From 558be0f0308c853e6a75696ae698f3de836d72be Mon Sep 17 00:00:00 2001 From: t Date: Thu, 20 Mar 2025 16:03:42 -0700 Subject: [PATCH 1/4] all isha and jim 3/20 changes to fix algae and add bad wrist jog pls fix ;( --- src/main/java/org/ironriders/core/RobotCommands.java | 2 +- .../java/org/ironriders/core/RobotContainer.java | 4 ++++ .../java/org/ironriders/drive/DriveConstants.java | 4 ++-- .../ironriders/wrist/algae/AlgaeWristCommands.java | 12 ++++++------ .../ironriders/wrist/algae/AlgaeWristConstants.java | 6 +++--- 5 files changed, 16 insertions(+), 12 deletions(-) diff --git a/src/main/java/org/ironriders/core/RobotCommands.java b/src/main/java/org/ironriders/core/RobotCommands.java index 2e6e169..76c96c9 100644 --- a/src/main/java/org/ironriders/core/RobotCommands.java +++ b/src/main/java/org/ironriders/core/RobotCommands.java @@ -77,7 +77,7 @@ public Command startup() { algaeIntakeCommands.setOnSuccess(() -> rumble()); return coralWristCommands.home() .andThen(algaeWristCommands.home()) - .andThen(algaeWristCommands.set(AlgaeWristConstants.AlgaeWristState.EXTENDED)) + .andThen(algaeWristCommands.set(AlgaeWristConstants.AlgaeWristState.STOWED)) .andThen(elevatorCommands.home()); } diff --git a/src/main/java/org/ironriders/core/RobotContainer.java b/src/main/java/org/ironriders/core/RobotContainer.java index 27c4237..8a32b8f 100644 --- a/src/main/java/org/ironriders/core/RobotContainer.java +++ b/src/main/java/org/ironriders/core/RobotContainer.java @@ -131,6 +131,10 @@ private void configureBindings() { } // y vision align station not implmented yet //TODO // x vision align reef not implmented yet //TODO + primaryController.button(1).onTrue(driveCommands.jog(90.0)); + primaryController.button(2).onTrue(driveCommands.jog(270.0)); + + //Secondary Driver left side buttons secondaryController.button(1).whileTrue(coralIntakeCommands.set(CoralIntakeConstants.CoralIntakeState.EJECT)).whileFalse(coralIntakeCommands.set(CoralIntakeConstants.CoralIntakeState.STOP)); diff --git a/src/main/java/org/ironriders/drive/DriveConstants.java b/src/main/java/org/ironriders/drive/DriveConstants.java index a962316..5b0144b 100644 --- a/src/main/java/org/ironriders/drive/DriveConstants.java +++ b/src/main/java/org/ironriders/drive/DriveConstants.java @@ -41,6 +41,6 @@ public class DriveConstants { public static final double SWERVE_MAXIMUM_ANGULAR_VELOCITY_AUTO = Math.PI * 4; // rad/s public static final double SWERVE_MAXIMUM_ANGULAR_ACCELERATION_AUTO = SWERVE_MAXIMUM_ANGULAR_VELOCITY_AUTO / 2; // rad/s^2 - public static final double JOG_DISTANCE_INCHES = 1; - public static final double JOG_SPEED = .25; + public static final double JOG_DISTANCE_INCHES = 0.5; + public static final double JOG_SPEED = .5; } diff --git a/src/main/java/org/ironriders/wrist/algae/AlgaeWristCommands.java b/src/main/java/org/ironriders/wrist/algae/AlgaeWristCommands.java index 8f3e455..9b4aa66 100644 --- a/src/main/java/org/ironriders/wrist/algae/AlgaeWristCommands.java +++ b/src/main/java/org/ironriders/wrist/algae/AlgaeWristCommands.java @@ -17,18 +17,18 @@ public AlgaeWristCommands(AlgaeWristSubsystem wrist) { } public Command home() { - //return algaeWrist.homeCmd(); - return Commands.none(); + return algaeWrist.homeCmd(); + //return Commands.none(); } public Command set(AlgaeWristState state) { - //return algaeWrist.moveToCmd(state.getAngle()); - return Commands.none(); + return algaeWrist.moveToCmd(state.getAngle()); + //return Commands.none(); } public Command reset() { - //return algaeWrist.runOnce(algaeWrist::reset); - return Commands.none(); + return algaeWrist.runOnce(algaeWrist::reset); + //return Commands.none(); } public AlgaeWristSubsystem getAlgaeWrist() { diff --git a/src/main/java/org/ironriders/wrist/algae/AlgaeWristConstants.java b/src/main/java/org/ironriders/wrist/algae/AlgaeWristConstants.java index adf71ea..df5ce80 100644 --- a/src/main/java/org/ironriders/wrist/algae/AlgaeWristConstants.java +++ b/src/main/java/org/ironriders/wrist/algae/AlgaeWristConstants.java @@ -17,7 +17,7 @@ public class AlgaeWristConstants { public static final double GEAR_RATIO = 1.0 / 64.0 * SPROCKET_RATIO; public static final double ENCODER_SCALE = SPROCKET_RATIO; - public static final Angle ENCODER_OFFSET = Units.Degrees.of(115); + public static final Angle ENCODER_OFFSET = Units.Degrees.of(150); public static final Angle REVERSE_LIMIT = Units.Degrees.of(-50); public static final Angle FORWARD_LIMIT = Units.Degrees.of(5); @@ -28,9 +28,9 @@ public class AlgaeWristConstants { public static final double ALGAE_WRIST_TOLERANCE = 2; // tune me please public enum AlgaeWristState { - STARTING(-90), // Starting position is beyond lower limit, exact position unknownn + STARTING(-60), // Starting position is beyond lower limit, exact position unknownn STOWED(-40), // Computed home position - EXTENDED(10); + EXTENDED(0); final Angle angle; From 49b144f4dd366410875c2c661a2698a8fe6ca7cf Mon Sep 17 00:00:00 2001 From: saturncorgi Date: Thu, 20 Mar 2025 16:04:52 -0700 Subject: [PATCH 2/4] Set cam up for elastic --- src/main/java/org/ironriders/core/Robot.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/org/ironriders/core/Robot.java b/src/main/java/org/ironriders/core/Robot.java index 8d1737c..cbc165e 100644 --- a/src/main/java/org/ironriders/core/Robot.java +++ b/src/main/java/org/ironriders/core/Robot.java @@ -4,6 +4,7 @@ package org.ironriders.core; +import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.net.WebServer; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.TimedRobot; @@ -26,6 +27,7 @@ public class Robot extends TimedRobot { public Robot() { robotContainer = new RobotContainer(); WebServer.start(5800, Filesystem.getDeployDirectory().getPath()); + CameraServer.startAutomaticCapture(); } @Override From 4119c4662679d0720ad10a4020d1e76f48aaaef1 Mon Sep 17 00:00:00 2001 From: Ryan Elbert Date: Thu, 20 Mar 2025 16:12:31 -0700 Subject: [PATCH 3/4] algae intake controls --- src/main/java/org/ironriders/core/RobotContainer.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/org/ironriders/core/RobotContainer.java b/src/main/java/org/ironriders/core/RobotContainer.java index 8a32b8f..04011b8 100644 --- a/src/main/java/org/ironriders/core/RobotContainer.java +++ b/src/main/java/org/ironriders/core/RobotContainer.java @@ -154,6 +154,9 @@ private void configureBindings() { secondaryController.button(3).onTrue(algaeWristCommands.set(AlgaeWristState.STOWED)); secondaryController.button(13).onTrue(climbCommands.goTo(ClimbConstants.Targets.MAX)); secondaryController.button(14).onTrue(climbCommands.goTo(ClimbConstants.Targets.TARGET)); + + secondaryController.axisGreaterThan(1, .1).whileTrue(algaeIntakeCommands.set(AlgaeIntakeState.EJECT)).whileFalse(algaeIntakeCommands.set(AlgaeIntakeState.STOP)); + secondaryController.axisLessThan(1, .1).whileTrue(algaeIntakeCommands.set(AlgaeIntakeState.GRAB)).whileFalse(algaeIntakeCommands.set(AlgaeIntakeState.STOP)); } /** From 88dde9f7febdbaccc15f5d41822ec7bc6d4b56e6 Mon Sep 17 00:00:00 2001 From: saturncorgi Date: Thu, 20 Mar 2025 16:34:54 -0700 Subject: [PATCH 4/4] remove unused cam --- src/main/java/org/ironriders/drive/Vision.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/org/ironriders/drive/Vision.java b/src/main/java/org/ironriders/drive/Vision.java index ac119c2..3091df0 100644 --- a/src/main/java/org/ironriders/drive/Vision.java +++ b/src/main/java/org/ironriders/drive/Vision.java @@ -46,9 +46,9 @@ public Vision(SwerveDrive drive) { cams.add(new VisionCamera("frontLeft", createOffset(11.5, 11.5, 6.5, 15, 22.5), VecBuilder.fill(0.5, 0.5, 1.0))); - cams.add(new VisionCamera("backLeft", - createOffset(11.5, -11.5, 6.5, 15, 157.5), - VecBuilder.fill(0.5, 0.5, 1.0))); + // cams.add(new VisionCamera("backLeft", + // createOffset(11.5, -11.5, 6.5, 15, 157.5), + // VecBuilder.fill(0.5, 0.5, 1.0))); // cams.add(new VisionCamera("backRight", // createOffset(-11.5, 11.5, 6.5, 15, -157.5), // VecBuilder.fill(0.5, 0.5, 1.0)));