Update ports + recalibrate modules + remove redundant rate limits

StuyPulse · Jan 27, 2024 · 6856802 · 6856802
1 parent ae6197f
commit 6856802
Show file tree

Hide file tree

Showing 4 changed files with 13 additions and 13 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -93,14 +93,14 @@ private void configureButtonBindings() {
             .onFalse(new IntakeDeacquire())
             .onFalse(new IntakeStop());
 
-        // driver.getLeftButton().whileTrue(new SwerveDriveToPose(new Pose2d(4, 5.5, new Rotation2d())));
+        driver.getBottomButton().whileTrue(new SwerveDriveToPose(new Pose2d(2, 5.5, new Rotation2d(Units.degreesToRadians(180)))));
         // driver.getRightButton().whileTrue(new SwerveDriveToPose(new Pose2d(1.5, 5.5, new Rotation2d())));
 
-        // driver.getTopButton().whileTrue(new SwerveDriveWithAiming(Field.getFiducial(7).getPose().toPose2d(), driver));
+        driver.getTopButton().whileTrue(new SwerveDriveWithAiming(Field.getFiducial(7).getPose().toPose2d(), driver));
         // driver.getBottomButton().whileTrue(new SwerveDriveWithAiming(Field.getFiducial(8).getPose().toPose2d(), driver));
         driver.getLeftButton().whileTrue(new SwerveDriveToScore());
         driver.getRightButton().whileTrue(new SwerveDriveDriveToScore(driver));
-        driver.getBottomButton().whileTrue(AutoBuilder.pathfindToPose(new Pose2d(), new PathConstraints(3, 4, Units.degreesToRadians(540), Units.degreesToRadians(720)), 0, 0));
+        // driver.getBottomButton().whileTrue(AutoBuilder.pathfindToPose(new Pose2d(), new PathConstraints(3, 4, Units.degreesToRadians(540), Units.degreesToRadians(720)), 0, 0));
     }
 
     /**************/

diff --git a/src/main/java/com/stuypulse/robot/constants/Cameras.java b/src/main/java/com/stuypulse/robot/constants/Cameras.java
@@ -14,7 +14,7 @@
 
 public interface Cameras {
 
-    public static final CameraConfig DEFAULT_CAMERA = new CameraConfig("default",
+    public static final CameraConfig DEFAULT_CAMERA = new CameraConfig("samera1",
             new Pose3d(-Units.inchesToMeters(12),
                        -Units.inchesToMeters(0),
                        +Units.inchesToMeters(5),

diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java
@@ -17,16 +17,16 @@ public interface Swerve {
         public interface BackLeft {
             int DRIVE = 10;
             int TURN = 11;
-            int ENCODER = 2;
+            int ENCODER = 3;
         }
 
-        public interface BackRight {
+        public interface BackRight { 
             int DRIVE = 12;
             int TURN = 13;
             int ENCODER = 1;
         }
 
-        public interface FrontRight {
+        public interface FrontRight { 
             int DRIVE = 14;
             int TURN = 15;
             int ENCODER = 4;
@@ -35,7 +35,7 @@ public interface FrontRight {
         public interface FrontLeft {
             int DRIVE = 16;
             int TURN = 17;
-            int ENCODER = 3;
+            int ENCODER = 2;
         }
     }
 

diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -79,25 +79,25 @@ public interface Motion {
 
  		public interface FrontRight {
             String ID = "Front Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(208.212891 + 180);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(-153.632812 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
         }
 
         public interface FrontLeft {
             String ID = "Front Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(154.511719 + 180);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(147.919922 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * +0.5);
         }
 
         public interface BackLeft {
             String ID = "Back Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(65.566406 + 180);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(73.125 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * +0.5);
         }
 
         public interface BackRight {
             String ID = "Back Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(47.197266 + 180);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(-2.02184 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
         }
 
@@ -130,7 +130,7 @@ public interface Turn {
             SmartNumber RC = new SmartNumber("Driver Settings/Turn/RC", 0.1);
             SmartNumber POWER = new SmartNumber("Driver Settings/Turn/Power", 2);
 
-            SmartNumber MAX_TELEOP_TURNING = new SmartNumber("Driver Settings/Turn/Max Turning", 6.0);
+            SmartNumber MAX_TELEOP_TURNING = new SmartNumber("Driver Settings/Turn/Max Turning", 6.28);
 
             public interface GyroFeedback {
                 SmartBoolean GYRO_FEEDBACK_ENABLED = new SmartBoolean("Driver Settings/Gyro Feedback/Enabled", true);