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Photon vision #34

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Photon vision #34

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15d30ef
save energy by not applying voltage when arm wants to be at min angle
IanShiii Aug 22, 2024
381c9b3
update open loop ramp rates
IanShiii Aug 22, 2024
d4a2e3f
fix camera offsets
IanShiii Aug 23, 2024
f74f628
no accel limit for alignment
IanShiii Aug 23, 2024
5526db1
Added workaround for switching speaker and amp tag poses in Field.jav…
k4limul Aug 24, 2024
e850bcf
Revert "Added workaround for switching speaker and amp tag poses in F…
IanShiii Aug 27, 2024
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2 changes: 1 addition & 1 deletion src/main/java/com/stuypulse/robot/commands/swerve/driveAligned/SwerveDriveDriveAligned.java
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ public SwerveDriveDriveAligned(Gamepad driver) {
// make angleVelocity contribute less once distance is less than REDUCED_FF_DIST
// so that angular velocity doesn't oscillate
x -> x * Math.min(1, getDistanceToTarget() / Assist.REDUCED_FF_DIST),
new RateLimit(Settings.Swerve.MAX_ANGULAR_ACCEL),
// new RateLimit(Settings.Swerve.MAX_ANGULAR_ACCEL),
x -> SLMath.clamp(x, -Settings.Swerve.MAX_ANGULAR_VELOCITY, Settings.Swerve.MAX_ANGULAR_VELOCITY),
x -> -x
);
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4 changes: 2 additions & 2 deletions src/main/java/com/stuypulse/robot/constants/Cameras.java
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Expand Up @@ -27,7 +27,7 @@ public interface Limelight {
new CameraConfig(
"tower-cam",
new Pose3d(
new Translation3d(Units.inchesToMeters(-11.25), Units.inchesToMeters(-3.333797), Units.inchesToMeters(23.929362)),
new Translation3d(Units.inchesToMeters(-11.25), Units.inchesToMeters(+3.333797), Units.inchesToMeters(23.929362)),
new Rotation3d(Units.degreesToRadians(0), Units.degreesToRadians(15), Units.degreesToRadians(180))
),
"11",
Expand All @@ -37,7 +37,7 @@ public interface Limelight {
new CameraConfig(
"plate-cam",
new Pose3d(
new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(4.863591), Units.inchesToMeters(19.216471)),
new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(-4.863591), Units.inchesToMeters(19.216471)),
new Rotation3d(Units.degreesToRadians(0), Units.degreesToRadians(80), Units.degreesToRadians(0))
),
"96",
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10 changes: 5 additions & 5 deletions src/main/java/com/stuypulse/robot/constants/Motors.java
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Expand Up @@ -39,8 +39,8 @@ public static void disableStatusFrames(CANSparkBase motor, StatusFrame... ids) {
/** Classes to store all of the values a motor needs */

public interface Arm {
CANSparkConfig LEFT_MOTOR = new CANSparkConfig(false, IdleMode.kBrake, 40, 0.0);
CANSparkConfig RIGHT_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.0);
CANSparkConfig LEFT_MOTOR = new CANSparkConfig(false, IdleMode.kBrake, 40, 0.25);
CANSparkConfig RIGHT_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25);
}

public interface Intake {
Expand All @@ -50,9 +50,9 @@ public interface Intake {
}

public interface Shooter {
CANSparkConfig LEFT_SHOOTER = new CANSparkConfig(true, IdleMode.kCoast, 40, 1.0);
CANSparkConfig RIGHT_SHOOTER = new CANSparkConfig(false, IdleMode.kCoast, 40, 1.0);
CANSparkConfig FEEDER_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 1.0);
CANSparkConfig LEFT_SHOOTER = new CANSparkConfig(true, IdleMode.kCoast, 40, 0.5);
CANSparkConfig RIGHT_SHOOTER = new CANSparkConfig(false, IdleMode.kCoast, 40, 0.5);
CANSparkConfig FEEDER_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25);
}

/* Configurations */
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4 changes: 4 additions & 0 deletions src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
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Expand Up @@ -176,6 +176,10 @@ public void periodic() {
setVoltage(-1.5);
controller.update(Settings.Arm.MIN_ANGLE.get(), Settings.Arm.MIN_ANGLE.get());
}
else if (getTargetDegrees() == Settings.Arm.MIN_ANGLE.get() && bumpSwitchTriggered.get()) {
setVoltage(0);
controller.update(Settings.Arm.MIN_ANGLE.get(), Settings.Arm.MIN_ANGLE.get());
}
else {
controller.update(SLMath.clamp(getTargetDegrees(), Settings.Arm.MIN_ANGLE.get(), Settings.Arm.MAX_ANGLE.get()), getDegrees());
if (Shooter.getInstance().getFeederState() == Shooter.FeederState.SHOOTING) {
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