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Integration #12

Merged
merged 26 commits into from
Feb 7, 2024
Merged

Integration #12

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5f89a23
Merge pull request #11 from grt192/elevator-merge
penguin212 Jan 31, 2024
44660a3
reimplement single module swerve subsystem
penguin212 Jan 31, 2024
a354be7
renaming and reformating intake, adding ids
penguin212 Jan 31, 2024
265ee88
test
penguin212 Jan 31, 2024
bc5df1e
rename Elevator to elevator
penguin212 Jan 31, 2024
8d3c526
updated elevator to integration
Feb 1, 2024
4c3faec
removed weird .gradle thing
MysticalApple Feb 1, 2024
5c51f5f
don't track .vscode either
MysticalApple Feb 1, 2024
c65fa48
also .OutlineViewer
MysticalApple Feb 1, 2024
228908c
testing changes
penguin212 Feb 1, 2024
ed9f15d
update constants
CrolineCrois Feb 1, 2024
efa1de8
elevator tuning
penguin212 Feb 2, 2024
c9638d3
edited constants
siyoyoCode Feb 2, 2024
71418ac
commands
siyoyoCode Feb 2, 2024
17abb8b
set custom angle command
siyoyoCode Feb 2, 2024
35f7043
fixed distance functions
siyoyoCode Feb 2, 2024
5df109b
changed everything related to speaker to trap
Feb 2, 2024
7588e91
removed speaker position
Feb 2, 2024
de020f6
removed unnecessaey code
Feb 2, 2024
639a217
shooter testing changes
penguin212 Feb 2, 2024
24735a8
swerve update to vortexes
penguin212 Feb 3, 2024
1ffe51f
mech bindings, command sequences, sensor tuning
penguin212 Feb 4, 2024
7cc48a4
testing chganges
penguin212 Feb 6, 2024
ce97e4d
leds!
penguin212 Feb 6, 2024
84c9a0b
Implemented camera subsystem
Feb 6, 2024
074f923
testing changes
penguin212 Feb 7, 2024
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68 changes: 0 additions & 68 deletions .OutlineViewer/outlineviewer.json
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3 changes: 2 additions & 1 deletion .gitignore
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Expand Up @@ -104,7 +104,7 @@ Temporary Items
.apdisk

### VisualStudioCode ###
.vscode/*
.vscode/
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
Expand Down Expand Up @@ -170,6 +170,7 @@ out/

# Simulation GUI and other tools window save file
*-window.json
.OutlineViewer/

# Simulation data log directory
logs/
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29 changes: 0 additions & 29 deletions .vscode/settings.json
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0 src/main/deploy/choreo/2X1MCurve.traj → src/main/deploy/choreo/Curve.traj
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88 changes: 56 additions & 32 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -16,23 +16,32 @@
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static class CameraConstants{
public static final int resolutionX = 176;
public static final int resolutionY = 144;
}
public static class ElevatorConstants {
public static final int EXTENSION_ID = 0;
public static final int EXTENSION_FOLLOW_ID = 0;
public static final int EXTENSION_ID = 10;
public static final int EXTENSION_FOLLOW_ID = 11;

public static final float EXTENSION_LIMIT_METERS = 0;

public static final int ZERO_LIMIT_ID = 0;

public static final int GROUND_POSITION = 0;
public static final int SPEAKER_POSITION = 0;
public static final int AMP_POSITION = 0;
public static final int CHUTE_POSITION = 0;
public static final int TRAP_POSITION = 0;
public static final int START_POSITION = 0;

public static final double POSITIONCONVERSIONFACTOR = 0;
public static final double VELOCITYCONVERSIONFACTOR = 0;
public static final int ZERO_LIMIT_ID = 3;

public static final double GROUND_POSITION = Units.inchesToMeters(0.5);
public static final double SPEAKER_POSITION = 0;
public static final double AMP_POSITION = Units.inchesToMeters(29);
public static final double CHUTE_POSITION = Units.inchesToMeters(1);
public static final double TRAP_POSITION = Units.inchesToMeters(30);
public static final double START_POSITION = 0;

public static final double EXTENSION_P= 3.5;
public static final double EXTENSION_I= 0;
public static final double EXTENSION_D= 0;
public static final double EXTENSION_TOLERANCE= 0.3;

