Saturday Lansing changes.

FRC830 · Mar 25, 2024 · 27f4a5b · 27f4a5b
1 parent 7b1cd12
commit 27f4a5b
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Showing 15 changed files with 22 additions and 21 deletions.
diff --git a/src/main/cpp/AutoAimer.cpp b/src/main/cpp/AutoAimer.cpp
@@ -3,10 +3,11 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 
 AutoAimer::AutoAimer()
+
 {
  m_lookup.emplace_back(VisionSetPoint{59.34, 50.0, 75.0, -51.9});
  m_lookup.emplace_back(VisionSetPoint{107.4769, 30, 130.0, -89.5});
- m_lookup.emplace_back(VisionSetPoint{155.16, 22.3, 175.0, -104.5});
+ m_lookup.emplace_back(VisionSetPoint{155.16, 21.3, 130.0, -89.5});
  m_lookup.emplace_back(VisionSetPoint{172.71, 20.25, 130.3, -89.5}); 
  m_lookup.emplace_back(VisionSetPoint{200.58, 20.5, 250, -106.5});
 

diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -58,8 +58,8 @@ void Robot::RobotInit() {
 
  frc::CameraServer::StartAutomaticCapture();
 
- m_cvSink = frc::CameraServer::GetVideo();
- m_cvSource = frc::CameraServer::PutVideo("Camera", 640, 480);
+ // m_cvSink = frc::CameraServer::GetVideo();
+ // m_cvSource = frc::CameraServer::PutVideo("Camera", 640, 480);
 }
 
 /**

diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntakeCommand",
- "waypointRelativePos": 0,
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
@@ -32,8 +32,8 @@
  "constraintZones": [],
  "eventMarkers": [
  {
- "name": "New Event Marker",
- "waypointRelativePos": 0.45,
+ "name": "SmartIntake",
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
@@ -48,16 +48,16 @@
  "constraintZones": [],
  "eventMarkers": [
  {
- "name": "New Event Marker",
- "waypointRelativePos": 0.35,
+ "name": "SmartIntake",
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "parallel",
  "data": {
  "commands": [
  {
  "type": "named",
  "data": {
- "name": "VisionShoot"
+ "name": "SmartIntakeCommand"
  }
  }
  ]

diff --git a/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/BLUE_BottomNote_Note5.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "Intake",
- "waypointRelativePos": 0.5,
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path1.path b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
@@ -49,7 +49,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntake",
- "waypointRelativePos": 0.35,
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "sequential",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path2.path b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
@@ -32,8 +32,8 @@
  "constraintZones": [],
  "eventMarkers": [
  {
- "name": "New Event Marker",
- "waypointRelativePos": 0.25,
+ "name": "SmartIntake",
+ "waypointRelativePos": 0.05,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_1.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntakeCommand",
- "waypointRelativePos": 0,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {
@@ -58,7 +58,7 @@
  "goalEndState": {
  "velocity": 0,
  "rotation": 25.0,
- "rotateFast": false
+ "rotateFast": true
  },
  "reversed": false,
  "folder": "REDPATH",

diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_2.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntake",
- "waypointRelativePos": 0.25,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/RED_3_Piece_Path_4.path
@@ -49,7 +49,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntake",
- "waypointRelativePos": 0.2,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path b/src/main/deploy/pathplanner/paths/RED_BottomNote_Note5.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "Intake",
- "waypointRelativePos": 0.5,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/RED_Path1.path b/src/main/deploy/pathplanner/paths/RED_Path1.path
@@ -49,7 +49,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntake",
- "waypointRelativePos": 0.35,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/deploy/pathplanner/paths/RED_Path2.path b/src/main/deploy/pathplanner/paths/RED_Path2.path
@@ -33,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "SmartIntake",
- "waypointRelativePos": 0.25,
+ "waypointRelativePos": 0.1,
  "command": {
  "type": "parallel",
  "data": {

diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
@@ -39,7 +39,7 @@ rev::SparkPIDController fl_drive_pid = fl_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int FR_ABS_ENC_PORT = 12;
 const bool FR_ABS_ENC_INVERTED = false;
-const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{77.9f}};
+const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{92.94f}};
 
 ctre::phoenix6::hardware::CANcoder fr_abs_enc{FR_ABS_ENC_PORT};