some tunings during test

Shenzhen-Robotics-Alliance · Dec 4, 2024 · 40f5076 · 40f5076
1 parent 9c1e10c
commit 40f5076
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -37,6 +37,7 @@
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
 import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
 import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
+import org.ironmaple.utils.FieldMirroringUtils;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
@@ -296,7 +297,9 @@ public void configureButtonBindings() {
         driverXBox
                 .start()
                 .onTrue(Commands.runOnce(
-                                () -> drive.setPose(new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
+                                () -> drive.setPose(new Pose2d(
+                                        drive.getPose().getTranslation(),
+                                        FieldMirroringUtils.getCurrentAllianceDriverStationFacing())),
                                 drive)
                         .ignoringDisable(true));
 

diff --git a/src/main/java/frc/robot/constants/TunerConstants.java b/src/main/java/frc/robot/constants/TunerConstants.java
@@ -147,7 +147,7 @@ public class TunerConstants {
     public static final int kFrontRightDriveMotorId = 3;
     public static final int kFrontRightSteerMotorId = 4;
     public static final int kFrontRightEncoderId = 2;
-    public static final Angle kFrontRightEncoderOffset = Rotations.of(-0.230712890625);
+    public static final Angle kFrontRightEncoderOffset = Rotations.of(-0.730712890625);
     public static final boolean kFrontRightSteerMotorInverted = true;
     public static final boolean kFrontRightCANcoderInverted = false;
 
@@ -169,7 +169,7 @@ public class TunerConstants {
     public static final int kBackRightDriveMotorId = 7;
     public static final int kBackRightSteerMotorId = 8;
     public static final int kBackRightEncoderId = 4;
-    public static final Angle kBackRightEncoderOffset = Rotations.of(-0.05419921875);
+    public static final Angle kBackRightEncoderOffset = Rotations.of(-0.55419921875);
     public static final boolean kBackRightSteerMotorInverted = true;
     public static final boolean kBackRightCANcoderInverted = false;
 

diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -11,8 +11,8 @@ public class VisionConstants {
     public static final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
     public static final double
             /* default standard error for vision observation, if only one apriltag observed */
-            TRANSLATIONAL_STANDARD_ERROR_METERS_FOR_SINGLE_OBSERVATION = 2,
-            ROTATIONAL_STANDARD_ERROR_RADIANS_FOR_SINGLE_OBSERVATION = Math.toRadians(30),
+            TRANSLATIONAL_STANDARD_ERROR_METERS_FOR_SINGLE_OBSERVATION = 4,
+            ROTATIONAL_STANDARD_ERROR_RADIANS_FOR_SINGLE_OBSERVATION = Math.toRadians(60),
             TRANSLATIONAL_STANDARD_ERROR_METERS_FOR_MULTITAG = 0.5,
             ROTATIONAL_STANDARD_ERROR_RADIANS_FOR_MULTITAG = Math.toRadians(8),