Maus meddling

.pathplanner/settings.json

@@ -4,4 +4,5 @@
   "holonomicMode": true,
   "generateJSON": false,
   "generateCSV": false
-}
+}
+//Goodbye! -> LAPTOP-J-SPECTRE1

limeLightSettings/RetroHigh.vpr → limeLightSettings/RetroHigh (1).vpr

@@ -14,11 +14,11 @@ convexity_max:100
 convexity_min:0
 corner_approx:2
 crop_x_max:-0.1
-crop_x_min:-0.65
+crop_x_min:-0.68
 crop_y_max:0.94
 crop_y_min:0.1
-cross_a_a:0.002056
-cross_a_x:-0.580897
+cross_a_a:0.002156
+cross_a_x:-0.61
 cross_a_y:0
 cross_b_a:1
 cross_b_x:0.79
@@ -31,7 +31,7 @@ dilation_steps:0
 direction_filter:1
 dual_close_sort_origin:0
 erosion_steps:0
-exposure:50
+exposure:90
 fiducial_decoder_strictness:strict
 fiducial_denoise:0.000000
 fiducial_idfilters:

limeLightSettings/RetroMid.vpr → limeLightSettings/RetroMid (1).vpr

@@ -31,7 +31,7 @@ dilation_steps:0
 direction_filter:1
 dual_close_sort_origin:0
 erosion_steps:0
-exposure:50
+exposure:90
 fiducial_decoder_strictness:strict
 fiducial_denoise:0.000000
 fiducial_idfilters:

scripts/.gitignore

@@ -1 +1 @@
-*backup/
+*backup/

scripts/auto/autos/auto_default.csv

@@ -1 +1,2 @@
-time,1000
+time,1000
+//Goodbye! -> LAPTOP-J-SPECTRE1

scripts/auto/events/outtake_cube.csv

@@ -1,3 +1,3 @@
 intake,outtake,cube
-time,1000
+time,250
 intake,disabled

scripts/auto/events/pickup_front_cube.csv

@@ -1,2 +1,2 @@
-intake,intake,cube
-elevarm,cube,front,ground
+elevarm,cube,front,ground
+intake,intake,cube

src/main/cpp/subsystems/Drivetrain.cpp

@@ -186,7 +186,7 @@ void Drivetrain::init()
     table->PutNumber("Vision Std", 3.0);
     table->PutBoolean("Load Swerve Mag Encoder", false);
 
-    table->PutNumber("KPLIMELIGHT", 0.325);
+    table->PutNumber("KPLIMELIGHT", KP_LIMELIGHT);
 
     limeTable->PutNumber("pipeline", LimelightPipes::TAPE_HIGH);    
     limeTable->PutNumber("ledMode", 1);
@@ -456,7 +456,7 @@ void Drivetrain::adas(LimelightPipes pipe){
         if (limeTable->GetNumber("tv",0) == 1){
             double tx = limeTable->GetNumber("tx",0);
             double normalizedTx = tx / KLIMELIGHT;
-            double kPlimeLight = KP_LIMELIGHT;
+            double kPlimeLight = table->GetNumber("KPLIMELIGHT", KP_LIMELIGHT);
             state.ySpeedMPS = units::velocity::meters_per_second_t(((std::fabs(normalizedTx) <= 1 ? normalizedTx : std::copysignf(1.0, normalizedTx) ) * kPlimeLight * -driveMaxSpeed));
         }
     }

src/main/cpp/subsystems/Elevarm.cpp

@@ -13,8 +13,8 @@
 #define ROTATE_GEAR_RATIO 101.25f
 #define WRIST_GEAR_RATIO 24.3f
 
-#define ARM_CANCODER_OFFSET  279.2f
-#define WRIST_CANCODER_OFFSET 70.72f
+#define ARM_CANCODER_OFFSET  57.39f
+#define WRIST_CANCODER_OFFSET 168.31f
 #else
 #define ROTATE_GEAR_RATIO 101.25f
 #define WRIST_GEAR_RATIO 24.3f
@@ -79,7 +79,7 @@
 #define WRIST_K_ACC_MUL 0.425f
 #define WRIST_S_CURVE_STRENGTH 3
 
-#define PREVIOUS_WRIST_DEADBAND 1.5f
+#define PREVIOUS_WRIST_DEADBAND 2.5f
 #define PREVIOUS_HEIGHT_DEADBAND 0.03f
 #define PREVIOUS_ROTATION_DEADBAND 3.5f
 
@@ -137,6 +137,7 @@ void Elevarm::resetState()
     futureState.highStow = true;
 
     zeroArm = false;
+    zeroWrist = false;
     coastMode = false;
     previousState = futureState;
     setPrevPiece(intake->getFuturePiece());
@@ -235,12 +236,11 @@ void Elevarm::init()
     posMap[Piece::CUBE][Direction::FRONT][Position::SNAKE] =frc::Pose2d(-0.33_m, 1.2376_m, 0.0_deg);
     posMap[Piece::CUBE][Direction::FRONT][Position::VERTICAL] =frc::Pose2d(-0.288_m, 1.25_m, 0.0_deg);
 
