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[#458] merge main
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@WindowsVistaisCool
WindowsVistaisCool committed Mar 27, 2024
2 parents 6267bb1 + 66b9497 commit 1f5f026
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Showing 23 changed files with 626 additions and 113 deletions.
4 changes: 3 additions & 1 deletion .github/sun_checks.xml
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Expand Up @@ -137,7 +137,9 @@

<!-- Checks for Size Violations. -->
<!-- See https://checkstyle.org/checks/sizes/index.html -->
<module name="MethodLength"/>
<module name="MethodLength">
<property name="severity" value="warning"/>
</module>
<module name="ParameterNumber"/>

<!-- Checks for whitespace -->
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/PathFind-AMP.path
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Expand Up @@ -43,7 +43,7 @@
"rotateFast": false
},
"reversed": false,
"folder": "Top side paths",
"folder": "Align Paths",
"previewStartingState": {
"rotation": -88.92917554521306,
"velocity": 0
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/paths/PathFind-CENTER-STAGE.path
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Expand Up @@ -39,13 +39,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotation": -0.2672165304222104,
"rotateFast": false
},
"reversed": false,
"folder": "Top side paths",
"folder": "Align Paths",
"previewStartingState": {
"rotation": 179.41134538376076,
"rotation": 0.42558183706401953,
"velocity": 0
},
"useDefaultConstraints": true
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/paths/PathFind-HIGH-STAGE.path
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Expand Up @@ -39,13 +39,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -58.495733280795754,
"rotation": 118.59638768795911,
"rotateFast": false
},
"reversed": false,
"folder": "Top side paths",
"folder": "Align Paths",
"previewStartingState": {
"rotation": -52.51998896228982,
"rotation": 119.78139010583,
"velocity": 0
},
"useDefaultConstraints": true
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6 changes: 3 additions & 3 deletions src/main/deploy/pathplanner/paths/PathFind-LOW-STAGE.path
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Expand Up @@ -39,13 +39,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 60.75117366345304,
"rotation": -123.0238158865408,
"rotateFast": false
},
"reversed": false,
"folder": "Top side paths",
"folder": "Align Paths",
"previewStartingState": {
"rotation": 65.6954507340633,
"rotation": -117.74057745665498,
"velocity": 0
},
"useDefaultConstraints": true
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107 changes: 70 additions & 37 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -39,8 +39,7 @@ public static final boolean isMercury() {

public class DrivetrainConstants { // TODO Get new for new robot
public static final double MaxSpeed = 6; // 6 meters per second desired top speed
private static final double WHEELBASE = TunerConstants.kFrontLeftXPosInches * 2; // 2 * x distance from center
// of robot to wheel
private static final double WHEELBASE = TunerConstants.kFrontLeftXPosInches * 2; // 2 * x distance from center of robot to wheel
public static final double MaxAngularRate = 2 * Math.PI * ( // convert to radians per second
TunerConstants.kSpeedAt12VoltsMps / Math.PI * Math.sqrt(2 * Math.pow(WHEELBASE, 2))); // free speed / circumference of circle with radius of wheelbase

Expand Down Expand Up @@ -132,8 +131,7 @@ public static class AutonomousConstants {

public static final double CONTROL_LOOP_PERIOD = 0.01;

public static final PathConstraints PATH_CONSTRAINTS = new PathConstraints(2.0, 1, 1.0, 0.5); // TODO get
// constants
public static final PathConstraints PATH_CONSTRAINTS = new PathConstraints(2.0, 1, 1.0, 0.5); // TODO get constants

public static final double BLUE_CHASE_BOUNDARY = 8.5; // The highest X value the robot can be at before ending.
// Prevents going over center line.
Expand Down Expand Up @@ -179,7 +177,7 @@ public static class TunerConstants {

// The stator current at which the wheels start to slip;
// This needs to be tuned to your individual robot
private static final double kSlipCurrentA = 300d;
private static final double kSlipCurrentA = 50d;

