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Minor fixes #123

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Minor fixes #123

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c8d2034
Fix camera/PV simulation
legoguy1000 Apr 7, 2024
8345fc3
Fix Coreo reset initial position
legoguy1000 Apr 7, 2024
70f47ed
Merge branch 'main' into minor-fixes
legoguy1000 Sep 6, 2024
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45 changes: 23 additions & 22 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -126,42 +126,43 @@ public RobotContainer(RobotRunType runtimeType) {
for (int i = 0; i < 7; i++) {
numNoteChooser.addOption(String.valueOf(i), i);
}
cameras =
/*
* Camera Order: 0 - Front Left 1 - Front RIght 2 - Back Left 3 - Back Right
*/
new PhotonCameraWrapper[] {
new PhotonCameraWrapper(
new PhotonReal(Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_NAME,
Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_IP),
Constants.CameraConstants.FrontLeftFacingCamera.KCAMERA_TO_ROBOT),
new PhotonCameraWrapper(
new PhotonReal(Constants.CameraConstants.FrontRightFacingCamera.CAMERA_NAME,
Constants.CameraConstants.FrontRightFacingCamera.CAMERA_IP),
Constants.CameraConstants.FrontRightFacingCamera.KCAMERA_TO_ROBOT),
new PhotonCameraWrapper(
new PhotonReal(Constants.CameraConstants.BackLeftFacingCamera.CAMERA_NAME,
Constants.CameraConstants.BackLeftFacingCamera.CAMERA_IP),
Constants.CameraConstants.BackLeftFacingCamera.KCAMERA_TO_ROBOT)};
// new PhotonCameraWrapper(
// new PhotonReal(Constants.CameraConstants.BackRightFacingCamera.CAMERA_NAME),
// Constants.CameraConstants.BackRightFacingCamera.KCAMERA_TO_ROBOT)};

switch (runtimeType) {
case kReal:
cameras =
/*
* Camera Order: 0 - Front Left 1 - Front RIght 2 - Back Left 3 - Back Right
*/
new PhotonCameraWrapper[] {new PhotonCameraWrapper(
new PhotonReal(Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_NAME,
Constants.CameraConstants.FrontLeftFacingCamera.CAMERA_IP),
Constants.CameraConstants.FrontLeftFacingCamera.KCAMERA_TO_ROBOT),
new PhotonCameraWrapper(
new PhotonReal(
Constants.CameraConstants.FrontRightFacingCamera.CAMERA_NAME,
Constants.CameraConstants.FrontRightFacingCamera.CAMERA_IP),
Constants.CameraConstants.FrontRightFacingCamera.KCAMERA_TO_ROBOT),
new PhotonCameraWrapper(
new PhotonReal(
Constants.CameraConstants.BackLeftFacingCamera.CAMERA_NAME,
Constants.CameraConstants.BackLeftFacingCamera.CAMERA_IP),
Constants.CameraConstants.BackLeftFacingCamera.KCAMERA_TO_ROBOT)};
// new PhotonCameraWrapper(
// new PhotonReal(Constants.CameraConstants.BackRightFacingCamera.CAMERA_NAME),
// Constants.CameraConstants.BackRightFacingCamera.KCAMERA_TO_ROBOT)};
shooter = new Shooter(new ShooterVortex());
intake = new Intake(new IntakeIOFalcon());
s_Swerve = new Swerve(new SwerveReal(), cameras);
elevatorWrist = new ElevatorWrist(new ElevatorWristReal(), operator);
break;
case kSimulation:
s_Swerve = new Swerve(new SwerveIO() {}, cameras);
s_Swerve = new Swerve(new SwerveIO() {}, new PhotonCameraWrapper[] {});
shooter = new Shooter(new ShooterIO() {});
intake = new Intake(new IntakeIO() {});
elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);
break;
default:
s_Swerve = new Swerve(new SwerveIO() {}, cameras);
s_Swerve = new Swerve(new SwerveIO() {}, new PhotonCameraWrapper[] {});
shooter = new Shooter(new ShooterIO() {});
intake = new Intake(new IntakeIO() {});
elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);
Expand Down
9 changes: 4 additions & 5 deletions src/main/java/frc/robot/autos/P8765.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,10 @@
import java.util.function.BooleanSupplier;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.path.PathPlannerTrajectory.State;
import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
Expand Down Expand Up @@ -124,10 +124,9 @@ public P8765(Swerve swerveDrive, ElevatorWrist elevatorWrist, Intake intake, Sho

Command wait = Commands.waitSeconds(.01);
Command resetPosition = Commands.runOnce(() -> {
Pose2d initialState =
FieldConstants.allianceFlip(path0.getPreviewStartingHolonomicPose()
.plus(new Transform2d(0, 0, Rotation2d.fromDegrees(180))));
swerveDrive.resetOdometry(initialState);
State initalState = path0.getTrajectory(null, null).getInitialState();
Pose2d initialPose = FieldConstants.allianceFlip(initalState.getTargetHolonomicPose());
Comment on lines +127 to +128
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This should work to allow us to not have to hardcode the 180 degrees. This exposes the actual value from Coreo.... If I remember properly

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Looks like that'd be the case. Should run it in the shop on Monday to be sure.

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My thought exactly

swerveDrive.resetOdometry(initialPose);
});

Command followPaths = part0.andThen(Commands.either(
Expand Down
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