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Practice field4 3 #128

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merged 3 commits into from
Apr 11, 2024
Merged

Practice field4 3 #128

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994eb9e
slowed down auto pickup and tuned shots
trixydevs Apr 3, 2024
239bcc5
reformatted calibrating code
rflood07 Apr 4, 2024
17cfbd4
sped up autoPickup again
rflood07 Apr 4, 2024
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
"x": 0.7607347530216694,
"y": 4.480646518544946
},
"rotation": 121.7
"rotation": 116.0
},
"command": {
"type": "sequential",
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12 changes: 6 additions & 6 deletions src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 7.156417275797516,
"y": 1.7934317350116178
"x": 6.9848151084202525,
"y": 2.113187808819271
},
"prevControl": {
"x": 6.046263311717348,
"y": 1.3552130649799718
"x": 5.8746611443400845,
"y": 1.674969138787625
},
"nextControl": null,
"isLocked": false,
Expand All @@ -31,7 +31,7 @@
"rotationTargets": [
{
"waypointRelativePos": 0.6,
"rotationDegrees": -157.01,
"rotationDegrees": -168.42994609958126,
"rotateFast": true
}
],
Expand All @@ -45,7 +45,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -159.86,
"rotation": -165.06858282186255,
"rotateFast": false
},
"reversed": false,
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -385,7 +385,7 @@ private void configureBindings() {
new WaitCommand(0.5),
new InstantCommand(()->intake.setNoteHeld(false))
);
SmartDashboard.putNumber("Indexer Amp Speed", shooterAmpSpeed);
SmartDashboard.putNumber("Indexer Amp Speed", indexerAmpSpeed);
SequentialCommandGroup orbitAmpShot = new SequentialCommandGroup(
new InstantCommand(()->shooter.shootWithSupplier(()->SmartDashboard.getNumber("amp RPS", shooterAmpSpeed), true), shooter),
new MoveMeters(driveTrain, 0.015, 0.5, 0, 0),
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/CollectNote.java
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Expand Up @@ -125,7 +125,7 @@ public void execute() {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.pointWheelsInward();
// drivetrain.pointWheelsInward();
runsInvalid = 0;
closeNote = false;
}
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30 changes: 18 additions & 12 deletions src/main/java/frc/robot/settings/Constants.java
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Expand Up @@ -455,29 +455,35 @@ public final class PS4Operator{
public final class Field{

public static final double ROBOT_CENTER_TO_BUMBER = 0.419;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_X = 2.79;//NOT fOUND
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_Y = 4.33; //NOT FOUND
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_X = 13.99;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_Y = 3.99;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_X = 2.48;//NOT fOUND
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_Y = 4.89; //NOT FOUND
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_X = 14.11;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_Y = 4.02;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_X-ROBOT_CENTER_TO_BUMBER;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_RED_Y = AMP_SIDE_OUTER_TAPE_CORNER_RED_ROBOT_Y+ROBOT_CENTER_TO_BUMBER;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_X+ROBOT_CENTER_TO_BUMBER;
public static final double AMP_SIDE_OUTER_TAPE_CORNER_BLUE_Y = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_ROBOT_Y-ROBOT_CENTER_TO_BUMBER;

public static final double ROBOT_BLUE_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X-3;
public static final double ROBOT_RED_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_X+3;//16.38;//16.87; changed so that shots from the side wil aim to the opposite side, and bank in
public static final double SHOOTER_BLUE_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X-3.213;//16.38;//16.87; changed so that shots from the side wil aim to the opposite side, and bank in
public static final double SHOOTER_RED_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_X+3.213;//16.38; changed so that shots from the side wil aim to the opposite side, and bank in
public static final double RED_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_RED_Y+1.263;//5.46;
public static final double BLUE_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_Y+1.263;//5.46;
public static final double SPEAKER_Z = 2.08;//1.5;//1.8;//2.08; //height of opening. Changed so that the smaller spekeaker_x shots will still go in
public static final double CALCULATED_SHOOTER_RED_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_X+3.213;
public static final double CALCULATED_RED_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_RED_Y+1.263;
public static final double RED_SPEAKER_Y = CALCULATED_RED_SPEAKER_Y;
public static final double SHOOTER_RED_SPEAKER_X = CALCULATED_SHOOTER_RED_SPEAKER_X;//changed so that shots from the side wil aim to the opposite side, and bank in
public static final double ROBOT_RED_SPEAKER_X = SHOOTER_RED_SPEAKER_X-0.165;//changed so that shots from the side wil aim to the opposite side, and bank in

public static final double CALCULATED_SHOOTER_BLUE_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X-3.213; //changed so that shots from the side wil aim to the opposite side, and bank in
public static final double CALCULATED_BLUE_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_Y+1.263;
public static final double BLUE_SPEAKER_Y = CALCULATED_BLUE_SPEAKER_Y;
public static final double SHOOTER_BLUE_SPEAKER_X = CALCULATED_SHOOTER_BLUE_SPEAKER_X;
public static final double ROBOT_BLUE_SPEAKER_X =SHOOTER_BLUE_SPEAKER_X+0.6;

public static final double SPEAKER_Z = 2.08;//1.5;//1.8;//2.08; //height of opening. Changed so that the smaller spekeaker_x shots will still go in

public static final double MAX_SHOOTING_DISTANCE = 9;
public static final double SHORT_RANGE_SHOOTING_DIST = 3;

public static final double AMPLIFIER_SHOOTER_ANGLE = 108;
public static final double SUBWOOFER_ANGLE = 60;
public static final double PODIUM_SHOOTER_ANGLE = 36.3;
public static final double PODIUM_SHOOTER_ANGLE = 40;//36.3;
public static final double FAR_STAGE_SHOOTER_ANGLE = 25.5;
//24.5;
public static final double OPPOSITE_STAGE_SHOOTER_ANGLE = 26;//24.5;
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