diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj index b5cc7f81..f4fef15a 100644 --- a/src/main/deploy/choreo/DepottoLPreTrench.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0828871726989746, "y":7.509117603302002, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -19,8 +19,8 @@ "waypoints":[ {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, 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{"t":2.05222, "x":3.08262, "y":7.50834, "heading":0.00617, "vx":0.02532, "vy":0.07414, "omega":-0.29519, "ax":-1.21115, "ay":-3.54632, "alpha":14.11994, "fx":[-124.30839,-84.15504,8.33039,120.0348], "fy":[-1.96535,-91.60825,-124.06053,-16.89756]}, + {"t":2.07313, "x":3.08289, "y":7.50912, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LBumpToLCleanup.traj b/src/main/deploy/choreo/LBumpToLCleanup.traj index 2c66a5fc..b26e7f85 100644 --- a/src/main/deploy/choreo/LBumpToLCleanup.traj +++ b/src/main/deploy/choreo/LBumpToLCleanup.traj @@ -6,8 +6,9 @@ {"x":2.8895323276519775, "y":5.703888893127441, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.960714817047119, "y":7.404163360595703, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.8285322189331055, "y":7.382072448730469, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.158814430236816, "y":6.248106002807617, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.068130016326904, "y":3.792367458343506, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.158814430236816, "y":6.248106002807617, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.845091342926025, "y":5.2552313804626465, "heading":-1.750649494667614, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.7387895584106445, "y":3.73817777633667, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,7 +16,7 @@ {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}], + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -23,8 +24,9 @@ {"x":{"exp":"LBump.x", "val":2.8895323276519775}, "y":{"exp":"LBump.y", "val":5.703888893127441}, "heading":{"exp":"LBump.heading", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.960714817047119 m", "val":2.960714817047119}, "y":{"exp":"7.404163360595703 m", "val":7.404163360595703}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.8285322189331055 m", "val":5.8285322189331055}, "y":{"exp":"7.382072448730469 m", "val":7.382072448730469}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.158814430236816 m", "val":6.158814430236816}, "y":{"exp":"6.248106002807617 m", "val":6.248106002807617}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"6.158814430236816 m", "val":6.158814430236816}, "y":{"exp":"6.248106002807617 m", "val":6.248106002807617}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.845091342926025 m", "val":5.845091342926025}, "y":{"exp":"5.2552313804626465 m", "val":5.2552313804626465}, "heading":{"exp":"-1.750649494667614 rad", "val":-1.750649494667614}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LCleanup.x", "val":5.7387895584106445}, "y":{"exp":"LCleanup.y", "val":3.73817777633667}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,7 +34,7 @@ {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, - {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}], + {"from":0, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -63,112 +65,124 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.98589,2.1244,2.80203,3.89283], + "waypoints":[0.0,0.98586,2.12163,2.82424,3.21035,3.95369], 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a/src/main/deploy/choreo/LDisrupttoLPreTrench.traj b/src/main/deploy/choreo/LDisrupttoLPreTrench.traj index fc01b9c3..d5ebf1d4 100644 --- a/src/main/deploy/choreo/LDisrupttoLPreTrench.traj +++ b/src/main/deploy/choreo/LDisrupttoLPreTrench.