Merge branch 'main' of https://github.com/frcteam3044/2025swervebase

FRCTeam3044 · Feb 13, 2025 · 484e844 · 484e844
2 parents 7465eb5 + dc808b5
commit 484e844
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Showing 3 changed files with 20 additions and 4 deletions.
diff --git a/simgui.json b/simgui.json
@@ -12,6 +12,11 @@
       "window": {
         "visible": false
       }
+    },
+    "RoboRIO": {
+      "RoboRIO Input": {
+        "open": true
+      }
     }
   },
   "NTProvider": {
@@ -37,6 +42,11 @@
         "window": {
           "visible": true
         }
+      },
+      "/SmartDashboard/Mech2d": {
+        "window": {
+          "visible": true
+        }
       }
     }
   },

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -100,6 +100,7 @@ public class RobotContainer {
         private final MechanismRoot2d root;
         private final MechanismLigament2d elevatorSim;
         private final MechanismLigament2d shoulderSim;
+        private final MechanismLigament2d endEffectorSim;
 
         /**
          * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -226,12 +227,14 @@ public RobotContainer() {
                 configureButtonBindings();
 
                 mech = new Mechanism2d(3, 3);
-                root = mech.getRoot("elevator", 2, 0);
+                root = mech.getRoot("elevator", 1.5, 0);
                 elevatorSim = root
                                 .append(new MechanismLigament2d("elevator", elevator.getElevatorHeight(), 90));
                 shoulderSim = elevatorSim
-                                .append(new MechanismLigament2d("shoulder", 0.5, shoulder.getShoulderAngle(), 6.0,
+                                .append(new MechanismLigament2d("shoulder", 0.65, shoulder.getShoulderAngle(), 6.0,
                                                 new Color8Bit(Color.kPurple)));
+                endEffectorSim = shoulderSim.append(
+                                new MechanismLigament2d("endEffector", 0.5, 90.0, 6.0, new Color8Bit(Color.kPurple)));
         }
 
         /**
@@ -278,7 +281,7 @@ public void displaySimFieldToSmartDashboard() {
 
         public void updateMechanism() {
                 elevatorSim.setLength(elevator.getElevatorHeight());
-                shoulderSim.setAngle(shoulder.getShoulderAngle());
+                shoulderSim.setAngle(Math.toDegrees(shoulder.getShoulderAngle()));
                 SmartDashboard.putData("Mech2d", mech);
         }
 }
diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java
@@ -28,7 +28,10 @@ public class ShoulderIOSim implements ShoulderIO {
 
     private DCMotor gearBox = DCMotor.getNEO(2);
     private SparkMaxSim sparkMaxSim = new SparkMaxSim(sparkMax, gearBox);
-    SingleJointedArmSim shoulderSim = new SingleJointedArmSim(gearBox, 48.0, 1.0, 1.0, -180.0, 180.0, false, 0.0, 0, 0);
+    SingleJointedArmSim shoulderSim = new SingleJointedArmSim(gearBox, 45.0, 1.0, 1.0, -Math.PI / 1.5, Math.PI / 3,
+            true,
+            0.0, 0,
+            0);
 
     @Override
     public void updateInputs(ShoulderIOInputs inputs) {