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Changed Diameter #123

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44 changes: 43 additions & 1 deletion .Glass/glass.json
View file
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Original file line number Diff line number Diff line change
@@ -1,9 +1,19 @@
{
"NetworkTables": {
"DriveTrain": {
"open": true
},
"SwerveChassis": {
"SwerveModuleFL": {
"open": true
},
"open": true
},
"types": {
"/FMSInfo": "FMSInfo",
"/Shuffleboard/Auto/Routines": "String Chooser",
"/Shuffleboard/BasicDebugging/CommandScheduler": "Scheduler",
"/SmartDashboard/ArmDisplay": "Mechanism2d",
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/PPSwerveControllerCommand_field": "Field2d"
},
Expand All @@ -20,7 +30,39 @@
}
},
"NetworkTables Settings": {
"mode": "Client (NT4)",
"mode": "Client",
"serverTeam": "2706"
},
"Plots": {
"Plot <0>": {
"plots": [
{
"height": 332,
"series": [
{
"color": [
0.2980392277240753,
0.44705885648727417,
0.6901960968971252,
1.0
],
"id": "NT:/SwerveChassis/SwerveModuleFL/Current speed (mps)"
},
{
"color": [
0.8666667342185974,
0.5176470875740051,
0.32156863808631897,
1.0
],
"id": "NT:/SwerveChassis/SwerveModuleFL/Desired speed (mps)"
}
]
}
],
"window": {
"visible": false
}
}
}
}
83 changes: 83 additions & 0 deletions src/main/deploy/pathplanner/Kevin_path.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,83 @@
{
"waypoints": [
{
"anchorPoint": {
"x": 2.138163250685476,
"y": 3.060337060845062
},
"prevControl": null,
"nextControl": {
"x": 3.1381632506854755,
"y": 3.060337060845062
},
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [
"ArmPickup",
"ArmHomeAfterPickup"
],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 3.9994876570949724,
"y": 4.990176476079449
},
"prevControl": {
"x": 3.9994876570949724,
"y": 3.9901764760794487
},
"nextControl": {
"x": 3.9994876570949724,
"y": 3.9901764760794487
},
"holonomicAngle": 0,
"isReversal": true,
"velOverride": null,
"isLocked": false,
"isStopPoint": true,
"stopEvent": {
"names": [
"ArmCubeTop",
"GripperOpen",
"ArmHome"
],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 5.404045338005206,
"y": 2.8776303706453565
},
"prevControl": {
"x": 7.27215828790632,
"y": 2.8132043358103807
},
"nextControl": null,
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [
"BlingBlue"
],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
}
],
"markers": []
}
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/test_path.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
"waypoints": [
{
"anchorPoint": {
"x": 1.2250909062388209,
"y": 2.3420415486911743
},
"prevControl": null,
"nextControl": {
"x": 2.6750269384970293,
"y": 2.3420415486911743
},
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 7.23,
"y": 2.34
},
"prevControl": {
"x": 6.008149009289472,
"y": 2.34
},
"nextControl": null,
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
}
],
"markers": []
}
14 changes: 13 additions & 1 deletion src/main/java/frc/robot/auto/AutoRoutines.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package frc.robot.auto;

import java.nio.file.Path;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
Expand Down Expand Up @@ -62,6 +63,10 @@ public class AutoRoutines {
List<PathPlannerTrajectory> cone_0p5_top_charge;
List<PathPlannerTrajectory> cube_0p5_bottom;

List<PathPlannerTrajectory> test_path;

List<PathPlannerTrajectory> Kevin_path;

List<PathPlannerTrajectory> cube_3p0_top;


Expand Down Expand Up @@ -224,6 +229,11 @@ public AutoRoutines() {
cube_0p5_bottom = PathPlanner.loadPathGroup("cube_0p5_bottom", 2.5, 3);
cube_3p0_top = PathPlanner.loadPathGroup("cube_3p0_top", 2.6, 3.1);


test_path = PathPlanner.loadPathGroup("test_path", 2, 1);

Kevin_path = PathPlanner.loadPathGroup("Kevin_path", 2,1);

cone_0p5_top_charge = PathPlanner.loadPathGroup("cone_0p5_top_charge", 2.5, 3);

cone_2p0_bot_P1 = PathPlanner.loadPathGroup("cone_2p0_bot_P1", 2.7, 3.8);
Expand Down Expand Up @@ -319,7 +329,9 @@ public Command getAutonomousCommand(int selectAuto) {
return (autoBuilder.fullAuto(cube_0p5_middle_charge));

case 4:
return (autoBuilder.fullAuto(cube_1p0_top));
//return (autoBuilder.fullAuto(cube_1p0_top));
return (autoBuilder.fullAuto(test_path));
//return (autoBuilder.fullAuto(Kevin_path));

case 5:
//return (autoBuilder.fullAuto(cube_0p5_bottom));
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/config/Config.java
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ public class Config {
*/
public static Double DRIVER_JOYSTICK_DEADBAND = 0.1; // TODO: Investigate if this can be better tuned

public static double drivetrainWheelDiameter = robotSpecific(0.0986536,0.1524, 0.1016, 0.1524, 0.01524, 0.1524); // Diameter of wheel is 0.1524
public static double drivetrainWheelDiameter = robotSpecific(0.09267,0.1524, 0.1016, 0.1524, 0.01524, 0.1524); // Diameter of wheel is 0.1524

public static final double kWheelBase = robotSpecific(0.52, -0.0, -0.0, -0.0, -0.0, -0.0);
public static final double kTrackWidth = robotSpecific(0.655, 1.2267, 0.3136, 0.569, 0.52, 0.51762);
Expand Down Expand Up @@ -231,8 +231,8 @@ public static class Swerve{
public static final double teleopRateLimit = 3;

public static final double driveKS = 0.667;
public static final double driveKV = 2.9;
public static final double driveKA = 0.5;
public static final double driveKV = 3.0;
public static final double driveKA = 0.55;

public static DoubleSubscriber sub_kA = NetworkTableInstance.getDefault().getTable("SwerveChassis/DrivePID").getDoubleTopic("Drive kA").subscribe(driveKA);
public static DoubleSubscriber sub_kV = NetworkTableInstance.getDefault().getTable("SwerveChassis/DrivePID").getDoubleTopic("Drive kV").subscribe(driveKV);
Expand Down