Skip to content

Stuff from before and during states cuz i forgot to make a new branch #131

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
robo7660 wants to merge 3 commits into
base: main
Choose a base branch
from
Open

Stuff from before and during states cuz i forgot to make a new branch #131

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
367c611
Power maagement tuning
robo7660 Apr 6, 2024
62043dd
non-functional mid auto tuning
robo7660 Apr 6, 2024
325f024
disable leading correction
robo7660 Apr 6, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/autos/Middle 1 Note.auto
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.328428690111538,
"y": 5.52811290895741
"x": 1.386927239412675,
"y": 5.5768617000416905
},
"rotation": 179.056944767529
},
Expand Down
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/Middle 1 Note 0.path
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@
"y": 5.5768617000416905
},
"prevControl": {
"x": 1.386927239412675,
"y": 5.557362183607978
"x": 1.4043673838437358,
"y": 5.5681397447923
},
"nextControl": null,
"isLocked": false,
Expand Down
2 changes: 1 addition & 1 deletion src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
"angle": 16.8
},
"currentLimit": {
"drive": 120,
"drive": 105,
"angle": 40
},
"rampRate": {
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,8 @@ public final class Constants {
public static final boolean kLeftBackDriveInverted = false;
public static final boolean kRightBackDriveInverted = false;
public static final boolean kRightFrontDriveInverted = false;
public static final int driveStatorCurrentLimit = 120;
public static final int driveSupplyCurrentLimit = 120;
public static final int driveStatorCurrentLimit = 110;
public static final int driveSupplyCurrentLimit = 105;

public static final double LOOP_TIME = 0.13;
public static final double ROBOT_MASS = 115 * 0.453592;
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ public RobotContainer() {
private void configureBindings() {

JoystickButton leftBumper = new JoystickButton(driver, XboxController.Button.kLeftBumper.value);
leftBumper.toggleOnTrue(new IntakeAndIndex(m_intake, m_index, m_transfer));
leftBumper.whileTrue(new IntakeAndIndex(m_intake, m_index, m_transfer));

JoystickButton rb = new JoystickButton(driver, XboxController.Button.kRightBumper.value);
rb.whileTrue(new LaunchWithVelo(m_launch, m_index, -1400, false));
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/SwerveSubsystem.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ public SwerveSubsystem(File directory)
{
throw new RuntimeException(e);
}
swerveDrive.setHeadingCorrection(true); // Heading correction should only be used while controlling the robot via angle.
swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle.
swerveDrive.setCosineCompensator(!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
setupPathPlanner();

Expand Down Expand Up @@ -221,7 +221,7 @@ public Command driveToPose(Pose2d pose)
public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier headingX,
DoubleSupplier headingY)
{
swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control.
swerveDrive.setHeadingCorrection(false); // Normally you would want heading correction for this kind of control.
return run(() -> {
double xInput = Math.pow(translationX.getAsDouble(), 3); // Smooth controll out
double yInput = Math.pow(translationY.getAsDouble(), 3); // Smooth controll out
Expand All @@ -244,7 +244,7 @@ public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translat
*/
public Command simDriveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier rotation)
{
swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control.
swerveDrive.setHeadingCorrection(false); // Normally you would want heading correction for this kind of control.
return run(() -> {
// Make the robot move
driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(translationX.getAsDouble(),
Expand Down