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bwuh huh #24

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Merged
pix-xl merged 1 commit into from
Mar 23, 2025
Merged

bwuh huh #24

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27 changes: 26 additions & 1 deletion src/main/java/frc/robot/vision/VisionConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -325,12 +325,37 @@ public class AlignmentConfig {
// public static final Distance LATERAL_TARGET_L4_LEFT = Meters.of(0.05);
// public static final Distance LATERAL_TARGET_L4_RIGHT = Meters.of(0.02);

//April Tag IDs
public static final double id1 = 1;
public static final double id2 = 2;
public static final double id3 = 3;
public static final double id4 = 4;
public static final double id5 = 5;
public static final double id6 = 6;
public static final double id7 = 7;
public static final double id8 = 8;
public static final double id9 = 9;
public static final double id10 = 10;
public static final double id11 = 11;
public static final double id12 = 12;
public static final double id13 = 13;
public static final double id14 = 14;
public static final double id15 = 15;
public static final double id16 = 16;
public static final double id17 = 17;
public static final double id18 = 18;
public static final double id19 = 19;
public static final double id20 = 20;
public static final double id21 = 21;
public static final double id22 = 22;




//Joey's Pose Constants for the Reef Locations
public static final Pose2d Error = new Pose2d(6, 6, Rotation2d.fromDegrees(0));

public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Bblue = new Pose2d(3.180, 3.850, Rotation2d.fromDegrees(0));
public static final Pose2d Cblue = new Pose2d(3.685, 2.975, Rotation2d.fromDegrees(60));
public static final Pose2d Dblue = new Pose2d(3.975, 2.825, Rotation2d.fromDegrees(60));
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9 changes: 6 additions & 3 deletions src/main/java/frc/robot/vision/commands/LineupCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

import frc.robot.vision.VisionConfig;
Expand Down Expand Up @@ -103,11 +104,11 @@ public void initialize() {
@Override
public void execute() {
currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
// ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
x = currentPose.getTranslation().getX();
y = currentPose.getTranslation().getY();
double Xvel = currentSpeeds.vxMetersPerSecond;
double Yvel = currentSpeeds.vyMetersPerSecond;
// double Xvel = currentSpeeds.vxMetersPerSecond;
// double Yvel = currentSpeeds.vyMetersPerSecond;
double XOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(x, targetPose.getX());
double YOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(y, targetPose.getY());
double thetaOutput = 0.15 * RotationsPerSecond.of(0.75).in(RadiansPerSecond) * thetaController.calculate(currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians());
Expand All @@ -127,6 +128,8 @@ public void execute() {
).execute();
}

SmartDashboard.putString("Target Pose X", targetPose.toString());

}


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