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Quantalabs
self-requested a review
January 27, 2026 02:00
Quantalabs
requested changes
Jan 27, 2026
Quantalabs
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TODOs can be ignored for now, they will be implemented with other branches, they are just reminders.
| try { | ||
| lc.setRangingMode(LaserCan.RangingMode.SHORT); | ||
| lc.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 16, 16)); | ||
| lc.setTimingBudget(LaserCan.TimingBudget.TIMING_BUDGET_33MS); |
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| public class IndexerConstants { | ||
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| public static final int MOTOR_ID = 0; |
Collaborator
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Suggested change
| public static final int MOTOR_ID = 0; | |
| // TODO: Set IDs | |
| public static final int MOTOR_ID = 0; |
| /** command that modifies hasBall, uses getDistanceMm() */ | ||
| private void checkForBall() { | ||
| double x = getDistanceMm(); | ||
| if (x == IndexerConstants.LaserCan_DefaultMeasurement) { |
Collaborator
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Suggested change
| if (x == IndexerConstants.LaserCan_DefaultMeasurement) { | |
| if (x >= IndexerConstants.LaserCan_DefaultMeasurement) { |
| private boolean hasBall; | ||
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| /** setup, adding motor and laser */ | ||
| private Indexer() { |
Collaborator
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Add a getInstance method, otherwise nobody can use this code.
| return setSpeed(IndexerConstants.InactiveSpeed); | ||
| } | ||
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| /** command to sense distance from camera; used to sense if bol */ |
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Suggested change
| /** command to sense distance from camera; used to sense if bol */ | |
| /** command to sense distance from LaserCAN; used to sense if bol */ |
| double x = getDistanceMm(); | ||
| if (x == IndexerConstants.LaserCan_DefaultMeasurement) { | ||
| hasBall = false; | ||
| } else { |
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Suggested change
| } else { | |
| } else if (x != -1) { |
shooter ready or not
* Remove entire robot/lib/swerve folder and replace all references with subsystem/ctre/CtreDriveConstants * Remove WheelTracker, Pigeon, SwerveModule, and TalonFxManager from codebase. * Deprecate RobotState, CancoderManager, AutoPilotCommand and SnapCommand etc * Deprecate limelight-based vision localization code * Deprecated robot/lib/drivers folder and its classes (CanDeviceId and Phoenix6Util) * reformat to prepare for sysID tuning * feat: automode scaffolding and PIDV, validation on first complex path on the field. * fix: pid to pose * tested snap and it work :D * minor refactor * refactor of the refactor * feat: sysid tuning for drive-motors, verified on robot. * finetuning steer-drive coupling ratio * Merged from 2025RobotTest * Trajectory update soon * i think later though * minor change * FEAT: SysID Rotation routine and logs * feat: enable VisualVM to debug RAM issues * feat: add steer motor offsets of the 2nd bot * feat: add radialDeadband to fix yaw impulse when driver releases stick * fix kCoupleRatio value for steer/drive coupling * Pid to pose borke again * Fixed PIDToPose * last few bugs trust * aarush's test branch * added controller --------- Co-authored-by: dcao6668 <dcao6668@gmail.com> Co-authored-by: github-0-0 <tomcao36@gmail.com> Co-authored-by: APandit1-cpu <aarushpandit1@gmail.com>
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