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Retune feed #86

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Merged
spellingcat merged 8 commits into from
Apr 10, 2026
Merged

Retune feed #86

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52557db
neutral tweaks
spellingcat Apr 9, 2026
cc8be26
increase speeds slightly
spellingcat Apr 9, 2026
990e6df
push pre trench pose more back but now it's kinda slow
spellingcat Apr 9, 2026
04cd5d1
l bump tuning (not finished)
spellingcat Apr 9, 2026
584d5e5
move left pose in
spellingcat Apr 9, 2026
928936d
log feed dist
spellingcat Apr 9, 2026
08af81b
make feed shots a bit slower
spellingcat Apr 9, 2026
6a4f8fc
switch turret from motion magic to position voltage
spellingcat Apr 9, 2026
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197 changes: 98 additions & 99 deletions src/main/deploy/choreo/DepottoLPreTrench.traj
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236 changes: 125 additions & 111 deletions src/main/deploy/choreo/LBumpToLCleanup.traj
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172 changes: 98 additions & 74 deletions src/main/deploy/choreo/LCleanupToLBump.traj
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237 changes: 133 additions & 104 deletions src/main/deploy/choreo/LCleanuptoLPreTrench.traj
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193 changes: 97 additions & 96 deletions src/main/deploy/choreo/LDisrupttoLPreTrench.traj
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260 changes: 131 additions & 129 deletions src/main/deploy/choreo/LNeutraltoLPreTrench.traj
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192 changes: 95 additions & 97 deletions src/main/deploy/choreo/LPreTrenchtoDepot.traj
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198 changes: 107 additions & 91 deletions src/main/deploy/choreo/LPreTrenchtoLCleanup.traj
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145 changes: 72 additions & 73 deletions src/main/deploy/choreo/LPreTrenchtoLClimb.traj
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206 changes: 104 additions & 102 deletions src/main/deploy/choreo/LPreTrenchtoLNeutral.traj
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12 changes: 6 additions & 6 deletions src/main/deploy/choreo/rebuiltChoreo.chor
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/Autos.java
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Original file line number Diff line number Diff line change
Expand Up @@ -765,8 +765,8 @@ public Command getLeftBumpDoubleDipAuto() {
Path.StartingLTrenchtoLNeutral,
Path.LNeutralToLBump,
Path.LBumptoLCleanup,
// Path.LCleanupToLBump
Path.EndWScoreLCleanuptoLPreTrench
Path.LCleanupToLBump
// Path.EndWScoreLCleanuptoLPreTrench
},
Commands.none());
}
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -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());

Expand Down
5 changes: 4 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/TurretIO.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -38,6 +39,7 @@ public static class TurretIOInputs {
private final StatusSignal<Temperature> 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;
Expand Down Expand Up @@ -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) {
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
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Expand Up @@ -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;
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/utils/FieldUtils.java
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Expand Up @@ -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()));

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40 changes: 8 additions & 32 deletions src/main/java/frc/robot/utils/autoaim/ShotTrees.java
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Expand Up @@ -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,
Expand Down Expand Up @@ -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),
Expand Down
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