hop to it !

Patribots4738 · Oct 28, 2024 · 7be869f · 7be869f
1 parent b6a2005
commit 7be869f
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Showing 4 changed files with 20 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/vision/Limelight.java b/src/main/java/frc/robot/subsystems/vision/Limelight.java
@@ -31,6 +31,7 @@
 import frc.robot.util.Constants.CameraConstants;
 import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.calc.LimelightHelpers;
+import frc.robot.util.calc.PoseCalculations;
 import frc.robot.util.calc.LimelightHelpers.LimelightTarget_Fiducial;
 import frc.robot.util.calc.LimelightHelpers.Results;
 
@@ -309,7 +310,9 @@ public boolean hasTarget() {
         double singleTagAreaThreshold = 
             Robot.gameMode == GameMode.AUTONOMOUS 
                 ? CameraConstants.LIMELIGHT_3G_SINGLE_TA_CUTOFF_AUTO 
-                : CameraConstants.LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE;
+                : PoseCalculations.onOppositeSide(robotPoseSupplier.get().getX())
+                    ? CameraConstants.LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE_PASS
+                    : CameraConstants.LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE;
 
         double doubleTagAreaThreshold = 
             Robot.gameMode == GameMode.AUTONOMOUS 

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -1191,6 +1191,7 @@ public static final class CameraConstants {
 
         public static final double LIMELIGHT_3G_SINGLE_TA_CUTOFF_AUTO = 0.175;
         public static final double LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE = 0.141;
+        public static final double LIMELIGHT_3G_SINGLE_TA_CUTOFF_TELE_PASS = 0.09;
 
         public static final Pose3d LL3Pose = 
             new Pose3d(

diff --git a/src/main/java/frc/robot/util/auto/PathPlannerStorage.java b/src/main/java/frc/robot/util/auto/PathPlannerStorage.java
@@ -336,7 +336,7 @@ private Command generateCenterDefaultCommand(int i, int endingNote, boolean goin
                         NamedCommands.getCommand("PrepareSWD")
                     ),
                     NamedCommands.getCommand("ShootInstantlyWhenReady")
-                ).onlyIf(() -> shooterSensor.getAsBoolean() || elevatorSensor.getAsBoolean()),
+                ),
                 commandGroup.getRequirements());
         }
 

diff --git a/src/main/java/frc/robot/util/calc/PoseCalculations.java b/src/main/java/frc/robot/util/calc/PoseCalculations.java
@@ -103,6 +103,18 @@ private static double getChainIntercept(double x) {
         return MathUtil.clamp(calculation, 0.725, ClimbConstants.EXTENSION_LIMIT_METERS);
     }
 
+    /**
+     * Detects if the robot is in the opposite wing
+     * Uses the robot's x position to determine if it has crossed the opp wing line.
+     * 
+     * @return true if the robot is in the opposing wing
+     */
+    public static boolean onOppositeWing(double xPosition) {
+        return Robot.isRedAlliance() 
+            ? xPosition < FieldConstants.BLUE_WING_X 
+            : xPosition > FieldConstants.RED_WING_X;
+    }
+
     /**
      * Detects if the robot is on the opposite side of the field.
      * Uses the robot's x position to determine if it has crossed the centerline.
@@ -111,8 +123,8 @@ private static double getChainIntercept(double x) {
      */
     public static boolean onOppositeSide(double xPosition) {
         return Robot.isRedAlliance() 
-            ? xPosition < FieldConstants.BLUE_WING_X 
-            : xPosition > FieldConstants.RED_WING_X;
+            ? xPosition < FieldConstants.CENTERLINE_X 
+            : xPosition > FieldConstants.CENTERLINE_X;
     }
 
     // Note: this method uses a static variable rather than a parameter