From bc8547c9ecd45897222f8d93bd9a40a05e9cce8f Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 2 Jul 2025 18:23:52 -0400 Subject: [PATCH 1/3] stuff --- .../src/main/java/frc/robot/generated/TunerConstants.java | 2 +- .../java/frc/robot/subsystems/algae/AlgaeConstants.java | 6 +++--- .../main/java/frc/robot/superstructure/states/Climb.java | 6 +++++- .../robot/vision/localization/LocalizationConstants.java | 2 +- 4 files changed, 10 insertions(+), 6 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java index 9a50bf2c..26d53f63 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java @@ -104,7 +104,7 @@ public class TunerConstants { private static final double kDriveGearRatio = 6.75; private static final double kSteerGearRatio = 25; - public static final Distance kWheelRadius = Inches.of(2); + public static final Distance kWheelRadius = Inches.of(1.935); private static final boolean kInvertLeftSide = false; private static final boolean kInvertRightSide = true; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java index 9686e01a..ad9d768d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java @@ -12,10 +12,10 @@ public final class AlgaeConstants { protected static final double kIntakeVoltage = 12; protected static final double kNetEjectVoltage = -3.0; protected static final double kProcessorEjectVoltage = -3.2; - protected static final double kHoldVoltage = 2.7; + protected static final double kHoldVoltage = 6.5; - protected static final double kTorqueCurrentThreshold = 75; - protected static final double kSupplyCurrentLimit = 25.0; + protected static final double kTorqueCurrentThreshold = 95; + protected static final double kSupplyCurrentLimit = 55.0; protected static final double kProcessorScoreTime = 2.0; protected static final double kNetScoreTime = 0.4; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java index 596cc3b4..f6fd68c7 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java @@ -1,6 +1,8 @@ package frc.robot.superstructure.states; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -11,6 +13,8 @@ public class Climb implements EnterableState { public Climb() {} public Command build(Subsystems subsystems) { - return subsystems.climber().climb(); + return Commands.parallel( + subsystems.climber().climb(), + subsystems.pivot().go(PivotState.Ground)); } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/localization/LocalizationConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/localization/LocalizationConstants.java index f00c15e9..f38a2dda 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/localization/LocalizationConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/localization/LocalizationConstants.java @@ -98,7 +98,7 @@ public class LocalizationConstants { protected static final double kAvgErr = 0.08; protected static final double kErrStdDevs = 0.02; - public static final boolean kEnableReefFilter = false; + public static final boolean kEnableReefFilter = true; protected static final Set kReefIds = Set.of( 6, 7, 8, 9, 10, 11, // red tags From 8a0242c4007628d47bd6735eca0072c7bb99a463 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 2 Jul 2025 19:12:22 -0400 Subject: [PATCH 2/3] Change auto for Kettering (sort of) --- ThriftyTest/autons/center.txt | 2 +- .../main/deploy/pathplanner/autos/Center.auto | 94 ++++++++++++++++++- 2 files changed, 94 insertions(+), 2 deletions(-) diff --git a/ThriftyTest/autons/center.txt b/ThriftyTest/autons/center.txt index 36056a5c..56c8911b 100644 --- a/ThriftyTest/autons/center.txt +++ b/ThriftyTest/autons/center.txt @@ -1,6 +1,6 @@ Align H L4 -Align GH & Lower Algae +Align GH & Upper Algae Align Barge Center Net Upper Algae & Align IJ diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Center.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Center.auto index 589978e2..1b22aa02 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/Center.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/Center.auto @@ -1 +1,93 @@ -{"version":"2025.0","command":{"type":"sequential","data":{"commands":[{"type":"named","data":{"name":"Align H"}},{"type":"named","data":{"name":"L4"}},{"type":"parallel","data":{"commands":[{"type":"named","data":{"name":"Align GH"}},{"type":"named","data":{"name":"Lower Algae"}}]}},{"type":"named","data":{"name":"Align Barge Center"}},{"type":"named","data":{"name":"Net"}},{"type":"parallel","data":{"commands":[{"type":"named","data":{"name":"Upper Algae"}},{"type":"named","data":{"name":"Align IJ"}}]}},{"type":"named","data":{"name":"Align Barge Left"}},{"type":"named","data":{"name":"Net"}},{"type":"named","data":{"name":"Align LIntake"}}]}},"resetOdom":false,"folder":null,"choreoAuto":false} +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Align H" + } + }, + { + "type": "named", + "data": { + "name": "L4" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Align GH" + } + }, + { + "type": "named", + "data": { + "name": "Upper Algae" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Align Barge Center" + } + }, + { + "type": "named", + "data": { + "name": "Net" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Upper Algae" + } + }, + { + "type": "named", + "data": { + "name": "Align IJ" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Align Barge Left" + } + }, + { + "type": "named", + "data": { + "name": "Net" + } + }, + { + "type": "named", + "data": { + "name": "Align LIntake" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file From 79870b70bf35ddb717aa06c61a25d799df33db63 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 2 Jul 2025 19:12:56 -0400 Subject: [PATCH 3/3] yeah so those changes to algae were not good --- .../java/frc/robot/subsystems/algae/AlgaeConstants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java index ad9d768d..811dafdc 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java @@ -12,10 +12,10 @@ public final class AlgaeConstants { protected static final double kIntakeVoltage = 12; protected static final double kNetEjectVoltage = -3.0; protected static final double kProcessorEjectVoltage = -3.2; - protected static final double kHoldVoltage = 6.5; + protected static final double kHoldVoltage = 2.7; - protected static final double kTorqueCurrentThreshold = 95; - protected static final double kSupplyCurrentLimit = 55.0; + protected static final double kTorqueCurrentThreshold = 75; + protected static final double kSupplyCurrentLimit = 40.0; protected static final double kProcessorScoreTime = 2.0; protected static final double kNetScoreTime = 0.4;