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":8.59691047668457, "y":4.542664527893066, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.475761890411377, "y":5.465127944946289, "heading":1.5707963267948966, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.141737937927246, "y":7.437780857086182, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.141737937927246, "y":7.437780857086182, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0828871726989746, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,8 +18,8 @@ "waypoints":[ {"x":{"exp":"DisruptL.x", "val":8.59691047668457}, "y":{"exp":"DisruptL.y", "val":4.542664527893066}, "heading":{"exp":"DisruptL.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.475761890411377 m", "val":7.475761890411377}, "y":{"exp":"5.465127944946289 m", "val":5.465127944946289}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":35, 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"omega":0.44083, "ax":0.00293, "ay":0.04544, "alpha":-0.28038, "fx":[-1.28872,1.35698,1.3852,-1.25982], "fy":[-0.55694,-0.58551,2.05964,2.08824]}, + {"t":2.82162, "x":5.73879, "y":3.73818, "heading":-1.5708, "vx":-0.1733, "vy":-2.6922, "omega":0.43395, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj index 5dbd04b9..a3ccc1b7 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLClimb.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLClimb.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0828871726989746, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"ay":-0.63608, "alpha":0.0, "fx":[-110.79633,-110.79633,-110.79633,-110.79633], "fy":[-10.51656,-10.51656,-10.51656,-10.51656]}, + {"t":2.42197, "x":8.29326, "y":5.66919, "heading":-1.5708, "vx":0.15858, "vy":-2.69438, "omega":0.0, "ax":-5.52724, "ay":-0.16303, "alpha":0.0, "fx":[-91.38425,-91.38425,-91.38425,-91.38425], "fy":[-2.69538,-2.69538,-2.69538,-2.69538]}, + {"t":2.45063, "x":8.29554, "y":5.59191, "heading":-1.5708, "vx":0.00019, "vy":-2.69905, "omega":0.0, "ax":-2.77719, "ay":0.04068, "alpha":0.0, "fx":[-45.91643,-45.91643,-45.91643,-45.91643], "fy":[0.67253,0.67253,0.67253,0.67253]}, + {"t":2.47929, "x":8.2944, "y":5.51458, "heading":-1.5708, "vx":-0.07939, "vy":-2.69789, "omega":0.0, "ax":-0.7909, "ay":0.02659, "alpha":0.0, "fx":[-13.07623,-13.07623,-13.07623,-13.07623], "fy":[0.43964,0.43964,0.43964,0.43964]}, + {"t":2.50794, "x":8.2918, "y":5.43728, "heading":-1.5708, "vx":-0.10206, "vy":-2.69712, "omega":0.0, "ax":-0.19774, "ay":0.00769, "alpha":0.0, "fx":[-3.26939,-3.26939,-3.26939,-3.26939], "fy":[0.12714,0.12714,0.12714,0.12714]}, + {"t":2.5366, "x":8.2888, "y":5.36, "heading":-1.5708, "vx":-0.10772, "vy":-2.6969, "omega":0.0, "ax":-0.04895, "ay":0.00197, "alpha":0.0, "fx":[-0.80931,-0.80931,-0.80931,-0.80931], "fy":[0.03254,0.03254,0.03254,0.03254]}, + {"t":2.56525, "x":8.28569, "y":5.28271, "heading":-1.5708, "vx":-0.10913, "vy":-2.69685, "omega":0.0, "ax":-0.01211, "ay":0.00049, "alpha":0.0, "fx":[-0.20022,-0.20022,-0.20022,-0.20022], "fy":[0.00811,0.00811,0.00811,0.00811]}, + {"t":2.59391, "x":8.28256, "y":5.20543, "heading":-1.5708, "vx":-0.10947, "vy":-2.69683, "omega":0.0, "ax":-0.003, "ay":0.00012, "alpha":0.0, "fx":[-0.04953,-0.04953,-0.04953,-0.04953], "fy":[0.00201,0.00201,0.00201,0.00201]}, + {"t":2.62257, "x":8.27942, "y":5.12815, "heading":-1.5708, "vx":-0.10956, "vy":-2.69683, "omega":0.0, "ax":-0.00074, "ay":0.00003, "alpha":0.0, "fx":[-0.01225,-0.01225,-0.01225,-0.01225], "fy":[0.0005,0.0005,0.0005,0.0005]}, + {"t":2.65122, "x":8.27628, "y":5.05087, "heading":-1.5708, "vx":-0.10958, "vy":-2.69683, "omega":0.0, "ax":-0.00018, "ay":0.00001, "alpha":0.0, "fx":[-0.00303,-0.00303,-0.00303,-0.00303], "fy":[0.00012,0.00012,0.00012,0.00012]}, + {"t":2.67988, "x":8.27314, "y":4.97359, "heading":-1.5708, "vx":-0.10958, "vy":-2.69683, "omega":0.0, "ax":-0.00005, "ay":0.0, "alpha":0.0, "fx":[-0.00075,-0.00075,-0.00075,-0.00075], "fy":[0.00003,0.00003,0.00003,0.00003]}, + {"t":2.70853, "x":8.27, "y":4.89631, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00019,-0.00019,-0.00019,-0.00