Merge pull request #34 from applepi-2067/cj/krakendrive

applepi-2067 · May 28, 2024 · b868948 · b868948
2 parents 8e2130d + 6e6b794
commit b868948
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Showing 4 changed files with 119 additions and 6 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Anti-Aces Auto.auto b/src/main/deploy/pathplanner/autos/Anti-Aces Auto.auto
@@ -0,0 +1,112 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.454549670868242,
+      "y": 6.476092609817173
+    },
+    "rotation": -178.63607246839726
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "CloseAimShoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Amp note 2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Pickup"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AimShoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Amp midline note path 2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Pickup"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp return path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AimShoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Amp midline note path 2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Pickup"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp return path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AimShoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -77,8 +77,8 @@ public RobotContainer() {
       m_drivetrain::getRobotRelativeChassisSpeeds,
       m_drivetrain::driveRobotRelative,
       new HolonomicPathFollowerConfig(
-        new PIDConstants(3.0),
-        new PIDConstants(11.0),
+        new PIDConstants(2.65),
+        new PIDConstants(8.2),
         DriveMotor.MAX_SPEED_METERS_PER_SEC,
         Drivetrain.CENTER_TO_WHEEL_OFFSET_METERS,
         new ReplanningConfig()
@@ -99,6 +99,7 @@ public RobotContainer() {
     autoChooser.addOption("Jim auto", new PathPlannerAuto("Jim auto"));
     autoChooser.addOption("Center 4 note close", new PathPlannerAuto("Close 4 note"));
     autoChooser.addOption("Close shot", new ZeroShoulder().andThen(new AimShoot(true)));
+    autoChooser.addOption("Anti Aces auto", new PathPlannerAuto("Anti-Aces Auto"));
 
     SmartDashboard.putData("Auto chooser", autoChooser); 
 

diff --git a/src/main/java/frc/robot/subsystems/swerve/DriveMotor.java b/src/main/java/frc/robot/subsystems/swerve/DriveMotor.java
@@ -22,9 +22,9 @@ public class DriveMotor {
 
     // Motor settings.
     private static final CurrentLimitsConfigs CURRENT_LIMITS_CONFIGS = new CurrentLimitsConfigs()
-        .withSupplyCurrentThreshold(80)
+        .withSupplyCurrentThreshold(75)
         .withSupplyTimeThreshold(4.5)
-        .withSupplyCurrentLimit(40);
+        .withSupplyCurrentLimit(60);
     private static final double PERCENT_DEADBAND = 0.001;
 
     // Conversion constants.
@@ -33,7 +33,7 @@ public class DriveMotor {
 
     // PID.
     private static final int K_TIMEOUT_MS = 10;
-    private static final Slot0Configs PID_GAINS = new Slot0Configs().withKP(2.0).withKV(0.8);
+    private static final Slot0Configs PID_GAINS = new Slot0Configs().withKP(2.2).withKV(0.4);
 
     private static final double FALCON_500_MAX_SPEED_RPS = 6380.0 / 60.0;
     private static final MotionMagicConfigs MOTION_MAGIC_CONFIGS = new MotionMagicConfigs()

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java b/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java
@@ -14,7 +14,7 @@ public class SwerveModule {
     // Back left, back right, front left, front right convention.
     // Calibration procedure: set all offsets to 0.0, redeploy, align all wheels to face forwards,
     // use CANCoder reading as offset, add 180.0 if wheel drives backwards.
-    private static final double[] STEER_WHEEL_ZERO_OFFSET_DEGREES = {298.04, 260.33, 161.37, -0.44};
+    private static final double[] STEER_WHEEL_ZERO_OFFSET_DEGREES = {298.04, 260.33, 161.37, -0.44}; //adjust wheel offsets. 
 
     private static final DecimalFormat rounder = new DecimalFormat("0.0000");