diff --git a/.DataLogTool/datalogtool-window.json b/.DataLogTool/datalogtool-window.json index 8098107f..b8ee91b1 100644 --- a/.DataLogTool/datalogtool-window.json +++ b/.DataLogTool/datalogtool-window.json @@ -2,13 +2,13 @@ "MainWindow": { "GLOBAL": { "fps": "120", - "height": "637", - "maximized": "0", + "height": "1001", + "maximized": "1", "style": "0", "userScale": "2", - "width": "1156", - "xpos": "208", - "ypos": "69" + "width": "1920", + "xpos": "0", + "ypos": "29" } }, "Window": { @@ -19,7 +19,7 @@ }, "Download": { "Collapsed": "0", - "Pos": "0,312", + "Pos": "2,313", "Size": "468,325" }, "Entries": { diff --git a/.DataLogTool/datalogtool.json b/.DataLogTool/datalogtool.json index 487ce57d..84792f9f 100644 --- a/.DataLogTool/datalogtool.json +++ b/.DataLogTool/datalogtool.json @@ -1,6 +1,6 @@ { "download": { - "localDir": "C:\\Users\\StuyPulse\\Desktop\\Jim\\logs", + "localDir": "C:\\Users\\StuyPulse\\Desktop\\champs-logs", "serverTeam": "694" } } diff --git a/.Glass/glass-window.json b/.Glass/glass-window.json index 223555a1..36235e3a 100644 --- a/.Glass/glass-window.json +++ b/.Glass/glass-window.json @@ -1,19 +1,17 @@ { "Docking": { "Data": [ - "DockSpace ID=0x8B93E3BD Window=0xA787BDB4 Pos=0,25 Size=1920,1021 Split=X Selected=0xC98BB475", + "DockSpace ID=0x8B93E3BD Window=0xA787BDB4 Pos=0,22 Size=32,32 Split=X Selected=0xC98BB475", "DockNode ID=0x00000002 Parent=0x8B93E3BD SizeRef=1281,979 Split=X", - "DockNode ID=0x00000001 Parent=0x00000002 SizeRef=1102,213 Split=Y", + "DockNode ID=0x00000001 Parent=0x00000002 SizeRef=622,213 Split=Y", "DockNode ID=0x00000004 Parent=0x00000001 SizeRef=742,213 Split=X Selected=0x0EC36FA3", "DockNode ID=0x00000008 Parent=0x00000004 SizeRef=495,190 Selected=0xE290EDCE", - "DockNode ID=0x00000009 Parent=0x00000004 SizeRef=605,190 Selected=0x2395FA29", + "DockNode ID=0x00000009 Parent=0x00000004 SizeRef=125,190 Selected=0x2395FA29", "DockNode ID=0x00000005 Parent=0x00000001 SizeRef=742,211 Split=X Selected=0xC59FBC06", "DockNode ID=0x0000000A Parent=0x00000005 SizeRef=501,188 Selected=0x3F2B753E", - "DockNode ID=0x0000000B Parent=0x00000005 SizeRef=599,188 Selected=0xD2C348FC", - "DockNode ID=0x00000007 Parent=0x00000002 SizeRef=177,213 Split=Y Selected=0xF5CC1934", - "DockNode ID=0x00000011 Parent=0x00000007 SizeRef=718,484 Split=Y Selected=0x3E90CA91", - "DockNode ID=0x0000000D Parent=0x00000011 SizeRef=713,450 CentralNode=1 Selected=0xB5CBE9F0", - "DockNode ID=0x0000000E Parent=0x00000011 SizeRef=713,32 Selected=0xF5CC1934", + "DockNode ID=0x0000000B Parent=0x00000005 SizeRef=119,188 Selected=0xD2C348FC", + "DockNode ID=0x00000007 Parent=0x00000002 SizeRef=657,213 Split=Y Selected=0xF5CC1934", + "DockNode ID=0x00000011 Parent=0x00000007 SizeRef=718,484 CentralNode=1 Selected=0xF5CC1934", "DockNode ID=0x00000012 Parent=0x00000007 SizeRef=718,493 Selected=0xC98BB475", "DockNode ID=0x00000003 Parent=0x8B93E3BD SizeRef=637,979 Split=Y Selected=0x2D9B9756", "DockNode ID=0x00000006 Parent=0x00000003 SizeRef=501,757 Split=Y Selected=0x2D9B9756", @@ -25,7 +23,7 @@ "MainWindow": { "GLOBAL": { "fps": "120", - "height": "1046", + "height": "1001", "maximized": "1", "style": "0", "userScale": "2", @@ -36,7 +34,7 @@ }, "Table": { "0x542B5671,2": { - "Column 0 Width": "384", + "Column 0 Width": "391", "Column 1 Width": "268", "RefScale": "16" } @@ -45,68 +43,67 @@ "###/SmartDashboard/Arm