// Theoretical free speed (m/s) at 12v applied output;
// This needs to be tuned to your individual robot
Expand Down Expand Up @@ -323,21 +321,22 @@ public class VisionConstants {
public static final Translation2d VISION_LIMIT = new Translation2d(Units.feetToMeters(9),
Units.feetToMeters(5));
public static final double ALIGNMENT_TOLERANCE = 8d; // TODO: make this an actual value
public static final PIDController TAG_AIM_CONTROLLER = new PIDController(0.1, 0, 0, 0.01);
public static final double POINTATTAG_ALIGNMENT_TOLERANCE = 1d;
public static final PIDController POINT_AIM_CONTROLLER = new PIDController(0.2, 0, 0.015, 0.01);
public static final PIDController TAG_AIM_CONTROLLER = new PIDController(0.1, 0, 0.01);
public static final PIDController COMBO_CONTROLLER = new PIDController(0.1, 0, 0);
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;
}
}

Expand Down Expand Up @@ -426,19 +425,19 @@ public class FlywheelConstants {
public static final double TOP_1_MOTOR_KA = 0;

// SLOT 0 BOTTOM, 0 - 49 RPS
public static final double BOTTOM_0_MOTOR_KP = 0.15;
public static final double BOTTOM_0_MOTOR_KP = 0.155;
public static final double BOTTOM_0_MOTOR_KI = 0;
public static final double BOTTOM_0_MOTOR_KD = 0;
public static final double BOTTOM_0_MOTOR_KS = 0.3;
public static final double BOTTOM_0_MOTOR_KV = 0.11;
public static final double BOTTOM_0_MOTOR_KS = 0.35;
public static final double BOTTOM_0_MOTOR_KV = 0.112;
public static final double BOTTOM_0_MOTOR_KA = 0;

// SLOT 1 BOTTOM, 50 - 107 RPS
public static final double BOTTOM_1_MOTOR_KP = 0.16;
public static final double BOTTOM_1_MOTOR_KP = 0.15;
public static final double BOTTOM_1_MOTOR_KI = 0;
public static final double BOTTOM_1_MOTOR_KD = 0;
public static final double BOTTOM_1_MOTOR_KS = 0.3;
public static final double BOTTOM_1_MOTOR_KV = 0.1155;
public static final double BOTTOM_1_MOTOR_KS = 0.35;
public static final double BOTTOM_1_MOTOR_KV = 0.114;
public static final double BOTTOM_1_MOTOR_KA = 0;

public static final double RPM_TOLERANCE = 50d;
Expand All @@ -457,6 +456,8 @@ public enum PieceState {
IN_COLLECT, IN_PIVOT, IN_INDEXER, NONE
}



public static final boolean INDEXER_MOTOR_BRAKE_MODE = true;
public static final double INDEXER_DEFAULT_POWER = 1d;
public static final double INDEXER_MANUAL_POWER = 1d;
Expand Down Expand Up @@ -517,19 +518,18 @@ public class RhapsodyPivotConstants { // TODO: get real

public static final double ANGLE_TOLERANCE = 0.00208d;

public static final double ENCODER_OFFSET = -0.54008; // In rotations, was 0.282 //TODO: get real :)
public static final double ENCODER_OFFSET = -0.913834;//-0.54008; // In rotations
public static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.Clockwise_Positive;
public static final double ENCODER_TO_MECHANISM_RATIO = 1d;
public static final double ROTOR_TO_ENCODER_RATIO = 275d;

public static final double BIAS_INCREMENT = 1d; // fDegrees to bias by per button press TODO get amount to bias
// by
public static final double BIAS_INCREMENT = 1d; // fDegrees to bias by per button press TODO get amount to bias by

public static final double STOW_ANGLE = 27d;

public static final double MAX_INDEX_ANGLE = 40d;

public static final double MIN_ANGLE = 27d;
public static final double MIN_ANGLE = 25d;
public static final double MAX_ANGLE = 105d;

public static final double PIVOT_SYSTEST_ANGLE = 90d;
Expand All @@ -540,7 +540,7 @@ public class ShooterConstants {
public static final double FAR_WING_X = 3.3;

// Distance in meters, angle in degrees
public static final InterpolationMap ANGLE_MAP = new InterpolationMap() {
public static final InterpolationMap TUBE_ANGLE_MAP = new InterpolationMap() {
{
// As distance gets smaller angle goes up
put(1.21d, 52d);
Expand All @@ -554,16 +554,44 @@ public class ShooterConstants {
};

