Changed the Align to Amp destination to be more

accurate.
DevilBotz2876 · Sep 19, 2024 · 006a929 · 006a929
1 parent e49f59e
commit 006a929
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Showing 2 changed files with 24 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/config/RobotConfigPhoenix.java b/src/main/java/frc/robot/config/RobotConfigPhoenix.java
@@ -39,6 +39,29 @@ public RobotConfigPhoenix() {
             new Transform3d(
                 new Translation3d(-Units.inchesToMeters(10.75), 0, Units.inchesToMeters(8)),
                 new Rotation3d(0, Units.degreesToRadians(-33), Units.degreesToRadians(180)))));
+        cameras.add(
+        new VisionCamera(
+            "intake",
+            "1184",
+            new Transform3d(
+                new Translation3d(0.3048, 0, 0.22),
+                new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(0)))));
+
+        cameras.add(
+        new VisionCamera(
+            "right",
+            "1196",
+            new Transform3d(
+                new Translation3d(-Units.inchesToMeters(5.25),-Units.inchesToMeters(11.25), Units.inchesToMeters(7)),
+                new Rotation3d(0, Units.degreesToRadians(-32), Units.degreesToRadians(-90)))));
+
+                cameras.add(
+        new VisionCamera(
+            "left",
+            "1190",
+            new Transform3d(
+                new Translation3d(-Units.inchesToMeters(5.25), Units.inchesToMeters(11.25), Units.inchesToMeters(7)),
+                new Rotation3d(0, Units.degreesToRadians(-32), Units.degreesToRadians(90)))));
 
     VisionConstants.visionDistanceOffsetInMeters = -0.2;
     vision = new VisionSubsystem(cameras, AprilTagFields.k2024Crescendo.loadAprilTagLayoutField());

diff --git a/src/main/java/frc/robot/controls/DriverControls.java b/src/main/java/frc/robot/controls/DriverControls.java
@@ -307,7 +307,7 @@ public static void setupMainControls(CommandXboxController mainController) {
                         Map.entry(
                             true,
                             AutoBuilder.pathfindToPoseFlipped(
-                                new Pose2d(1.8, 7.75, Rotation2d.fromDegrees(-90)),
+                                new Pose2d(1.89, 7.75, Rotation2d.fromDegrees(-90)),
                                 new PathConstraints(3.0, 2.0, 2 * Math.PI, 3 * Math.PI))),
                         Map.entry(
                             false,