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IRI Hotfixes #81

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Merged
merged 3 commits into from
Jul 15, 2025
Merged

IRI Hotfixes #81

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67ddbc0
add new steal auto, adjust pole offsets
mwitcpalek Jul 11, 2025
294f287
fix typo
mwitcpalek Jul 12, 2025
d953eff
revert iri changes (am field)
mwitcpalek Jul 15, 2025
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6 changes: 4 additions & 2 deletions src/main/java/frc/robot/constants/TagServoingConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,8 @@ public class TagServoingConstants {
public static final double kCoralStuckAllowence = 0.03;

// Reef
public static final Translation2d kBlueReefPose = new Translation2d(4.489323, 4.0259);
public static final Translation2d kRedReefPose = new Translation2d(13.058902, 4.0259);
public static final Translation2d kBlueReefPose =
new Translation2d(4.489323, 4.0259); // welded: 4.489323, 4.0259, AM: 4.489323, 4.02082
public static final Translation2d kRedReefPose =
new Translation2d(13.058902, 4.0259); // welded: 13.058902, 4.0259, AM: 13.058902, 4.02082
}
17 changes: 17 additions & 0 deletions src/main/java/frc/robot/subsystems/auto/AutoSwitch.java
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Expand Up @@ -501,6 +501,23 @@ private AutoCommandInterface getAutoCommand(int switchPos) {
ScoringLevel.L2,
new Pose2d(7.1008875, 4.0509, Rotation2d.fromDegrees(180.0)));
}
case 0x18 -> {
return new StealOneAlgeaAutonCommand(
driveSubsystem,
robotStateSubsystem,
algaeSubsystem,
biscuitSubsystem,
coralSubsystem,
elevatorSubsystem,
tagAlignSubsystem,
visionSubsystem,
"startBargeToG",
"GToBarge",
"bargeToOppG",
"OppGToOppBarge",
ScoringLevel.L2,
new Pose2d(7.1, 3.7209, Rotation2d.fromRadians(3.14159)));
}

case 0x20 -> {
return new ProcessorShallowSlowAutonCommand(
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