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3.1621029376983643, "heading": 2.0621810870916404, - "angularVelocity": -6.213647215170895e-28, - "velocityX": -2.156858171618561e-27, - "velocityY": -5.470447303577155e-28, - "timestamp": 8.075074958656783 + "angularVelocity": 2.01264196231777e-24, + "velocityX": -5.73999497203024e-24, + "velocityY": -7.071724968489917e-24, + "timestamp": 8.714293300458083 } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index cfd52f1a..7f6b10bb 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -71,7 +71,7 @@ private DriveConstants() { public static final double ODOMETRY_FREQUENCY = 250; // module constants - public static final double WHEEL_RADIUS_METERS = Units.inchesToMeters(2.0 - (1.0 / 8.0)); + public static final double WHEEL_RADIUS_METERS = Units.inchesToMeters(2.0); public static final double MAX_LINEAR_SPEED = Units.feetToMeters(17.1); public static final double TRACK_WIDTH_X = Units.inchesToMeters(18.75); @@ -84,9 +84,9 @@ private DriveConstants() { = new GosBooleanProperty(false, "Drive/Use David Drive", false); // kV, kS, kA in order - public static final double[] DRIVE_FF_GAINS = new double[]{0.08, 0.35, 0.0}; + public static final double[] DRIVE_FF_GAINS = new double[]{0.02, 0.3, 0.0}; // {0.08, 0.35, 0.0} // kP, kI, kD in order - public static final double[] DRIVE_FB_GAINS = new double[]{0.08, 0.0, 0.0}; + public static final double[] DRIVE_FB_GAINS = new double[]{0.11, 0.0, 0.0}; // {0.08, 0.0, 0.0} // kP, kI, kD in order public static final double[] TURN_FB_GAINS = new double[]{47.0, 0.0, 0.0}; @@ -131,7 +131,7 @@ private DriveConstants() { ); public static final HolonomicPathFollowerConfig HOLONOMIC_CONFIG = new HolonomicPathFollowerConfig( - new PIDConstants(5.0, 0.0), new PIDConstants(5.5, 0.0), + new PIDConstants(4.0, 0.0), new PIDConstants(4.5, 0.0), DriveConstants.MAX_LINEAR_SPEED * 0.5, DriveConstants.DRIVE_BASE_RADIUS, new ReplanningConfig()); public static final ModuleConstants FL_MOD_CONSTANTS = new ModuleConstants( diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0d0c4293..437d4772 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -318,7 +318,7 @@ public void resetClimberLock() { } public void controllerRumble() { - if (m_shooter.atSpeed()) { + if (m_shooter.atSpeed() && DriverStation.isTeleop()) { m_driverController.getHID().setRumble(GenericHID.RumbleType.kBothRumble, 1.0); } else { m_driverController.getHID().setRumble(GenericHID.RumbleType.kBothRumble, 0.0); diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java index a636ea99..4847f40f 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java @@ -123,7 +123,7 @@ public static class OdometryTimestampInputs { private FieldRelativeAccel m_fieldRelAccel = new FieldRelativeAccel(); // Manual mode selector - private final LoggedDashboardBoolean m_useAutoCrap = new LoggedDashboardBoolean("Use Auto Crap?", false); + private final LoggedDashboardBoolean m_useAutoCrap = new LoggedDashboardBoolean("Use Auto Crap?", true); public DriveSubsystem( GyroIO gyroIO, @@ -178,12 +178,12 @@ public DriveSubsystem( getModulePositions(), new Pose2d(), VecBuilder.fill( - Units.inchesToMeters(0.5), - Units.inchesToMeters(0.5), + Units.inchesToMeters(1.0), + Units.inchesToMeters(1.0), Units.degreesToRadians(0.75)), VecBuilder.fill( - Units.inchesToMeters(5.0), - Units.inchesToMeters(5.0), + Units.inchesToMeters(3.0), + Units.inchesToMeters(3.0), Units.degreesToRadians(12.5)) ); @@ -342,13 +342,13 @@ public void periodic() { // Update odometry for (VisionSubsystem camera : m_cameras) { // make sure we're not moving too fast before trying to update vision poses - if ((MathUtil.applyDeadband(kinematics.toChassisSpeeds(getModuleStates()).vxMetersPerSecond, + if (((MathUtil.applyDeadband(kinematics.toChassisSpeeds(getModuleStates()).vxMetersPerSecond, Units.inchesToMeters(6.0)) == 0.0) && (MathUtil.applyDeadband(kinematics.toChassisSpeeds(getModuleStates()).vyMetersPerSecond, Units.inchesToMeters(6.0)) == 0.0) && (MathUtil.applyDeadband(kinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond, - Units.degreesToRadians(7.5)) == 0.0) - || !DriverStation.isAutonomousEnabled()) { + Units.degreesToRadians(7.5)) == 0.0)) + || !DriverStation.isAutonomousEnabled() || true) { camera.getPose(m_wpiPoseEstimator.getEstimatedPosition()).ifPresent( (PoseEstimator.TimestampedVisionUpdate pose) -> diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java index 3a3897b7..95305bf1 100644 --- a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java @@ -245,6 +245,9 @@ public void setDriveVelocityMPS(double mps) { double rps = (mps / m_moduleConstants.WHEEL_CURCUMFERENCE_METERS()) * m_moduleConstants.DRIVE_GEAR_RATIO(); VelocityVoltage velRequest = new VelocityVoltage(rps).withSlot(0).withEnableFOC(false); m_driveTalon.setControl(velRequest.withVelocity(rps)); + +// double output = mps / Constants.DriveConstants.MAX_LINEAR_SPEED; +// m_driveTalon.setVoltage(output * 12.0); } @Override diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java index e1dbad5c..10fc3dd1 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java @@ -33,11 +33,11 @@ public class VisionSubsystem { private AprilTagFieldLayout m_aprilTagFieldLayout; private final String m_name; - private final double xyStdDevCoefficient = Units.inchesToMeters(10.0); - private final double thetaStdDevCoefficient = Units.degreesToRadians(10.0); + private final double xyStdDevCoefficient = Units.inchesToMeters(9.0); + private final double thetaStdDevCoefficient = Units.degreesToRadians(9.0); - private final double xyStdDevMultiTagCoefficient = Units.inchesToMeters(5.0); - private final double thetaStdDevMultiTagCoefficient = Units.degreesToRadians(5.0); + private final double xyStdDevMultiTagCoefficient = Units.inchesToMeters(4.0); + private final double thetaStdDevMultiTagCoefficient = Units.degreesToRadians(4.0); private final PhotonVisionIOInputsAutoLogged inputs = new PhotonVisionIOInputsAutoLogged(); diff --git a/src/main/java/lib/utils/AimbotUtils.java b/src/main/java/lib/utils/AimbotUtils.java index 6977521d..f520b1cc 100644 --- a/src/main/java/lib/utils/AimbotUtils.java +++ b/src/main/java/lib/utils/AimbotUtils.java @@ -18,7 +18,7 @@ public class AimbotUtils { private static final GosDoubleProperty m_offsetInches = new GosDoubleProperty(false, "Wrist Angle Offset In", 0); private static final GosDoubleProperty m_offsetDegrees = - new GosDoubleProperty(false, "Wrist Angle Degs offset", 1.6); + new GosDoubleProperty(true, "Wrist Angle Degs offset", 1.0); private static final double Y_TARGET = 0.2;