[#536] Improved drive

frc-862 · Apr 13, 2024 · a03918b · a03918b
1 parent 3bb2d08
commit a03918b
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Showing 12 changed files with 37 additions and 70 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -10,7 +10,8 @@
     "Top side paths"
   ],
   "autoFolders": [
-    "Hide"
+    "Hide",
+    "New Folder"
   ],
   "defaultMaxVel": 5.0,
   "defaultMaxAccel": 4.0,

diff --git a/src/main/deploy/pathplanner/autos/2-SB-[C3]-EC.auto b/src/main/deploy/pathplanner/autos/2-SB-[C3]-EC.auto
@@ -121,6 +121,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "New Folder",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/2-SF-[C2]-EC.auto b/src/main/deploy/pathplanner/autos/2-SF-[C2]-EC.auto
@@ -96,6 +96,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "New Folder",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/2-ST-[C1]-EC.auto b/src/main/deploy/pathplanner/autos/2-ST-[C1]-EC.auto
@@ -108,6 +108,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "New Folder",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/3-SB-[F4-C3]-EC.auto b/src/main/deploy/pathplanner/autos/3-SB-[F4-C3]-EC.auto
@@ -185,6 +185,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "Hide",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto b/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto
@@ -18,18 +18,12 @@
               {
                 "type": "wait",
                 "data": {
-                  "waitTime": 6.0
+                  "waitTime": 4.0
                 }
               }
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Bias-Down"
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -269,6 +263,12 @@
           "data": {
             "pathName": "BS-F4"
           }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": []
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/3-SF-[C2-C3]-EC.auto b/src/main/deploy/pathplanner/autos/3-SF-[C2-C3]-EC.auto
@@ -140,6 +140,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "Hide",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/3-SF-[C2-F3]-EC.auto b/src/main/deploy/pathplanner/autos/3-SF-[C2-F3]-EC.auto
@@ -24,12 +24,6 @@
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Bias-Down"
-          }
-        },
         {
           "type": "deadline",
           "data": {
@@ -49,44 +43,6 @@
             ]
           }
         },
-        {
-          "type": "race",
-          "data": {
-            "commands": [
-              {
-                "type": "deadline",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "Point-At-Speaker"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "Smart-Collect"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "preAim"
-                      }
-                    }
-                  ]
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 2.0
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "wait",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/F5-BS.path b/src/main/deploy/pathplanner/paths/F5-BS.path
@@ -20,8 +20,8 @@
         "y": 4.141627021992783
       },
       "prevControl": {
-        "x": 2.3428906525172715,
-        "y": 3.4016063111821313
+        "x": 2.034348684081985,
+        "y": 2.5358043023778354
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,18 +32,18 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0.0,
     "rotation": -42.0,
-    "rotateFast": false
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "Return Paths",
   "previewStartingState": null,
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -43,7 +43,7 @@ public class DrivetrainConstants {
 
         public static final double ROT_MULT = 0.04; // TODO Tune for Driver
 
-        public static final double SLOW_ROT_MULT = 0.3;
+        public static final double SLOW_ROT_MULT = 0.7;
         public static final double SLOW_SPEED_MULT = 0.4;
 
         public static final double SYS_TEST_SPEED_DRIVE = 0.5;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -369,8 +369,8 @@ protected void configureDefaultCommands() {
 		/* driver */
 		drivetrain.registerTelemetry(logger::telemeterize);
 
-		drivetrain.setDefaultCommand(drivetrain.applyPercentRequestField(() -> -driver.getLeftY(),
-				() -> -driver.getLeftX(), () -> -driver.getRightX()));
+		drivetrain.setDefaultCommand(drivetrain.applyPercentRequestField(() -> -(driver.getLeftY() * drivetrain.getSpeedMult()),
+				() -> -(driver.getLeftX() * drivetrain.getSpeedMult()), () -> -(driver.getRightX() * drivetrain.getRotMult())));
 		// .alongWith(new CollisionDetection(drivetrain, CollisionType.TELEOP)));
 
 		/* copilot */

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -53,7 +53,9 @@ public class Swerve extends SwerveDrivetrain implements Subsystem {
     private boolean disableVision = false;
     private boolean robotCentricControl = false;
     private double maxSpeed = DrivetrainConstants.MaxSpeed;
+    private double speedMult = 1;
     private double maxAngularRate = DrivetrainConstants.MaxAngularRate * DrivetrainConstants.ROT_MULT;
+    private double angularMult = 1;
     private LinearFilter xFilter = LinearFilter.singlePoleIIR(2, 0.01);
     private LinearFilter yFilter = LinearFilter.singlePoleIIR(2, 0.01);
     private LinearFilter rotFilter = LinearFilter.singlePoleIIR(2, 0.01);
@@ -327,14 +329,22 @@ public boolean inSlowMode() {
      */
     public void setSlowMode(boolean slow) {
         if (slow) {
-            maxSpeed = DrivetrainConstants.MaxSpeed * DrivetrainConstants.SLOW_SPEED_MULT;
-            maxAngularRate = DrivetrainConstants.MaxAngularRate * DrivetrainConstants.ROT_MULT * DrivetrainConstants.SLOW_ROT_MULT;
+            speedMult = DrivetrainConstants.SLOW_SPEED_MULT;
+            angularMult = DrivetrainConstants.SLOW_ROT_MULT;
         } else {
-            maxSpeed = DrivetrainConstants.MaxSpeed;
-            maxAngularRate = DrivetrainConstants.MaxAngularRate * DrivetrainConstants.ROT_MULT;
+            speedMult = 1;
+            angularMult = 1;
         }
     }
 
+    public double getSpeedMult() {
+        return speedMult;
+    }
+
+    public double getRotMult() {
+        return angularMult;
+    }
+
     public boolean isInField() {
         return field.isPoseInRegion(getPose());
     }