Mech2d": { "Collapsed": "0", "DockId": "0x00000012,1", - "Pos": "1104,553", - "Size": "177,493" + "Pos": "9,39", + "Size": "6,15" }, "###/SmartDashboard/Autonomous": { "Collapsed": "0", "DockId": "0x00000010,0", - "Pos": "1283,697", - "Size": "637,118" + "Pos": "17,42", + "Size": "15,3" }, "###/SmartDashboard/Field": { "Collapsed": "0", - "DockId": "0x0000000D,2", - "Pos": "1104,25", - "Size": "177,492" + "DockId": "0x00000011,0", + "Pos": "9,22", + "Size": "6,15" }, "###NetworkTables": { "Collapsed": "0", "DockId": "0x0000000F,0", - "Pos": "1283,25", - "Size": "637,670" + "Pos": "17,22", + "Size": "15,18" }, "###NetworkTables Settings": { "Collapsed": "0", "DockId": "0x0000000C,0", - "Pos": "1283,817", - "Size": "637,229" + "Pos": "17,47", + "Size": "15,7" }, "###Plot <0>": { "Collapsed": "0", - "DockId": "0x0000000D,0", - "Pos": "1104,25", - "Size": "177,492" + "Pos": "-12,19", + "Size": "657,484" }, "###Plot <10>": { "Collapsed": "0", "DockId": "0x00000008,0", - "Pos": "0,25", - "Size": "495,512" + "Pos": "0,22", + "Size": "4,15" }, "###Plot <11>": { "Collapsed": "0", "DockId": "0x0000000A,0", - "Pos": "0,539", - "Size": "501,507" + "Pos": "0,39", + "Size": "4,15" }, "###Plot <12>": { "Collapsed": "0", "DockId": "0x00000009,1", - "Pos": "497,25", - "Size": "605,512" + "Pos": "6,22", + "Size": "1,15" }, "###Plot <13>": { "Collapsed": "0", "DockId": "0x00000008,1", - "Pos": "0,25", - "Size": "495,512" + "Pos": "0,22", + "Size": "4,15" }, "###Plot <14>": { "Collapsed": "0", "DockId": "0x0000000A,1", - "Pos": "0,539", - "Size": "501,507" + "Pos": "0,39", + "Size": "4,15" }, "###Plot <15>": { "Collapsed": "1", @@ -115,45 +112,44 @@ }, "###Plot <16>": { "Collapsed": "0", - "DockId": "0x0000000D,1", - "Pos": "1104,25", - "Size": "177,492" + "Pos": "-17,29", + "Size": "657,484" }, "###Plot <17>": { "Collapsed": "0", "DockId": "0x00000012,0", - "Pos": "1104,553", - "Size": "177,493" + "Pos": "9,39", + "Size": "6,15" }, "###Plot <18>": { "Collapsed": "0", "DockId": "0x00000008,2", - "Pos": "0,25", - "Size": "495,512" + "Pos": "0,22", + "Size": "4,15" }, "###Plot <19>": { "Collapsed": "0", "DockId": "0x00000009,2", - "Pos": "497,25", - "Size": "605,512" + "Pos": "6,22", + "Size": "1,15" }, "###Plot <1>": { "Collapsed": "0", - "DockId": "0x0000000E,0", - "Pos": "1104,519", - "Size": "177,32" + "DockId": "0x00000011,1", + "Pos": "9,22", + "Size": "6,15" }, "###Plot <20>": { "Collapsed": "0", "DockId": "0x0000000A,2", - "Pos": "0,539", - "Size": "501,507" + "Pos": "0,39", + "Size": "4,15" }, "###Plot <21>": { "Collapsed": "0", "DockId": "0x0000000B,2", - "Pos": "503,539", - "Size": "599,507" + "Pos": "6,39", + "Size": "1,15" }, "###Plot <2>": { "Collapsed": "0", @@ -168,8 +164,8 @@ "###Plot <4>": { "Collapsed": "0", "DockId": "0x0000000B,1", - "Pos": "503,539", - "Size": "599,507" + "Pos": "6,39", + "Size": "1,15" }, "###Plot <5>": { "Collapsed": "0", @@ -184,14 +180,14 @@ "###Plot <7>": { "Collapsed": "0", "DockId": "0x00000009,0", - "Pos": "497,25", - "Size": "605,512" + "Pos": "6,22", + "Size": "1,15" }, "###Plot <8>": { "Collapsed": "0", "DockId": "0x0000000B,0", - "Pos": "503,539", - "Size": "599,507" + "Pos": "6,39", + "Size": "1,15" }, "###Plot <9>": { "Collapsed": "0", @@ -205,8 +201,8 @@ }, "DockSpaceViewport_11111111": { "Collapsed": "0", - "Pos": "0,25", - "Size": "1920,1021" + "Pos": "0,22", + "Size": "32,32" } } } diff --git a/.Glass/glass.json b/.Glass/glass.json index 5951786d..2ac6743c 100644 --- a/.Glass/glass.json +++ b/.Glass/glass.json @@ -19,6 +19,15 @@ }, "transitory": { "SmartDashboard": { + "Arm": { + "Shoulder": { + "open": true + }, + "Wrist": { + "open": true + }, + "open": true + }, "Arm Trajectories": { "open": true }, @@ -65,8 +74,7 @@ }, "Front Right": { "open": true - }, - "open": true + } }, "Vision": { "com.stuypulse.robot.util.Limelight@19d31f3": { @@ -127,14 +135,14 @@ } }, "NetworkTables Settings": { - "mode": "Client (NT3)", + "mode": "Disabled", "serverTeam": "10.6.94.2" }, "Plots": { "Plot <0>": { "plots": [ { - "height": 972, + "height": 416, "series": [ { "color": [ @@ -178,7 +186,7 @@ "autoFit": true } ], - "height": -33, + "height": -30, "series": [ { "color": [ @@ -213,7 +221,7 @@ "autoFit": true } ], - "height": -33, + "height": -30, "series": [ { "color": [ @@ -243,7 +251,7 @@ "Plot <12>": { "plots": [ { - "height": -33, + "height": -30, "series": [ { "color": [ @@ -278,7 +286,7 @@ "autoFit": true } ], - "height": -33, + "height": -30, "series": [ { "color": [ @@ -308,7 +316,7 @@ "Plot <14>": { "plots": [ { - "height": -33, + "height": -30, "series": [ { "color": [ @@ -378,7 +386,7 @@ "Plot <16>": { "plots": [ { - "height": 972, + "height": 416, "series": [ { "color": [ @@ -402,7 +410,8 @@ } ], "window": { - "name": "Arm Velocities" + "name": "Arm Velocities", + "visible": false } }, "Plot <17>": { @@ -413,7 +422,7 @@ "autoFit": true } ], - "height": 419, + "height": 425, "series": [ { "color": [ @@ -461,7 +470,7 @@ "Plot <18>": { "plots": [ { - "height": 438, + "height": 423, "series": [ { "color": [ @@ -491,7 +500,7 @@ "Plot <19>": { "plots": [ { - "height": -33, + "height": -30, "series": [ { "color": [ @@ -521,13 +530,13 @@ "Plot <1>": { "plots": [ { - "height": -42, + "height": 416, "series": [ { "color": [ - 0.2980392277240753, - 0.44705885648727417, - 0.6901960968971252, + 0.3333333432674408, + 0.3827749192714691, + 0.658823549747467, 1.0 ], "id": "NT:/SmartDashboard/Arm/Wrist/Angle (deg)" @@ -539,7 +548,7 @@ 0.32156863808631897, 1.0 ], - "id": "NT:SmartDashboard/Arm/Wrist/Target Angle (deg)" + "id": "NT:/SmartDashboard/Arm/Wrist/Setpoint (deg)" }, { "color": [ @@ -548,7 +557,34 @@ 0.4078431725502014, 1.0 ], - "id": "NT:/SmartDashboard/Arm/Wrist/Setpoint (deg)" + "id": "NT:SmartDashboard/Arm/Wrist/Target Angle (deg)" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Arm/Wrist/Feedback Enabled" + }, + { + "color": [ + 0.5058823823928833, + 0.44705885648727417, + 0.7019608020782471, + 1.0 + ], + "id": "NT:/SmartDashboard/Arm/Wrist/Feedback Enabled Raw" + }, + { + "color": [ + 0.5764706134796143, + 0.4705882668495178, + 0.3764706254005432, + 1.0 + ], + "id": "NT:/SmartDashboard/Arm/Wrist/Output (V)" } ] } @@ -560,7 +596,7 @@ "Plot <20>": { "plots": [ { - "height": 433, + "height": 418, "series": [ { "color": [ @@ -590,7 +626,7 @@ "Plot <21>": { "plots": [ { - "height": -33, + "height": -30, "series": [ { "color": [ @@ -683,7 +719,7 @@ "Plot <4>": { "plots": [ { - "height": -33, + "height": -30, "series": [ { "color": [ @@ -794,7 +830,7 @@ "autoFit": true } ], - "height": 438, + "height": 423, "series": [ { "color": [ @@ -829,7 +865,7 @@ "autoFit": true } ], - "height": 433, + "height": 418, "series": [ { "color": [ diff --git a/shuffleboard.json b/shuffleboard.json index fa52fbf2..ea2dad12 100644 --- a/shuffleboard.json +++ b/shuffleboard.json @@ -612,6 +612,6 @@ "x": -7.199999809265137, "y": -7.199999809265137, "width": 1550.4000244140625, - "height": 878.4000244140625 + "height": 838.4000244140625 } } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/2 