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joey what is this #21

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Merged
pix-xl merged 2 commits into from
Mar 20, 2025
Merged

joey what is this #21

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70d7876
line up stuff
pix-xl Mar 20, 2025
b47eef9
Merge branch 'CrevolutionRoboticsProgramming:main' into main
pix-xl Mar 20, 2025
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15 changes: 14 additions & 1 deletion src/main/java/frc/robot/vision/commands/LineupCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,17 @@ public class LineupCommand extends Command {
public LineupCommand() {
//set tolerances of all PID controllers
xDistanceController.setTolerance(VisionConfig.AlignmentConfig.DISTANCE_TOLERANCE.in(Meters));
xDistanceController.setIntegratorRange(-.15, .15);
yDistanceController.setTolerance(VisionConfig.AlignmentConfig.LATERAL_TOLERANCE.in(Meters));
yDistanceController.setIntegratorRange(-.15, .15);
thetaController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(180));

currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
Pose2d targetPose = getTargetReefPose(true);

xDistanceController.reset(0);
yDistanceController.reset(0);
thetaController.reset(0);

addRequirements(CommandSwerveDrivetrain.getInstance());
}
Expand All @@ -82,7 +89,12 @@ public void initialize() {

@Override
public void execute() {

currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
double xPose = currentPose.getTranslation().getX();
double yPose = currentPose.getTranslation().getY();


}

@Override
Expand All @@ -107,6 +119,7 @@ private Pose2d getTargetReefPose(boolean left){
var currAlliance = DriverStation.getAlliance();

//TODO: map currentPose to a Reef Zone and then finding closest lineup based on heading
//joey... what the actual god-loving heck is this

if(currAlliance.get() == Alliance.Blue) {

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