Major upgrades #88
Major upgrades #88
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…Mythic/2024-Robot into operatorController
| odometer.resetPosition(new Rotation2d(), getModulePositions(), new Pose2d(getPose().getTranslation(), new Rotation2d())); | ||
| zeroGyroscope(180); | ||
| } | ||
| zeroGyroscope(0); |
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Seems like this zero should be inside the else part of this statement... This always sets the gyroscope to 0 regardless of the alliance.
| } else { | ||
| angleShooterSubsystem.setDesiredShooterAngle(angleShooterSubsystem.calculateSpeakerAngle()); | ||
| if (POVSupplier.getAsDouble() == 90 || POVSupplier.getAsDouble() == 45 || POVSupplier.getAsDouble() == 135) { | ||
| angleShooterSubsystem.setDesiredShooterAngle(SmartDashboard.getNumber("amp angle", Field.AMPLIFIER_ANGLE)/*Field.AMPLIFIER_ANGLE*/); |
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This SmartDashboard.getNumber call seems dangerous... Even if there is no longer an "amp angle" field on the SmartDashboard, it would put my mind at ease if we just changed the Field.AMPLIFIER_ANGLE to be the value you liked best.
If your testing earlier discovered that there was a particular angle that worked best, we need to make sure that the Field.AMPLIFIER_ANGLE constant gets updated appropriately, instead of leaving that change in the SmartDashboard widget.
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I agree we should change this,but to set ur mind at ease, when the Boolean is initialized on SmartDashboard (whenever robot code starts) it is set to whatever the constant is. So if you never change anything on SmartDashboard, you will just use the constant
| angleShooterSubsystem.setDesiredShooterAngle(ShooterConstants.GROUND_INTAKE_SHOOTER_ANGLE); | ||
| } else { | ||
| angleShooterSubsystem.setDesiredShooterAngle(angleShooterSubsystem.calculateSpeakerAngle()); | ||
| } |
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A note on this whole execute function-- There's no reason to have the if/else statements increasingly nested... It just makes the code harder to read. This functionality is equivalent to:
if(SubwooferSupplier1.getAsBoolean()) {
...
}
else if(StageAngleSupplier.getAsBoolean()) {
...
}
else if(POVSupplier.getAsDouble() ...) {
...
}
else if(humanPlayerSupplier.getAsBoolean()) {
...
}
else if(intakeSupplier.getAsBoolean()) {
...
}
else {
...
}
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Your right... the nesting is just how i was taught to make if/else statements nested like that, but it is harder to read
| public static final double COMP_MAXIMUM_SHOOTER_ANGLE = 101;//still has to be found | ||
| public static final double PRAC_MAXIMUM_SHOOTER_ANGLE = 108;//still has to be found | ||
| public static final double COMP_MAXIMUM_SHOOTER_ANGLE = 108;//still has to be found | ||
| public static final double PRAC_MAXIMUM_SHOOTER_ANGLE = 101;//still has to be found |
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These numbers seem like they have been found-- can the comments be deleted? They seem misleading.
| } | ||
| public void resetOdometry() { | ||
| odometer.resetPosition(getGyroscopeRotation(), getModulePositions(), DRIVE_ODOMETRY_ORIGIN); | ||
| resetOdometry(DRIVE_ODOMETRY_ORIGIN); |
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I don't quite understand how the odometry reset works... Is there a need for this to be different between red and blue alliances?
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closed becuase I updated the code after thomass comments and the pull request wouldnt update |
Added better odometry so it works with autos, tuned speaker shooting for the comp bot, Tuned Amp shooting, added operator controller to do climber controls and ground intake. Added ground intake, added backup subwoofer and podium angles, autos now work for 1 note (the "flee" autos)