Piece + Dock Blue.path b/src/main/deploy/pathplanner/2 Piece + Dock Blue.path index 800b941c..1a21a46e 100644 --- a/src/main/deploy/pathplanner/2 Piece + Dock Blue.path +++ b/src/main/deploy/pathplanner/2 Piece + Dock Blue.path @@ -25,15 +25,15 @@ { "anchorPoint": { "x": 6.99, - "y": 4.0 + "y": 4.35 }, "prevControl": { "x": 2.7591216575595543, - "y": 4.393014812354411 + "y": 4.743014812354411 }, "nextControl": { "x": 2.7591216575595543, - "y": 4.393014812354411 + "y": 4.743014812354411 }, "holonomicAngle": 0, "isReversal": true, diff --git a/src/main/deploy/pathplanner/BC 2 Piece Dock Bump Blue.path b/src/main/deploy/pathplanner/BC 2 Piece Dock Bump Blue.path index 32b28deb..9e6b100e 100644 --- a/src/main/deploy/pathplanner/BC 2 Piece Dock Bump Blue.path +++ b/src/main/deploy/pathplanner/BC 2 Piece Dock Bump Blue.path @@ -25,15 +25,15 @@ { "anchorPoint": { "x": 6.890000000000001, - "y": 0.92 + "y": 1.12 }, "prevControl": { "x": 3.137982484512274, - "y": 0.5712753619542872 + "y": 0.7712753619542873 }, "nextControl": { "x": 3.137982484512274, - "y": 0.5712753619542872 + "y": 0.7712753619542873 }, "holonomicAngle": 0, "isReversal": true, diff --git a/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Blue.path b/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Blue.path index b8bfb2ad..901f9530 100644 --- a/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Blue.path +++ b/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Blue.path @@ -25,15 +25,15 @@ { "anchorPoint": { "x": 6.34, - "y": 0.9800000000000001 + "y": 0.88 }, "prevControl": { "x": 5.404169616056117, - "y": 0.9800000000000001 + "y": 0.88 }, "nextControl": { "x": 6.51751747255125, - "y": 0.9800000000000001 + "y": 0.88 }, "holonomicAngle": 0, "isReversal": false, @@ -50,15 +50,15 @@ { "anchorPoint": { "x": 6.77, - "y": 0.9800000000000001 + "y": 0.88 }, "prevControl": { "x": 6.678400449224319, - "y": 0.955798354745797 + "y": 0.8557983547457969 }, "nextControl": { "x": 6.678400449224319, - "y": 0.955798354745797 + "y": 0.8557983547457969 }, "holonomicAngle": 0, "isReversal": true, @@ -100,15 +100,15 @@ { "anchorPoint": { "x": 6.607476729465333, - "y": 1.99 + "y": 1.69 }, "prevControl": { "x": 5.3174394081485055, - "y": 0.7308041744602557 + "y": 0.43080417446025565 }, "nextControl": { "x": 6.687657161050275, - "y": 2.0682635223597057 + "y": 1.7682635223597056 }, "holonomicAngle": 30.0, "isReversal": false, @@ -125,15 +125,15 @@ { "anchorPoint": { "x": 6.98, - "y": 2.22 + "y": 1.92 }, "prevControl": { "x": 6.955130668948928, - "y": 2.2198660971644335 + "y": 1.9198660971644332 }, "nextControl": { "x": 6.955130668948928, - "y": 2.2198660971644335 + "y": 1.9198660971644332 }, "holonomicAngle": 30.0, "isReversal": true, diff --git a/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Red.path b/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Red.path index f74f3f91..0350c57e 100644 --- a/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Red.path +++ b/src/main/deploy/pathplanner/BC 3 Piece W Low Bump Red.path @@ -100,15 +100,15 @@ { "anchorPoint": { "x": 6.607476729465333, - "y": 1.89 + "y": 1.7899999999999998 }, "prevControl": { "x": 5.3174394081485055, - "y": 0.6308041744602556 + "y": 0.5308041744602555 }, "nextControl": { "x": 6.687657161050275, - "y": 1.9682635223597056 + "y": 1.8682635223597055 }, "holonomicAngle": 30.0, "isReversal": false, @@ -125,15 +125,15 @@ { "anchorPoint": { "x": 6.984989836963047, - "y": 2.123070184382649 + "y": 2.02 }, "prevControl": { "x": 6.960120505911974, - "y": 2.1229362815470822 + "y": 2.0198660971644333 }, "nextControl": { "x": 6.960120505911974, - "y": 2.1229362815470822 + "y": 2.0198660971644333 }, "holonomicAngle": 30.0, "isReversal": true, diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java index 5122a8b0..c0f7c405 100644 --- a/src/main/java/com/stuypulse/robot/RobotContainer.java +++ b/src/main/java/com/stuypulse/robot/RobotContainer.java @@ -122,7 +122,7 @@ private void configureButtonBindings() { private void configureDriverBindings() { // wing - driver.getSelectButton().onTrue(new WingToggle()); + // driver.getSelectButton().onTrue(new WingToggle()); // arm driver.getLeftTriggerButton() @@ -188,7 +188,8 @@ private void configureOperatorBindings() { // ready & score operator.getLeftBumper() - .onTrue(new IntakeAcquire() + .onTrue(new ManagerValidateState() + .andThen(new IntakeAcquireColyi()) .andThen(new WaitCommand(0.2) .until(() -> intake.hasGamePiece())) .andThen(new IntakeStop())) @@ -237,18 +238,18 @@ public void configureAutons() { // autonChooser.addOption("1.5 Piece Dock + Wire", new OnePiecePickupDockWire()); autonChooser.addOption("Two Piece", new TwoPiece()); autonChooser.addOption("Two Piece Wire", new TwoPieceWire()); - autonChooser.addOption("Two Piece Dock Red", new TwoPieceDockRed()); + autonChooser.setDefaultOption("Two Piece Dock Red", new TwoPieceDockRed()); autonChooser.addOption("Two Piece Dock Blue", new TwoPieceDockBlue()); // autonChooser.addOption("One Piece Dock", new OnePieceDock()); autonChooser.addOption("One Piece Mobility Dock", new OnePieceMobilityDock()); // autonChooser.addOption("Three Piece", new ThreePiece()); autonChooser.addOption("Three Piece W Low", new ThreePieceWLow()); // basically blue - autonChooser.setDefaultOption("Three Piece W Low Red", new ThreePieceWLowRed()); + autonChooser.addOption("Three Piece W Low Red", new ThreePieceWLowRed()); autonChooser.addOption("Three Piece W Low Blue", new ThreePieceWLowBlue()); autonChooser.addOption("BC Three Piece W Low Wire Blue", new BCThreePieceWLowWireBlue()); autonChooser.addOption("BC Three Piece W Low Wire Red", new BCThreePieceWLowWireRed()); autonChooser.addOption("BC Two Piece Dock Wire Blue", new BCTwoPieceDockWireBlue()); - autonChooser.addOption("BC Two Piece Dock Wire Red", new BCTwoPieceDockWireRed()); + autonChooser.addOption("BC Two Piece Dock Wire Red", new BCTwoPieceDockWireRed()); // autonChooser.addOption("Three Piece Wire", new ThreePieceWire()); diff --git a/src/main/java/com/stuypulse/robot/commands/intake/IntakeAcquireColyi.java b/src/main/java/com/stuypulse/robot/commands/intake/IntakeAcquireColyi.java new file mode 100644 index 00000000..c2ff2358 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/intake/IntakeAcquireColyi.java @@ -0,0 +1,28 @@ +package com.stuypulse.robot.commands.intake; +import com.stuypulse.robot.subsystems.*; +import com.stuypulse.robot.subsystems.Manager.GamePiece; +import com.stuypulse.robot.subsystems.Manager.NodeLevel; +import com.stuypulse.robot.subsystems.Manager.ScoreSide; +import com.stuypulse.robot.subsystems.intake.