-
     // BACK CONE   
     posMap[Piece::CONE][Direction::BACK][Position::GROUND] =frc::Pose2d(-1.027_m, 0.5931_m, -247.3_deg);
     posMap[Piece::CONE][Direction::BACK][Position::GROUND_TOPPLE] =frc::Pose2d(-0.9229_m, 0.2195_m, -192.67_deg);
     posMap[Piece::CONE][Direction::BACK][Position::GROUND_SCORE] =frc::Pose2d(-0.888_m, 0.541_m, -165.0_deg);
-    posMap[Piece::CONE][Direction::BACK][Position::PLAYER] =frc::Pose2d(-0.8605_m, 1.5825_m, 40.7_deg);
+    posMap[Piece::CONE][Direction::BACK][Position::PLAYER] =frc::Pose2d(-0.8605_m, 1.62_m, 40.7_deg);
     posMap[Piece::CONE][Direction::BACK][Position::BIRD] =frc::Pose2d(-0.4899_m, 0.4529_m, -82.81_deg);
     posMap[Piece::CONE][Direction::BACK][Position::MID] =frc::Pose2d(-0.904_m, 1.03_m, -180.0_deg);
     posMap[Piece::CONE][Direction::BACK][Position::HIGH] =frc::Pose2d(-0.904_m, 1.03_m, -180.0_deg);
@@ -266,6 +266,7 @@ void Elevarm::init()
     table->PutNumber("Carriage Offset", INITIAL_HEIGHT_OFFSET);
     table->PutBoolean("Arm In Range", false);
     table->PutBoolean("Zero Arm", zeroArm);
+    table->PutBoolean("Zero Wrist", zeroWrist);
     table->PutBoolean("Coast Mode", coastMode);
 
     resetState();
@@ -347,10 +348,15 @@ void Elevarm::analyzeDashboard()
     futureState.pitModeEnabled = table->GetBoolean("Pit Mode", false);
     carriageStallPower = table->GetNumber("Carriage Stall Power", P_MIN_CARRIAGE);
     zeroArm = table->GetBoolean("Zero Arm", false);
+    zeroWrist = table->GetBoolean("Zero Wrist", false);
     coastMode = table->GetBoolean("Coast Mode", false);
 
     if (zeroArm) {
-        armRotateMotor.setEncoderPosition(180.0);
+        armRotateMotor.setEncoderPosition(-180.0);
+    }
+
+    if (zeroWrist) {
+        wristMotor.setEncoderPosition(0.0);
     }
 
     if(coastMode && armRotateMotor.getNeutralMode() == ValorNeutralMode::Brake){
@@ -383,11 +389,12 @@ void Elevarm::analyzeDashboard()
                       armCANcoder.GetAbsolutePosition() < (ARM_CANCODER_OFFSET + 8);
     table->PutBoolean("Arm In Range", futureState.armInRange);
 
-    futureState.wristInRange = wristCANcoder.GetAbsolutePosition() > (WRIST_CANCODER_OFFSET - 50) &&
-                        wristCANcoder.GetAbsolutePosition() < (WRIST_CANCODER_OFFSET + 50);
+    futureState.wristInRange = wristCANcoder.GetAbsolutePosition() > (WRIST_CANCODER_OFFSET - 42) &&
+                        wristCANcoder.GetAbsolutePosition() < (WRIST_CANCODER_OFFSET + 14);
     table->PutBoolean("Wrist In Range", futureState.wristInRange);
 
     intake->state.elevarmGround = futureState.positionState == Position::GROUND_SCORE;
+    intake->state.elevarmPoopFull = futureState.positionState == Position::STOW;
 }
 
 void Elevarm::assignOutputs()
@@ -719,7 +726,7 @@ frc2::FunctionalCommand * Elevarm::getAutoCommand(std::string pieceState, std::s
         },
         //onExecute
         [](){
-           
+
         }, 
         [&](bool){
             previousState = futureState;

src/main/cpp/subsystems/Intake.cpp

@@ -27,7 +27,7 @@
 #define CUBE_SPIKED_CURRENT 60.0f
 #define CONE_SPIKED_CURRENT 90.0f
 
-#define CUBE_CACHE_SIZE 250.0f
+#define CUBE_CACHE_SIZE 350.0f
 #define CONE_CACHE_SIZE 650.0f
 
 #define POOP_FULL_SPEED 1.0f

src/main/cpp/subsystems/Leds.cpp

@@ -1,7 +1,7 @@
 #include "subsystems/Leds.h"
 #include <iostream>
 
-#define LED_COUNT 284
+#define LED_COUNT 288
 
 #define CARRIAGE_UPPER_LIMIT 0.89f 
 #define CARRIAGE_LOWER_LIMIT 0.0f

src/main/deploy/pathplanner/RED_barrier_s1_p1.path

@@ -0,0 +1,114 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.78,
+        "y": 5.03
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7800000000000002,
+        "y": 5.03
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "score_mid_cone"
+        ],
+        "executionBehavior": "sequential",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.93,
+        "y": 4.68
+      },
+      "prevControl": {
+        "x": 2.8348903176446116,
+        "y": 4.68
+      },
+      "nextControl": {
+        "x": 4.949232563893478,
+        "y": 4.68
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.9,
+        "y": 4.44
+      },
+      "prevControl": {
+        "x": 6.399119386323282,
+        "y": 4.44
+      },
+      "nextControl": {
+        "x": 6.399119386323282,
+        "y": 4.44
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.3,
+        "y": 2.77
+      },
+      "prevControl": {
+        "x": 6.3,
+        "y": 3.724674773741342
+      },
+      "nextControl": null,
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "sequential",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 0.02,
+      "names": [
+        "pickup_back_cube"
+      ]
+    },
+    {
+      "position": 2.4848484848484276,
+      "names": [
+        "stow_low"
+      ]
+    }
+  ]
+}