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Small fixes from tuning swerve #127

Merged
merged 31 commits into from
Mar 7, 2024
Merged

Small fixes from tuning swerve #127

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d08ef70
Move lower index to transfer subsyste,
robo7660 Mar 1, 2024
36bf917
Fixed Constants and whitespace
robo7660 Mar 1, 2024
dbcc50a
Auton Reworks
robo7660 Mar 2, 2024
5824ecf
Add reverse for intake through launcher
robo7660 Mar 2, 2024
54cf2fd
stop lower belt on end of index
robo7660 Mar 2, 2024
a042f4a
Add transfer to intake
robo7660 Mar 2, 2024
3515d8f
Speed and button binding changes
robo7660 Mar 2, 2024
5d24658
add lock launcher at teleop and robot init
robo7660 Mar 2, 2024
5ce71af
Reverse index
robo7660 Mar 2, 2024
4471b53
tuning for swerve in matches
robo7660 Mar 2, 2024
1e18b3c
Fix safe shoot paths to account for weird rotation
robo7660 Mar 3, 2024
65bbbcc
fix update position to clear infinite loop
robo7660 Mar 3, 2024
bc7ae17
Add dashboard to repo
robo7660 Mar 3, 2024
23a54bd
MILFORD COMP WHITESPACE
robo7660 Mar 3, 2024
d1b541e
Chaged Pathplanner max velo
robo7660 Mar 6, 2024
3dcd0d3
Change messed up encoder offsets
robo7660 Mar 6, 2024
453bc09
Increase acceleration of bot
robo7660 Mar 6, 2024
0e9642a
another encoder fix
robo7660 Mar 6, 2024
e4bc50e
Add YAGSL Example Absolute Drive Advanced
robo7660 Mar 6, 2024
9daa0a5
Some fixes suggested by rat pack
robo7660 Mar 6, 2024
868391e
more encoder updates...will make more precise later
robo7660 Mar 6, 2024
49e3b4a
Impliment advanced drive
robo7660 Mar 6, 2024
5bfcbfa
Improve dpad inputs
robo7660 Mar 6, 2024
073a073
Remove unused import
robo7660 Mar 6, 2024
f3854dc
add rate limiter to intakes
robo7660 Mar 6, 2024
7b87513
whitespace fix
robo7660 Mar 6, 2024
3510514
Merge remote-tracking branch 'upstream/main' into Fixes
robo7660 Mar 6, 2024
42c9e0f
Swerve PID tuning
robo7660 Mar 7, 2024
5addbc9
Fix rate limiter addition error
robo7660 Mar 7, 2024
12f662f
switch back to absolute drive
robo7660 Mar 7, 2024
3e5a784
updated vendor deps
robo7660 Mar 7, 2024
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2 changes: 1 addition & 1 deletion .pathplanner/settings.json
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Expand Up @@ -6,7 +6,7 @@
"New Folder"
],
"autoFolders": [],
"defaultMaxVel": 2.0,
"defaultMaxVel": 15.0,
"defaultMaxAccel": 5.0,
"defaultMaxAngVel": 180.0,
"defaultMaxAngAccel": 180.0,
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67 changes: 67 additions & 0 deletions Dashboards/MILFORD_DASH.html
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@@ -0,0 +1,67 @@
<dashboard-tab
tab-name="TeleOperated"
slot="tab"
selected=""
source-provider="NetworkTables"
><frc-camera-wrapper
source-provider="NetworkTables"
style="transform: translate(609.188px, 376.038px); width: 489.613px; height: 346.363px;"
streams="[]"
background-color="black"
wait-image="./no-camera-stream.jpg"
crosshair-color="white"
source-key="/CameraPublisher/USB Camera 1"
></frc-camera-wrapper><frc-sendable-chooser
source-provider="NetworkTables"
style="transform: translate(724px, 104px); width: 383.187px; height: 79.3875px;"
options="[]"
source-key="/SmartDashboard/SendableChooser[0]"
></frc-sendable-chooser><frc-boolean-box
source-provider="NetworkTables"
style="transform: translate(620.8px, 0px);"
label="Upper Index"
source-key="/SmartDashboard/Lower Break-Beam"
></frc-boolean-box><frc-boolean-box
source-provider="NetworkTables"
style="transform: translate(619.4px, 82.2px);"
label="Lower Index"
></frc-boolean-box><frc-basic-fms-info
source-provider="NetworkTables"
style="transform: translate(717.34px, 4.39997px);"
source-key="/FMSInfo"
></frc-basic-fms-info><frc-camera-wrapper
source-provider="NetworkTables"
style="transform: translate(0.787537px, 384px); width: 608px; height: 338.4px;"
streams="[]"
background-color="black"
wait-image="./no-camera-stream.jpg"
crosshair-color="white"
source-key="/CameraPublisher/USB Camera 0"
hide-crosshair=""
></frc-camera-wrapper><frc-camera-wrapper
source-provider="NetworkTables"
style="transform: translate(2.40002px, 2.3875px); width: 606.362px; height: 383.188px;"
source-key="/CameraPublisher/limelight"
streams="[]"
background-color="black"
wait-image="./no-camera-stream.jpg"
hide-crosshair=""
