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Merged
joelzoto merged 1 commit into from
Apr 12, 2025
Merged

more tuning #40

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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/C_Load.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 3.198,
"y": 2.31875
"x": 3.5483606557377048,
"y": 2.4725922131147535
},
"prevControl": null,
"nextControl": {
"x": 1.6539942501426845,
"y": 2.131788691526274
"x": 2.0043549058803896,
"y": 2.2856309046410273
},
"isLocked": false,
"linkedName": "C"
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/D_Load.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 3.4417500000000003,
"y": 2.386999999999999
"x": 3.6202868852459016,
"y": 2.388678278688524
},
"prevControl": null,
"nextControl": {
"x": 1.672421441666891,
"y": 2.044507448918177
"x": 1.8509583269127923,
"y": 2.046185727606702
},
"isLocked": false,
"linkedName": "D"
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/F_Load.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 5.46975,
"y": 2.4065
"x": 5.502356557377048,
"y": 2.520543032786885
},
"prevControl": null,
"nextControl": {
"x": 4.748399396090979,
"y": 2.23134259352967
"x": 4.781005953468027,
"y": 2.3453856263165553
},
"isLocked": false,
"linkedName": "F"
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/Load_C.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 3.198,
"y": 2.31875
"x": 3.5483606557377048,
"y": 2.4725922131147535
},
"prevControl": {
"x": 1.7652329384221814,
"y": 2.108558553298966
"x": 2.1155935941598862,
"y": 2.2624007664137196
},
"nextControl": null,
"isLocked": false,
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/Load_D.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 3.4417500000000003,
"y": 2.386999999999999
"x": 3.6202868852459016,
"y": 2.388678278688524
},
"prevControl": {
"x": 1.814116527514173,
"y": 2.1421889936851035
"x": 1.9926534127600743,
"y": 2.1438672723736283
},
"nextControl": null,
"isLocked": false,
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/Start_F.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.46975,
"y": 2.4065
"x": 5.502356557377048,
"y": 2.520543032786885
},
"prevControl": {
"x": 6.297490642155415,
"y": 2.1881467641788572
"x": 6.330097199532463,
"y": 2.3021897969657426
},
"nextControl": null,
"isLocked": false,
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/algaeflywheel/AlgaeRoller.java
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,7 @@ public PrimeShootCommand() {
@Override
public void initialize() {
roller.setIndexerVoltage(-10);
roller.setFlywheelVoltage(10.5);
roller.setFlywheelVoltage(9.0);
}
}

Expand All @@ -172,8 +172,8 @@ public FarShootCommand() {

@Override
public void initialize() {
roller.setIndexerVoltage(10.5);
roller.setFlywheelVoltage(10.5);
roller.setIndexerVoltage(9.0);
roller.setFlywheelVoltage(9.0);
}
}

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/algaepivot/AlgaeSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ public enum State {
kFloorIntake(Rotation2d.fromRotations(0.05)),
kProcessor(Rotation2d.fromRotations(0.14306640625)),
kReefIntake(Rotation2d.fromRotations(0.11938476562499999)),
kScore(Rotation2d.fromRotations(0.22)),
kScore(Rotation2d.fromRotations(0.27578125)),
kStow(Rotation2d.fromRotations(0.27578125)),
kClimb(Rotation2d.fromRotations(0.368896484375)),
kTuck(Settings.kMaxPos);
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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/vision/LineupMaster.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,7 @@ public Command directDriveToPose(Supplier<Pose2d> targetPose, Supplier<Boolean>
}

public Command directDriveToNearestLeftBranch() {
System.out.println("LEFT BRANCH CALLED");
ReefFace nearestReefFace = getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose());
return directDriveToPose(() -> nearestReefFace.leftBranch, () -> true);
// return new SelectCommand<>(leftBranchAlignmentCommands, () -> getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose()));
Expand All @@ -101,7 +102,7 @@ public Command directDriveToNearestRightBranch() {
// Supplier<ReefFace> nearestReefFace = getClosestReefFace(()->PoseEstimatorSubsystem.getInstance().getCurrentPose());
// return directDriveToPose(() -> nearestReefFace.get().rightBranch, false);
ReefFace nearestReefFace = getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose());
return directDriveToPose(() -> nearestReefFace.rightBranch, () -> true);
return directDriveToPose(() -> nearestReefFace.rightBranch, () -> false);
// try {
// return new SelectCommand<>(rightBranchAlignmentCommands, () -> getClosestReefFace(() -> PoseEstimatorSubsystem.getInstance().getCurrentPose()));
// } catch(Exception ex) {
Expand Down