some tunings of the drivetrain

Shenzhen-Robotics-Alliance · Dec 27, 2024 · f2855d2 · f2855d2
1 parent 6dca03f
commit f2855d2
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Showing 14 changed files with 44 additions and 33 deletions.
diff --git a/src/main/deploy/pathplanner/paths/opponent robot cycle path 3 backwards.path b/src/main/deploy/pathplanner/paths/opponent robot cycle path 3 backwards.path
@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/opponent robot cycle path 3.path b/src/main/deploy/pathplanner/paths/opponent robot cycle path 3.path
@@ -70,8 +70,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/opponent robot cycle path 4 backwards.path b/src/main/deploy/pathplanner/paths/opponent robot cycle path 4 backwards.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/opponent robot cycle path 4.path b/src/main/deploy/pathplanner/paths/opponent robot cycle path 4.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/rush first pp.path b/src/main/deploy/pathplanner/paths/rush first pp.path
@@ -74,8 +74,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/rush fourth and shoot pp.path b/src/main/deploy/pathplanner/paths/rush fourth and shoot pp.path
@@ -70,8 +70,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/rush second pp.path b/src/main/deploy/pathplanner/paths/rush second pp.path
@@ -54,8 +54,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/rush third pp.path b/src/main/deploy/pathplanner/paths/rush third pp.path
@@ -90,8 +90,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 12.0,
+    "maxVelocity": 4.0,
+    "maxAcceleration": 10.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
@@ -6,18 +6,29 @@
     "opponent robots"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 4.5,
-  "defaultMaxAccel": 12.0,
+  "defaultMaxVel": 4.0,
+  "defaultMaxAccel": 10.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 45.0,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.546,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.9,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 56.0,
-  "wheelCOF": 1.2
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
diff --git a/src/main/java/frc/robot/constants/DriveControlLoops.java b/src/main/java/frc/robot/constants/DriveControlLoops.java
@@ -10,5 +10,5 @@ public class DriveControlLoops {
     public static final MaplePIDController.MaplePIDConfig CHASSIS_TRANSLATION_CLOSE_LOOP =
             new MaplePIDController.MaplePIDConfig(2, 1.2, 0, 0.03, 0, false, 0);
 
-    public static final double ROTATIONAL_LOOKAHEAD_TIME = 0, TRANSLATIONAL_LOOKAHEAD_TIME = 0;
+    public static final double ROTATIONAL_LOOKAHEAD_TIME = 0.05, TRANSLATIONAL_LOOKAHEAD_TIME = 0.05;
 }
diff --git a/src/main/java/frc/robot/constants/TunerConstants.java b/src/main/java/frc/robot/constants/TunerConstants.java
@@ -104,8 +104,8 @@ public class TunerConstants {
     public static final double kSteerInertia = 0.01;
     public static final double kDriveInertia = 0.01;
     // Simulated voltage necessary to overcome friction
-    public static final Voltage kSteerFrictionVoltage = Volts.of(0.25);
-    public static final Voltage kDriveFrictionVoltage = Volts.of(0.25);
+    public static final Voltage kSteerFrictionVoltage = Volts.of(0.05);
+    public static final Voltage kDriveFrictionVoltage = Volts.of(0.05);
 
     public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
             .withCANBusName(kCANBus.getName())

diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -33,9 +33,9 @@ public class VisionConstants {
                     720,
                     new Translation2d(
                             0.330, -0.127), // the outing position of the camera in relative to the robot center
-                    0.15, // the mounting height, in meters
+                    0.25, // the mounting height, in meters
                     Rotation2d.fromDegrees(0), // the camera facing, 0 is front, positive is counter-clockwise
-                    32, // camera pitch angle, in degrees
+                    24, // camera pitch angle, in degrees
                     180 // camera roll angle, 0 for up-right and 180 for upside-down
                     ),
             new PhotonCameraProperties(
@@ -49,9 +49,9 @@ public class VisionConstants {
                     1280,
                     720,
                     new Translation2d(0.229, 0.348),
-                    0.15,
+                    0.2,
                     Rotation2d.fromDegrees(30),
-                    35,
+                    30,
                     180 // upside-down
                     ),
             new PhotonCameraProperties(
@@ -65,9 +65,9 @@ public class VisionConstants {
                     1280,
                     720,
                     new Translation2d(0.229, -0.348),
-                    0.15,
+                    0.2,
                     Rotation2d.fromDegrees(-30),
-                    35,
+                    30,
                     180 // upside-down
                     ),
             new PhotonCameraProperties(
@@ -81,7 +81,7 @@ public class VisionConstants {
                     1280,
                     720,
                     new Translation2d(-0.229, 0.330),
-                    0.15,
+                    0.2,
                     Rotation2d.fromDegrees(150),
                     35,
                     180 // upside-down
@@ -97,7 +97,7 @@ public class VisionConstants {
                     1280,
                     720,
                     new Translation2d(-0.229, -0.330),
-                    0.15,
+                    0.2,
                     Rotation2d.fromDegrees(-150),
                     35,
                     180 // upside-down

diff --git a/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
@@ -25,7 +25,7 @@
  * The flywheel sims are not physically accurate, but provide a decent approximation for the behavior of the module.
  */
 public class ModuleIOSim implements ModuleIO {
-    private static final double DRIVE_KS = 0.03;
+    private static final double DRIVE_KS = 0.04;
     private static final double DRIVE_KP = 0.05;
     private static final double STEER_KP = 8.0;
     private static final double STEER_KD = 0.0;

diff --git a/src/main/java/frc/robot/subsystems/vision/apriltags/CameraHeightAndPitchRollAngleFilter.java b/src/main/java/frc/robot/subsystems/vision/apriltags/CameraHeightAndPitchRollAngleFilter.java
@@ -3,7 +3,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 
 public class CameraHeightAndPitchRollAngleFilter implements VisionResultsFilter {
-    private static final double ROBOT_HEIGHT_TOLERANCE = 0.3,
+    private static final double ROBOT_HEIGHT_TOLERANCE = 0.5,
             ROBOT_PITCH_TOLERANCE_RADIANS = Math.toRadians(12),
             ROBOT_ROLL_TOLERANCE_RADIANS = Math.toRadians(12);