crosshair-color="white"
></frc-camera-wrapper><frc-boolean-box
source-provider="NetworkTables"
style="transform: translate(618px, 167.8px);"
source-key="/SmartDashboard/Intake Running"
label="Intake Running"
></frc-boolean-box><frc-swerve-drivebase
source-provider="NetworkTables"
style="transform: translate(1174.4px, 141.4px);"
wheellocations="[2.5,2,2.5,-2,-2.5,2,-2.5,-2]"
measuredstates="[0,0,0,0,0,0,0,0]"
desiredstates="[0,0,0,0,0,0,0,0]"
sizeleftright="4"
sizefrontback="5"
></frc-swerve-drivebase></dashboard-tab><dashboard-tab
slot="tab"
tab-name="Autonomous"
source-provider="NetworkTables"
></dashboard-tab>
43 changes: 43 additions & 0 deletions src/main/deploy/pathplanner/autos/Simple Shoot Amp.auto
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{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6946944060158917,
"y": 6.727333169630711
},
"rotation": -120.0013184955057
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Simple Shoot Amp 1"
}
},
{
"type": "path",
"data": {
"pathName": "Simple Shoot Amp 2"
}
},
{
"type": "named",
"data": {
"name": "align-launch"
}
},
{
"type": "path",
"data": {
"pathName": "Simple Shoot Amp 3"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/Simple Shoot Center.auto
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{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.367427722973922,
"y": 5.5866114582541275
},
"rotation": 179.5103044068707
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Simple Shoot Center 1"
}
},
{
"type": "named",
"data": {
"name": "align-launch"
}
},
{
"type": "path",
"data": {
"pathName": "Simple Shoot Center 2"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/Simple Shoot Safe Blue.auto
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{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.77430354290908,
"y": 4.303448834817898
},
"rotation": 120.48894049983096
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Simple Shoot Safe 1 Blue"
}
},
{
"type": "named",
"data": {
"name": "align-launch"
}
},
{
"type": "path",
"data": {
"pathName": "Simple Shoot Safe 2"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/Simple Shoot Safe Red.auto
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{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.77430354290908,
"y": 4.303448834817898
},
"rotation": 120.48894049983096
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Simple Shoot Safe 1 Red"
}
},
{
"type": "named",
"data": {
"name": "align-launch"
}
},
{
"type": "path",
"data": {
"pathName": "Simple Shoot Safe 2"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/CenterLine 1.path
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}
],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Centerline 1-2.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Centerline 1-3.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Centerline 1-4.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Centerline 1-5.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Close 2-1.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Close 2-2.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Close 2-3.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Close 2-Escape.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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12 changes: 9 additions & 3 deletions src/main/deploy/pathplanner/paths/Mid 2 Piece 1.path
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"linkedName": null
}
],
"rotationTargets": [],
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": 132.00142152168155,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
},
"goalEndState": {
"velocity": 0,
"rotation": 139.02826366648515,
"rotation": 135.73452103426732,
"rotateFast": true
},
"reversed": false,
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Mid 2 Piece 2.path
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}
],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Mid 2 Piece 3.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Rotate 90.path
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"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxVelocity": 15.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 180.0,
"maxAngularAcceleration": 180.0
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