Merge pull request #128 from robo7660/Week-2-2024-Tuning

Tuning from between comps
FRC7660 · Mar 15, 2024 · 0d55fc1 · 0d55fc1
2 parents 7ef08fa + faedb64
commit 0d55fc1
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Showing 16 changed files with 285 additions and 60 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Short Shot Amp.auto b/src/main/deploy/pathplanner/autos/Short Shot Amp.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6946944060158917,
+      "y": 6.727333169630711
+    },
+    "rotation": -120.0013184955057
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "subwoofer-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Amp 3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Short Shot Center.auto b/src/main/deploy/pathplanner/autos/Short Shot Center.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.367427722973922,
+      "y": 5.5866114582541275
+    },
+    "rotation": 179.5103044068707
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "subwoofer-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Center 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Short Shot Safe.auto b/src/main/deploy/pathplanner/autos/Short Shot Safe.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.77430354290908,
+      "y": 4.303448834817898
+    },
+    "rotation": 120.48894049983096
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "subwoofer-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Safe 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Simple Shoot Amp 3.path b/src/main/deploy/pathplanner/paths/Simple Shoot Amp 3.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 7.480526124947738,
+        "x": 8.475001463067061,
         "y": 6.92
       },
       "prevControl": {
-        "x": 6.480526124947738,
+        "x": 7.475001463067061,
         "y": 6.92
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Simple Shoot Center 2.path b/src/main/deploy/pathplanner/paths/Simple Shoot Center 2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.26,
-        "y": 5.55
+        "x": 1.386927239412675,
+        "y": 5.615860732909115
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.2588808170490466,
-        "y": 6.629835587462149
+        "x": 1.385808056461722,
+        "y": 6.6956963203712645
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.773018871453421,
-        "y": 7.07832446543753
+        "x": 8.3775038808985,
+        "y": 7.088074223654385
       },
       "prevControl": {
-        "x": 6.773018871453421,
-        "y": 7.07832446543753
+        "x": 7.3775038808985,
+        "y": 7.088074223654385
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Simple Shoot Safe 2.path b/src/main/deploy/pathplanner/paths/Simple Shoot Safe 2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.58,
-        "y": 3.02
+        "x": 2.1571581385443066,
+        "y": 1.4234646996609919
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.63367409925703,
-        "y": 1.7073465485962325
+        "x": 2.176657654978018,
+        "y": 1.4234646996609919
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.925428779632488,
-        "y": 0.6665668032190769
+        "x": 8.29950581516365,
+        "y": 1.1894705024564445
       },
       "prevControl": {
-        "x": 6.200391204201211,
-        "y": 0.7016492665463968
+        "x": 7.626772498200579,
+        "y": 0.7312318662642086
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/frontleft.json b/src/main/deploy/swerves/KrakenSwerve/modules/frontleft.json
@@ -18,7 +18,7 @@
     "drive": true,
     "angle": false
   },
-  "absoluteEncoderOffset": 135,
+  "absoluteEncoderOffset": 315,
   "location": {
     "front": 13,
     "left": 13

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/frontright.json b/src/main/deploy/swerves/KrakenSwerve/modules/frontright.json
@@ -18,7 +18,7 @@
     "drive": true,
     "angle": false
   },
-  "absoluteEncoderOffset": 58,
+  "absoluteEncoderOffset": 105,
   "location": {
     "front": 13,
     "left": -13

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -58,7 +58,7 @@ public static class Launch {
     public static final double launcherI = 0;
     public static final double launcherD = 0;
     public static final double launcherFF = 0.000156;
-    public static final double angleP = 0.00025;
+    public static final double angleP = 0.0045;
     public static final double angleI = 0;
     public static final double angleD = 0;
     public static final double angleFF = 0;
@@ -67,22 +67,31 @@ public static class Launch {
     public static final int angleID = 46;
     public static final double allowedVeloPercent = 10;
     public static final double allowedDifferencePercent = 5;
-    public static final double closeLaunchPosition = 585;
-    public static final double farLaunchPosition = 655;
-    public static final double angleMin = 581;
-    public static final double angleMax = 660;
+    public static final double closeLaunchPosition = 828;
+    public static final double farLaunchPosition = 752;
+    public static final double angleMin = 750;
+    public static final double angleMax = 828;
     public static final boolean angleMotorInverted = true;
-    public static final boolean angleEncoderInverted = true;
+    public static final boolean angleEncoderInverted = false;
     public static final boolean lowerMotorInverted = true;
     public static final boolean upperMotorInverted = false;
     public static final double speedFarSpeaker = 2800;
     public static final double angleConversionFactor = 1000;
     public static final double launcherConversionFactor = 1;
+    public static final double safeLaunchVelo = 6000;
+    public static final double subwooferLaunchVelo = 3500;
+    public static final double ampLaunchVelo = 1500;
 
     public enum LaunchPosition {
       CLOSE,
       FAR
     }
+
+    public enum LaunchPreset {
+      SUBWOOFER,
+      SAFE,
+      AMP
+    }
   }
 
   public static class Climb {
@@ -93,6 +102,7 @@ public static class Climb {
     public static final int winchLimitLeft = 2;
     public static final int winchLimitRight = 3;
     public static final double motorSpeedFactor = -0.9;
+    public static final double deadzone = 0.1;
   }
 
   public static class Transfer {
@@ -107,7 +117,7 @@ public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
     public static final double LEFT_X_DEADBAND = 0.01;
     public static final double LEFT_Y_DEADBAND = 0.01;
-    public static final double RIGHT_X_DEADBAND = 0.01;
+    public static final double RIGHT_X_DEADBAND = 0.1;
     public static final int TURN_CONSTANT = 6;
   }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -34,7 +34,6 @@ public void robotInit() {
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
     getAlliance();
-    m_robotContainer.lockLauncher();
   }
 
   private void getAlliance() {
@@ -78,7 +77,6 @@ public void autonomousInit() {
     }
 
     getAlliance();
-    m_robotContainer.dropLauncher();
   }
 
   /** This function is called periodically during autonomous. */
@@ -96,7 +94,6 @@ public void teleopInit() {
     }
     getAlliance();
     m_robotContainer.updatePose();
-    m_robotContainer.lockLauncher();
   }
 
   /** This function is called periodically during operator control. */