CanCoderOffset = Degrees.of(124.2); + this.CanCoderOffset = Degrees.of(223); this.mechanismSimCallback = (d) -> { RobotState.instance().setShoulderSource(d); From b0776f29747254abe5266f129ceb35a824712305 Mon Sep 17 00:00:00 2001 From: EphraimSonnenberg Date: Thu, 19 Jun 2025 20:31:53 -0500 Subject: [PATCH 2/2] Re-Zeroed Shoulder after Demo --- .../frc/robot/subsystems/arm/constants/ShoulderConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java index 1a40af4d..2e6a2961 100644 --- a/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java +++ b/src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java @@ -48,7 +48,7 @@ public ShoulderConstants() { this.XPosition = Meters.of(0.07); this.YPosition = Inches.of(0); this.ZPosition = Meters.of(0.377); - this.CanCoderOffset = Degrees.of(223); + this.CanCoderOffset = Degrees.of(-51.24); this.mechanismSimCallback = (d) -> { RobotState.instance().setShoulderSource(d);