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Castor2026
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Hopefully working auto align

This commit is contained in:
Tyler Wilcox 2026-04-02 19:42:26 -04:00
parent 0ced1e4d59
commit 2f981f2d09
1 changed files with 3 additions and 8 deletions
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11
src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
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@ -59,7 +59,7 @@ public class AutoShootCommandChassisTurret extends Command{
cameraAutoCenterController.setSetpoint(0); cameraAutoCenterController.setSetpoint(0);
deadreckoningAutoCenterController = new PIDController(Math.PI * 0.1, 0, 0.0); deadreckoningAutoCenterController = new PIDController(Math.PI, 0, 0.0);
deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations
deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI); deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI);
} }
@ -92,12 +92,7 @@ public class AutoShootCommandChassisTurret extends Command{
Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d()); Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta); Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
DriverStation.getAlliance().ifPresent((aliance) -> { deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.kZero).getRadians());
if (aliance == Alliance.Blue) {
// Add 180 because we want the back of the robot to face the HUB
deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.k180deg).getRadians());
}
});
} }
@Override @Override
@ -111,7 +106,7 @@ public class AutoShootCommandChassisTurret extends Command{
Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning"); Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning");
Pose3d botPose = driveSubsystem.getBotPose(); Pose3d botPose = driveSubsystem.getBotPose();
driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); driveSubsystem.rotateChassis(-deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians()));
} }
else // We have an april tag, center it to the camera frame else // We have an april tag, center it to the camera frame
{ {