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Merged
Evan-Callies merged 2 commits into from
Jul 1, 2025
Merged

State champs #79

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d62989f
State champs changes
Evan-Callies Jun 17, 2025
b0776f2
Re-Zeroed Shoulder after Demo
EphraimSonnenberg Jun 20, 2025
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33 changes: 5 additions & 28 deletions src/main/deploy/pathplanner/paths/shortAdvancedLeft.0.path
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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,
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37 changes: 7 additions & 30 deletions src/main/deploy/pathplanner/paths/shortAdvancedRight.0.path
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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,
Expand All @@ -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
}
10 changes: 5 additions & 5 deletions src/main/java/frc/robot/commands/ReefScoreCommandFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/StowToL4.java
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@Evan-Callies Evan-Callies Jul 1, 2025

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Which is right?

Original file line number Diff line number Diff line change
Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/arm/constants/ShoulderConstants.java
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@jackrschumacher jackrschumacher Jul 1, 2025

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Take a look at this and verify that this is correct

Original file line number Diff line number Diff line change
Expand Up @@ -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(-51.24);

this.mechanismSimCallback = (d) -> {
RobotState.instance().setShoulderSource(d);
Expand Down