commit

SouthwestRoboticsProgramming · Apr 13, 2024 · 9ea27f4 · 9ea27f4
1 parent 61e1abb
commit 9ea27f4
Show file tree

Hide file tree

Showing 15 changed files with 8 additions and 6 deletions.
diff --git a/Robot/src/main/deploy/music/Silence.chrp b/Robot/src/main/deploy/music/Silence.chrp
diff --git a/Robot/src/main/deploy/music/Tetris.chrp b/Robot/src/main/deploy/music/Tetris.chrp
diff --git a/Robot/src/main/deploy/music/abort.chrp b/Robot/src/main/deploy/music/abort.chrp
diff --git a/Robot/src/main/deploy/music/abort.mid b/Robot/src/main/deploy/music/abort.mid
diff --git a/Robot/src/main/deploy/music/mario.chrp b/Robot/src/main/deploy/music/mario.chrp
diff --git a/Robot/src/main/deploy/music/portal.chrp b/Robot/src/main/deploy/music/portal.chrp
diff --git a/Robot/src/main/deploy/music/rasputin.chrp b/Robot/src/main/deploy/music/rasputin.chrp
diff --git a/Robot/src/main/deploy/music/sandstorm.chrp b/Robot/src/main/deploy/music/sandstorm.chrp
diff --git a/Robot/src/main/deploy/music/takemehome.chrp b/Robot/src/main/deploy/music/takemehome.chrp
diff --git a/Robot/src/main/deploy/music/tet.chrp b/Robot/src/main/deploy/music/tet.chrp
diff --git a/Robot/src/main/deploy/music/wii.chrp b/Robot/src/main/deploy/music/wii.chrp
diff --git a/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java b/Robot/src/main/java/com/swrobotics/robot/control/ControlBoard.java
@@ -262,10 +262,11 @@ public void periodic() {
 
 
         NTEntry<Double> pivotAdjust = PivotSubsystem.getAdjustForAlliance();
+        double adjustDeg = 0.75;
         if (operator.dpad.up.isRising())
-            pivotAdjust.set(pivotAdjust.get() + 1);
+            pivotAdjust.set(pivotAdjust.get() + adjustDeg);
         if (operator.dpad.down.isRising())
-            pivotAdjust.set(pivotAdjust.get() - 1);
+            pivotAdjust.set(pivotAdjust.get() - adjustDeg);
 
 
         Translation2d translation = getDriveTranslation();

diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java
@@ -29,7 +29,7 @@ public enum FlywheelControl {
         REVERSE
     }
 
-    private static final Pose2d blueSpeakerPose = new Pose2d(Units.inchesToMeters(8), 5.5475, new Rotation2d(0)); // Opening extends 18" out
+    private static final Pose2d blueSpeakerPose = new Pose2d(Units.inchesToMeters(6), 5.5475, new Rotation2d(0)); // Opening extends 18" out
     private static final Pose2d blueLobZone = new Pose2d(1, 6, new Rotation2d()); // Between the speaker and the amp
 
     private final PivotSubsystem pivot;

diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java
@@ -39,7 +39,7 @@ public TableAimCalculator() {
 
         // MURA 3-23, 3|1 wheel shooter
         addCalibrationSample(fieldWrongness + 4.34, 28 + 1, 67);
-        addCalibrationSample(fieldWrongness + 4.67, 27 + 1, 67);
+        // addCalibrationSample(fieldWrongness + 4.67, 27 + 1, 67);
         addCalibrationSample(fieldWrongness + 5.06, 25 + 1, 67);
         addCalibrationSample(fieldWrongness + 5.58, 24 + 1, 70);
 

diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveEstimator.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/swerve/SwerveEstimator.java
@@ -23,10 +23,11 @@
 import java.util.TreeMap;
 
 public final class SwerveEstimator {
-    private static final double[] STATE_STD_DEVS = {0.003, 0.003, 0.0002};
+    //private static final double[] STATE_STD_DEVS = {0.003, 0.003, 0.0002};
+    private static final double[] STATE_STD_DEVS = {0.005, 0.005, 0.01};
     private static final double HISTORY_TIME = 0.3;
 
-    private static final double INITIAL_ANGLE_STDDEV = 0.02; // Really trust it for beginning of match
+    private static final double INITIAL_ANGLE_STDDEV = 0.2; // Really trust it for beginning of match
 
     private final TagTrackerInput tagTracker;