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Coral setpoints tuning #111

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Merged
Lyssia-Seiden merged 4 commits into from
Apr 8, 2025
Merged

Coral setpoints tuning #111

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c25525f
Tune l2 extension in sim
SCool62 Apr 8, 2025
037537a
l3 in sim
SCool62 Apr 8, 2025
a2d73dc
Tune irl
SCool62 Apr 8, 2025
57aa409
Change l4 target (needs testing with improved clearence extension
SCool62 Apr 8, 2025
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12 changes: 9 additions & 3 deletions src/main/java/frc/robot/subsystems/ExtensionKinematics.java
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Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,19 @@ public class ExtensionKinematics {
new Pose2d(0.26, 0.4, Rotation2d.fromDegrees(15.0)); // solveFK(L1_EXTENSION);
public static final ExtensionState L1_EXTENSION = solveIK(L1_POSE);
public static final ExtensionState L2_EXTENSION =
new ExtensionState(0.33, Rotation2d.fromRadians(0.569), Rotation2d.fromRadians(2.447));
new ExtensionState(
0.23 + Units.inchesToMeters(1.5),
Rotation2d.fromRadians(0.569).plus(Rotation2d.fromDegrees(20)),
Rotation2d.fromRadians(2.447));
public static final Pose2d L2_POSE = solveFK(L2_EXTENSION);
public static final ExtensionState L3_EXTENSION =
new ExtensionState(0.68, Rotation2d.fromRadians(1.022), Rotation2d.fromRadians(2.427));
new ExtensionState(
0.60 + Units.inchesToMeters(2.0),
Rotation2d.fromRadians(1.022).minus(Rotation2d.fromDegrees(3)),
Rotation2d.fromRadians(2.427));
public static final Pose2d L3_POSE = solveFK(L3_EXTENSION);
public static final Pose2d L4_POSE =
new Pose2d(new Translation2d(0.25, 2.05), Rotation2d.fromDegrees(110.0));
new Pose2d(new Translation2d(0.23, 2.05), Rotation2d.fromDegrees(110.0));
public static final ExtensionState L4_EXTENSION = solveIK(L4_POSE);

public static final ExtensionState LOW_ALGAE_EXTENSION =
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -78,12 +78,12 @@ public void periodic() {
if (Robot.ROBOT_TYPE != RobotType.REAL)
Logger.recordOutput(NAME + "/Filtered Current", currentFilterValue);

if (firstBBInputs.get && !secondBBInputs.get) {
if (getFirstBeambreak() && !getSecondBeambreak()) {
Tracer.trace("Manipulator/Zero", () -> io.resetEncoder(0.0));
zeroTimer.reset();
}

if (!firstBBInputs.get && secondBBInputs.get) {
if (!getFirstBeambreak() && getSecondBeambreak()) {
// Number calculated from coral length, may need tuning
Tracer.trace("Manipulator/Zero", () -> io.resetEncoder(1.0));
zeroTimer.reset();
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/Superstructure.java
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Expand Up @@ -267,7 +267,7 @@ private void configureStateTransitionCommands() {
.get(SuperState.IDLE)
.and(() -> !elevator.hasZeroed || !wrist.hasZeroed)
.and(() -> DriverStation.isEnabled())
.and(() -> Robot.ROBOT_TYPE != RobotType.SIM)
// .and(() -> Robot.ROBOT_TYPE != RobotType.SIM)
.onTrue(this.forceState(SuperState.HOME));

// We might want to make this work when we have a piece as well?
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