// Distance in meters, speed in RPM
public static final InterpolationMap SPEED_MAP = new InterpolationMap() {
public static final InterpolationMap TUBE_SPEED_MAP = new InterpolationMap() {
{
// As distance get smaller RPM gets smaller
put(1.21d, 2000d);
put(2d, 2500d);
put(2.5d, 3000d);
put(3d, 3500d);
put(3.5d, 4000d);
put(4.09d, 3600d);
put(4.86d, 4600d);
put(4d, 3600d);
put(4.75d, 4600d);
}
};

// Distance in meters, angle in degrees
public static final InterpolationMap STEALTH_ANGLE_MAP = new InterpolationMap() {
{
// As distance gets smaller angle goes up
put(1.21d, 50d);
put(2d, 43d);
put(2.5d, 39.5d);
put(3d, 35d);
put(3.5d, 30.5d);
put(4d, 29.5d);
put(4.75d, 28d);
}
};

// Distance in meters, speed in RPM
public static final InterpolationMap STEALTH_SPEED_MAP = new InterpolationMap() {
{
// As distance get smaller RPM gets smaller
put(1.21d, 2000d);
put(2d, 2500d);
put(2.5d, 3000d);
put(3d, 3500d);
put(3.5d, 3700d);
put(4d, 3700d);
put(4.75d, 4000d);
}
};

Expand All @@ -574,13 +602,13 @@ public enum ShootingState {

public class CandConstants { // TODO get real
// Amp
public static final double AMP_TOP_RPM = 50;
public static final double AMP_BOTTOM_RPM = 2000;
public static final double AMP_ANGLE = 45;
public static final double AMP_TOP_RPM = 300;
public static final double AMP_BOTTOM_RPM = 700;
public static final double AMP_ANGLE = 93;

// PointBlank
public static final double POINT_BLANK_RPM = 2000;
public static final double POINT_BLANK_ANGLE = 60;
public static final double POINT_BLANK_ANGLE = 50;

// Podium
public static final double PODIUM_RPM = 3500;
Expand Down Expand Up @@ -637,13 +665,18 @@ public class ClimbConstants { // TODO: find real values

public static final double CLIMB_SYSTEST_POWER = 0.1;

public enum CLIMBER_STATES {
CLIMBED, GROUNDED, STOW
}
public static final Pose2d PATHFIND_CENTER_STAGE_START_POSE_BLUE = new Pose2d(7.43, 4.16, new Rotation2d(0));
public static final Pose2d PATHFIND_HIGH_STAGE_START_POSE_BLUE = new Pose2d(3.55, 6.16, new Rotation2d(Units.degreesToRadians(-53.13)));
public static final Pose2d PATHFIND_LOW_STAGE_START_POSE_BLUE = new Pose2d(3.54, 1.91, new Rotation2d(Units.degreesToRadians(63.43)));

public static final Pose2d PATHFIND_CENTER_STAGE_START_POSE_RED = new Pose2d(9.07, 4.16, new Rotation2d(0));
public static final Pose2d PATHFIND_HIGH_STAGE_START_POSE_RED = new Pose2d(12.96, 6.16, new Rotation2d(Units.degreesToRadians(-53.13)));
public static final Pose2d PATHFIND_LOW_STAGE_START_POSE_RED = new Pose2d(12.95, 1.91, new Rotation2d(Units.degreesToRadians(63.43)));
}


public class LEDsConstants {
public static final int LED_LENGTH = 28;
public static final int LED_LENGTH = 50;

public static final Map<Integer, Integer> STRAND_START = new HashMap<Integer, Integer>() {
{
Expand All @@ -655,9 +688,9 @@ public class LEDsConstants {

public static final Map<Integer, Integer> STRAND_LENGTH = new HashMap<Integer, Integer>() {
{
put(-1, LEDsConstants.LED_LENGTH);
put(0, 14);
put(1, 14);
put(-1, LEDsConstants.LED_LENGTH);
put(0, 14);
put(1, 15);
}
};

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