Merge branch 'main' into 496-trap-score

frc-862 · Mar 26, 2024 · 045ac0d · 045ac0d
2 parents 5506f75 + 97ca3ec
commit 045ac0d
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Showing 3 changed files with 10 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -324,19 +324,18 @@ public class VisionConstants {
         public static final double POINTATTAG_ALIGNMENT_TOLERANCE = 2d;
         public static final PIDController TAG_AIM_CONTROLLER = new PIDController(0.2, 0, 0.015, 0.01);
         public static final PIDController CHASE_CONTROLLER = new PIDController(0.05, 0, 0);
-        public static final int TAG_PIPELINE = 0;
-        public static final int SPEAKER_PIPELINE = 1;
-        public static final int NOTE_PIPELINE = 2;
+
 
         public static final double HALF_FIELD_HEIGHT = Units.feetToMeters(13);
 
         public static final Translation3d BLUE_SPEAKER_LOCATION = new Translation3d(0, 5.547593, 1.2);
         public static final Translation3d RED_SPEAKER_LOCATION = new Translation3d(16.4592, 5.547593, 1.2);
 
         public class Pipelines { // TODO get real
-            public static final int APRIL_TAG_3d = 0;
-            public static final int APRIL_TAG_2d = 1;
-            public static final int CHASE_PIECE = 2; // FOR the collector
+            public static final int TAG_PIPELINE = 0;
+            public static final int SPEAKER_PIPELINE = 1;
+            public static final int NOTE_PIPELINE = 2;
+
         }
     }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -182,8 +182,8 @@ protected void initializeNamedCommands() {
         NamedCommands.registerCommand("Has-Piece", new HasPieceAuto(indexer));
         NamedCommands.registerCommand("Stop-Drive", new stopDrive(drivetrain));
         NamedCommands.registerCommand("Stop-Flywheel", new FlywheelIN(flywheel));
-        NamedCommands.registerCommand("Stopme-Tag", new InstantCommand(() -> limelights.setStopMePipeline(VisionConstants.TAG_PIPELINE)));
-        NamedCommands.registerCommand("Stopme-Speaker", new InstantCommand(() -> limelights.setStopMePipeline(VisionConstants.SPEAKER_PIPELINE)));
+        NamedCommands.registerCommand("Stopme-Tag", new InstantCommand(() -> limelights.setStopMePipeline(VisionConstants.Pipelines.TAG_PIPELINE)));
+        NamedCommands.registerCommand("Stopme-Speaker", new InstantCommand(() -> limelights.setStopMePipeline(VisionConstants.Pipelines.SPEAKER_PIPELINE)));
         NamedCommands.registerCommand("Point-At-Tag", new AutonPointAtTag(drivetrain, limelights, driver));
 
         // make sure named commands are initialized before autobuilder!

diff --git a/src/main/java/frc/robot/command/PointAtTag.java b/src/main/java/frc/robot/command/PointAtTag.java
@@ -45,7 +45,7 @@ public PointAtTag(Swerve drivetrain, Limelights limelights, XboxController drive
 
     @Override
     public void initialize() {
-        limelights.setStopMePipeline(VisionConstants.SPEAKER_PIPELINE);
+        limelights.setStopMePipeline(VisionConstants.Pipelines.SPEAKER_PIPELINE);
 
         headingController.setTolerance(VisionConstants.ALIGNMENT_TOLERANCE);
 
@@ -68,7 +68,7 @@ public void execute() {
 
         targetHeading = limelights.getStopMe().getTargetX();
 
-        if (limelights.getStopMePipeline() == VisionConstants.SPEAKER_PIPELINE) {
+        if (limelights.getStopMePipeline() == VisionConstants.Pipelines.SPEAKER_PIPELINE) {
             pidOutput = headingController.calculate(0, targetHeading);
         }
 
@@ -90,7 +90,7 @@ public void updateLogging() {
 
     @Override
     public void end(boolean interrupted) {
-        limelights.setStopMePipeline(VisionConstants.TAG_PIPELINE);
+        limelights.setStopMePipeline(VisionConstants.Pipelines.TAG_PIPELINE);
     }
 
     /**