public static final double POSITION_CONVERSION_FACTOR = Units.inchesToMeters(30.)/63.5;
public static final double VELOCITY_CONVERSION_FACTOR = 1;
}
public static class OperatorConstants {
public static final int kDriverControllerPort = 0;
Expand All @@ -43,21 +52,21 @@ public static class TestSingleModuleSwerveConstants {
}

public static class SwerveConstants {
public static final int FL_DRIVE = 0;
public static final int FL_DRIVE = 20;
public static final int FL_STEER = 1;
public static final double FL_OFFSET = 3.34 - Math.PI / 4;
public static final double FL_OFFSET = 3.36 - 1. * Math.PI / 4.;

public static final int FR_DRIVE = 2;
public static final int FR_STEER = 3;
public static final double FR_OFFSET = 2.94 - Math.PI * 3 / 4;
public static final double FR_OFFSET = 3.02 - Math.PI * 3 / 4;

public static final int BL_DRIVE = 4;
public static final int BL_STEER = 5;
public static final double BL_OFFSET = 3.14 + Math.PI / 4;
public static final double BL_OFFSET = 2.83 + Math.PI / 4;

public static final int BR_DRIVE = 6;
public static final int BR_STEER = 7;
public static final double BR_OFFSET = 2.43 + Math.PI * 3.0 / 4.0;
public static final double BR_OFFSET = 2.66 + Math.PI * 3.0 / 4.0;

private static double MODULE_DIST = Units.inchesToMeters(27.25 / 2.0);
public static final Translation2d FL_POS = new Translation2d(-MODULE_DIST, MODULE_DIST);
Expand All @@ -66,34 +75,43 @@ public static class SwerveConstants {
public static final Translation2d BR_POS = new Translation2d(MODULE_DIST, -MODULE_DIST);
}

public static class RollerandPivotConstants {
public static final int lastmotorID = 0;
public static final int topmotorID = 2;
public static final int bottommotorID = 3;
public static final int motor1ID = 1;
public static class IntakeConstants {
public static final int INTEGRATION_MOTOR_ID = 19;
public static final int FRONT_MOTOR_ID = 17;
public static final int BACK_MOTOR_ID = 18;
public static final int PIVOT_MOTOR_ID = 16;

public static final int sensorID = 0;
public static final int extendedlimitswitchID = 1;
public static final int retractedlimitswitchID = 2;
public static final int extendedlimitswitchID = 5;
public static final int retractedlimitswitchID = 6;
//public static final int intakeencoderID = 3;

public static final double rollersclockwise = 1;
public static final double rollerscounterclockwise = -1;
public static final double sensorreached = 1;
public static final double rollerscounterclockwise = 1;
public static final double sensorreached = .3;
public static final double pivotclockwise = 1;
public static final double pivotcounterclockwise = -1;
public static final double pastsensortime = 0.5;
public static final double pastsensortime = 3;
}

public static class ShooterConstants {
public static final int LIMIT_SWITCH_ID = 1;
public static final int PIVOT_MOTOR_ID = 12;

public static final int SHOOTER_MOTOR_ONE_ID = 13;
public static final int SHOOTER_MOTOR_TWO_ID = 14;

public static final int FEEDER_MOTOR_ID = 15;

public static final double FEED_ANGLE = Units.degreesToRadians(70);
}

public static class ClimbConstants {
public static final int LEFT_WINCH_MOTOR_ID = 21;
public static final int LEFT_ZERO_LIMIT_ID = 11;
public static final int LEFT_WINCH_MOTOR_ID = 8;
public static final int LEFT_ZERO_LIMIT_ID = 0;

public static final int RIGHT_WINCH_MOTOR_ID = 22;
public static final int RIGHT_ZERO_LIMIT_ID = 12;
public static final int RIGHT_WINCH_MOTOR_ID = 9;
public static final int RIGHT_ZERO_LIMIT_ID = 1;

public static final double WINCH_REDUCTION = 9.49;
public static final double AXLE_PERIMETER_METERS = 6 * Units.inchesToMeters(.289) ;
Expand All @@ -103,4 +121,10 @@ public static class ClimbConstants {

public static final double MAX_WINCH_POWER = 0.6;
}

public static class LEDConstants {
public static final int LED_LENGTH = 140;
public static final int LED_PWM_PORT = 0;
public static final double BRIGHTNESS_SCALE_FACTOR = .5;
}
}
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