*; + +import edu.wpi.first.wpilibj2.command.InstantCommand; + +public class IntakeAcquireColyi extends InstantCommand { + private Intake intake; + private Manager manager; + + public IntakeAcquireColyi(){ + intake = Intake.getInstance(); + manager = Manager.getInstance(); + addRequirements(intake); + } + + @Override + public void initialize(){ + boolean isCubeMidOppositeBackConditionBooleanExpressionStoredInAVariable = manager.getScoreSide() == ScoreSide.BACK && manager.getGamePiece().isCube() && manager.getNodeLevel() == NodeLevel.MID; + + if (manager.getGamePiece().isCone() || isCubeMidOppositeBackConditionBooleanExpressionStoredInAVariable) { + intake.acquire(); + } + } +} diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java index 01130b87..e7e155a3 100644 --- a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java +++ b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java @@ -119,7 +119,7 @@ public void execute() { } // if planted then X - if (plant.isEngaged()) { + if (plant.isEngaged() || driver.getRawStartButton() || driver.getRawSelectButton()) { swerve.setXMode(); } diff --git a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java index 8e8a43f4..424b13bf 100644 --- a/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java +++ b/src/main/java/com/stuypulse/robot/constants/ArmTrajectories.java @@ -67,7 +67,7 @@ public interface Mid { new SmartNumber("Arm Trajectories/Ready Mid Tip Up Back Wrist", 136)); ArmState kConeTipInBack = new ArmState( - new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -171), + new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Shoulder", -172.694), new SmartNumber("Arm Trajectories/Ready Mid Tip In Back Wrist", -175)); // -4, 0 diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java index d7d6d473..f6d459db 100644 --- a/src/main/java/com/stuypulse/robot/constants/Settings.java +++ b/src/main/java/com/stuypulse/robot/constants/Settings.java @@ -244,7 +244,7 @@ public interface Wrist { SmartNumber AUTON_SHOULDER_VELOCITY_FEEDBACK_CUTOFF = new SmartNumber("Arm/Wrist/Auton Shoulder Velocity Feedback Cutoff (deg per s)", 5.0); SmartNumber AUTON_SHOULDER_VELOCITY_FEEDBACK_DEBOUNCE = new SmartNumber("Arm/Wrist/Auton Feedback Enabled Debounce", 0.15); - SmartNumber TELEOP_SHOULDER_VELOCITY_FEEDBACK_CUTOFF = new SmartNumber("Arm/Wrist/Teleop Shoulder Velocity Feedback Cutoff (deg per s)", 17.5); + SmartNumber TELEOP_SHOULDER_VELOCITY_FEEDBACK_CUTOFF = new SmartNumber("Arm/Wrist/Teleop Shoulder Velocity Feedback Cutoff (deg per s)", 13.0); SmartNumber TELEOP_SHOULDER_VELOCITY_FEEDBACK_DEBOUNCE = new SmartNumber("Arm/Wrist/Teleop Feedback Enabled Debounce", 0.0); SmartNumber WRIST_SAFE_ANGLE = new SmartNumber("Arm/Wrist/Safe Angle (deg)", 80); @@ -254,9 +254,9 @@ public interface Wrist { SmartNumber INTAKE_VOLTAGE = new SmartNumber("Arm/Wrist/Intake Voltage", 0); public interface PID { - SmartNumber kP = new SmartNumber("Arm/Wrist/kP", 6.0); + SmartNumber kP = new SmartNumber("Arm/Wrist/kP", 5.5); SmartNumber kI = new SmartNumber("Arm/Wrist/kI", 0); - SmartNumber kD = new SmartNumber("Arm/Wrist/kD", 1); + SmartNumber kD = new SmartNumber("Arm/Wrist/kD", 0.5); } public interface Feedforward { diff --git a/src/main/java/com/stuypulse/robot/subsystems/vision/VisionImpl.java b/src/main/java/com/stuypulse/robot/subsystems/vision/VisionImpl.java index 2c4955b0..85fa6382 100644 --- a/src/main/java/com/stuypulse/robot/subsystems/vision/VisionImpl.java +++ b/src/main/java/com/stuypulse/robot/subsystems/vision/VisionImpl.java @@ -59,7 +59,7 @@ protected VisionImpl() { limelightPoses[i] = field.getObject(hostNames[i] + " pose"); for (int port : PORTS) { - PortForwarder.add(port, hostNames[i] + ".local", port + i * 10); + PortForwarder.add(port + i * 10, hostNames[i] + ".local", port); } }