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Final changes at CRI (height tuning, auto, vision, algae clear) #58

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Final changes at CRI (height tuning, auto, vision, algae clear) #58

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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -232,7 +232,7 @@ private void configureBindings() {
applyDeadband(-controller.getLeftY() * speedMultiplier),
applyDeadband(-controller.getLeftX() * speedMultiplier),
applyDeadband(-controller.getRightX() * speedMultiplier),
fieldRelative,
true,
true),
drivetrain));

Expand Down Expand Up @@ -265,6 +265,6 @@ public void periodic() {
// autonomous command
public Command getAutonomousCommand() {
return Commands.sequence(
Commands.waitSeconds(2), coral.goToReef(drivetrain, () -> reefSection, () -> 3));
Commands.waitSeconds(1), coral.goToReef(drivetrain, () -> reefSection, () -> 3));
}
}
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/config/CoralConfig.java
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Expand Up @@ -8,8 +8,8 @@ public class CoralConfig {
public static final double MOVEMENT_I = 0.0;
public static final double MOVEMENT_D = 0.0;

public static final double POSITION_TOLERANCE = 0.5;
public static final double VELOCITY_TOLERANCE = 1.0;
public static final double POSITION_TOLERANCE = 0.15;
public static final double VELOCITY_TOLERANCE = 0.15;

public static final double INTAKE_HEIGHT = 0.065;
public static final Rotation2d INTAKE_ANGLE_UPPER = Rotation2d.fromRadians(1.65);
Expand Down
12 changes: 8 additions & 4 deletions src/main/java/frc/robot/subsystems/Coral.java
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Expand Up @@ -24,7 +24,7 @@ public class Coral extends SubsystemBase {
private CoralPivot coralPivot = new CoralPivot();

// heights for levels
private double[] elevatorScoringHeights = {0.0, 0.900, 1.29, 1.360};
private double[] elevatorScoringHeights = {0.0, 0.910, 1.31, 1.360};

// rotations for levels
private Rotation2d[] coralScoringRotations = {
Expand All @@ -34,10 +34,10 @@ public class Coral extends SubsystemBase {
Rotation2d.fromRadians(0.3)
};
private Rotation2d[] reefClearRotationsPrimary = {
Rotation2d.fromRadians(1.5), Rotation2d.fromRadians(1.5)
Rotation2d.fromRadians(1.9), Rotation2d.fromRadians(1.9)
};
private Rotation2d[] reefClearRotationsSecondary = {
Rotation2d.fromRadians(0.95), Rotation2d.fromRadians(0.95)
Rotation2d.fromRadians(1.5), Rotation2d.fromRadians(1.5)
};
private double[] reefClearHeights = {0.65, 1.0564};

Expand Down Expand Up @@ -202,7 +202,11 @@ public Command goToReef(Drivetrain drivetrain, IntSupplier idx, IntSupplier heig
.getRadians());
},
() -> CoralConfig.MOVEMENT_DISTANCE)
.until(() -> movementController.atSetpoint())
.until(
() ->
movementController.atSetpoint()
&& drivetrain.rotController.atSetpoint()
&& drivetrain.xController.atSetpoint())
.andThen(
Commands.waitSeconds(1.0)
.andThen(
Expand Down
3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -210,7 +210,8 @@ public void periodic() {
// Puts the pose data from one camera into a list
List<PhotonPipelineResult> results = Vision.camera.getAllUnreadResults();

// If there is pose data from the cameras, get the latest estimated pose and update the 'vision'
// If there is pose data from the cameras, get the latest estimated pose and update the
// 'vision'
// photon pose estimator
// If there is no multi tag result and the distance from the camera to the target is greater
// than
Expand Down