019], "fy":[0.00001,0.00001,0.00001,0.00001]}, + {"t":2.73719, "x":8.26686, "y":4.81903, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00005,-0.00005,-0.00005,-0.00005], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.76585, "x":8.26372, "y":4.74175, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.7945, "x":8.26058, "y":4.66447, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00008,0.00008,0.00008,0.00008]}, + {"t":2.82316, "x":8.25744, "y":4.58719, "heading":-1.5708, "vx":-0.10959, "vy":-2.69683, "omega":0.0, "ax":0.00135, "ay":0.03322, "alpha":0.0, "fx":[0.02232,0.02232,0.02232,0.02232], "fy":[0.54929,0.54929,0.54929,0.54929]}, + {"t":2.85181, "x":8.2543, "y":4.50993, "heading":-1.5708, "vx":-0.10955, "vy":-2.69588, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index d8eb73af..c96ccc8b 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -127,12 +127,12 @@ }, "LCleanup":{ "x":{ - "exp":"6.068130016326904 m", - "val":6.068130016326904 + "exp":"5.7387895584106445 m", + "val":5.7387895584106445 }, "y":{ - "exp":"3.792367458343506 m", - "val":3.792367458343506 + "exp":"3.73817777633667 m", + "val":3.73817777633667 }, "heading":{ "exp":"-90 deg", @@ -169,8 +169,8 @@ }, "LPreTrench":{ "x":{ - "exp":"3.3465769290924072 m", - "val":3.3465769290924072 + "exp":"3.0828871726989746 m", + "val":3.0828871726989746 }, "y":{ "exp":"7.509117603302002 m", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 92946534..5171ae7b 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -765,8 +765,8 @@ public Command getLeftBumpDoubleDipAuto() { Path.StartingLTrenchtoLNeutral, Path.LNeutralToLBump, Path.LBumptoLCleanup, - // Path.LCleanupToLBump - Path.EndWScoreLCleanuptoLPreTrench + Path.LCleanupToLBump + // Path.EndWScoreLCleanuptoLPreTrench }, Commands.none()); } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 01f225c1..afeac208 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -946,6 +946,14 @@ public void robotPeriodic() { .getTurretPose(swerve.getPose()) .getTranslation() .getDistance(FieldUtils.getCurrentHubTranslation())); + + Logger.recordOutput( + "AutoAim/Distance to feed target", + shooter + .getTurretPose(swerve.getPose()) + .getTranslation() + .getDistance( + FeedTargets.getFeedTarget(Superstructure.getFeedTarget()).getTranslation())); Logger.recordOutput( "AutoAim/Feed Target", FeedTargets.getFeedTarget(Superstructure.getFeedTarget()).getPose()); diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretIO.java b/src/main/java/frc/robot/subsystems/shooter/TurretIO.java index f3d46c09..f49215e5 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretIO.java @@ -5,6 +5,7 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.MotionMagicVoltage; +import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.measure.Angle; @@ -38,6 +39,7 @@ public static class TurretIOInputs { private final StatusSignal tempC; private MotionMagicVoltage motionMagic = new MotionMagicVoltage(0.0).withEnableFOC(true); + private PositionVoltage positionVoltage = new PositionVoltage(0.0).withEnableFOC(true); // todo private Rotation2d turretSetpoint = Rotation2d.kZero; @@ -91,7 +93,8 @@ public void updateInputs(TurretIOInputs inputs) { public void setTurretPosition(Rotation2d positionAngle) { turretSetpoint = positionAngle; - motor.setControl(motionMagic.withPosition(positionAngle.getRotations())); + // motor.setControl(motionMagic.withPosition(positionAngle.getRotations())); + motor.setControl(positionVoltage.withPosition(positionAngle.getRotations())); } public void resetTurretEncoder(Rotation2d turretRotation) { diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 29b29fd5..befed9ed 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -573,6 +573,8 @@ public static TalonFXConfiguration getTurretConfig() { config.Slot0.kS = 0.45; config.Slot0.kV = 5.7; config.Slot0.kP = 240.0; + //kd was added once we switched to position voltage + config.Slot0.kD = 0.04; config.MotionMagic.MotionMagicAcceleration = 10; // 2.064; config.MotionMagic.MotionMagicCruiseVelocity = 20; // 8.0; diff --git a/src/main/java/frc/robot/utils/FieldUtils.java b/src/main/java/frc/robot/utils/FieldUtils.java index 849de088..7422858d 100644 --- a/src/main/java/frc/robot/utils/FieldUtils.java +++ b/src/main/java/frc/robot/utils/FieldUtils.java @@ -42,7 +42,7 @@ public static Pose2d getCurrentHubPose() { public enum FeedTargets { BLUE_BACK_RIGHT(new Translation2d(0.6643, 3)), // Eyeballed in Choreo - BLUE_BACK_LEFT(new Translation2d(0.75, 7)), + BLUE_BACK_LEFT(new Translation2d(0.75, 6)), RED_BACK_RIGHT(ChoreoAllianceFlipUtil.flip(BLUE_BACK_RIGHT.getPose())), RED_BACK_LEFT(ChoreoAllianceFlipUtil.flip(BLUE_BACK_LEFT.getPose())); diff --git a/src/main/java/frc/robot/utils/autoaim/ShotTrees.java b/src/main/java/frc/robot/utils/autoaim/ShotTrees.java index 13fcc7a3..fef07fbc 100644 --- a/src/main/java/frc/robot/utils/autoaim/ShotTrees.java +++ b/src/main/java/frc/robot/utils/autoaim/ShotTrees.java @@ -106,17 +106,17 @@ public class ShotTrees { 1.13)); // budget shots - COMP_HUB_SHOT_TREE.put(4.172776, new ShotData(Rotation2d.fromDegrees(36), 0.95 * 25.5, 1.13)); + COMP_HUB_SHOT_TREE.put(4.172776, new ShotData(Rotation2d.fromDegrees(36), 0.97 * 25.5, 1.13)); - COMP_HUB_SHOT_TREE.put(4.512483, new ShotData(Rotation2d.fromDegrees(34), 0.95 * 25.5, 1.2)); + COMP_HUB_SHOT_TREE.put(4.512483, new ShotData(Rotation2d.fromDegrees(34), 0.97 * 25.5, 1.2)); - COMP_HUB_SHOT_TREE.put(4.974656, new ShotData(Rotation2d.fromDegrees(39), 0.95 * 27, 1.2)); + COMP_HUB_SHOT_TREE.put(4.974656, new ShotData(Rotation2d.fromDegrees(39), 0.97 * 27, 1.2)); - COMP_HUB_SHOT_TREE.put(5.116029, new ShotData(Rotation2d.fromDegrees(39.5), 0.95 * 27.5, 1.1)); + COMP_HUB_SHOT_TREE.put(5.116029, new ShotData(Rotation2d.fromDegrees(39.5), 0.97 * 27.5, 1.1)); - COMP_HUB_SHOT_TREE.put(5.509574, new ShotData(Rotation2d.fromDegrees(40), 0.95 * 28, 1.12)); + COMP_HUB_SHOT_TREE.put(5.509574, new ShotData(Rotation2d.fromDegrees(40), 0.97 * 28, 1.12)); - COMP_HUB_SHOT_TREE.put(5.63499, new ShotData(Rotation2d.fromDegrees(40), 0.95 * 28, 1.12)); + COMP_HUB_SHOT_TREE.put(5.63499, new ShotData(Rotation2d.fromDegrees(40), 0.97 * 28, 1.12)); // COMP_HUB_SHOT_TREE.put( // 4.602258, @@ -147,41 +147,17 @@ public class ShotTrees { public static final InterpolatingShotTree FEED_SHOT_TREE = new InterpolatingShotTree(); static { // For feed shot tree - FEED_SHOT_TREE.put( - Units.feetToMeters(2), new ShotData(Rotation2d.fromDegrees(23.16), 20 - 2, 0)); // - 2, 0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(4), - new ShotData(Rotation2d.fromDegrees(30), 40 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(6), - new ShotData(Rotation2d.fromDegrees(40), 30 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(8), - new ShotData(Rotation2d.fromDegrees(40), 32 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(10), - new ShotData(Rotation2d.fromDegrees(40), 35 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(12), - new ShotData(Rotation2d.fromDegrees(40), 40 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(14), - new ShotData(Rotation2d.fromDegrees(45), 38 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( - Units.feetToMeters(16), - new ShotData(Rotation2d.fromDegrees(45), 40 - 2, 0.0)); // - 2, 0.0)); - FEED_SHOT_TREE.put( Units.feetToMeters(18), new ShotData( Rotation2d.fromDegrees(40 - 13.16), - 36 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1, + 0.9 * (36 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1), 1.42)); // - 2, 1.42)); FEED_SHOT_TREE.put( Units.feetToMeters(20), new ShotData( Rotation2d.fromDegrees(43 - 13.16), - 38 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1, + 0.9 * (38 * 0.84615384615 / TurretSubsystem.OLD_FLYWHEEL_GEAR_RATIO + 1), 1.36)); // - 2, 1.36)); FEED_SHOT_TREE.put( Units.feetToMeters(22),