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Castor2026
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Now using PID for no camera tracking

This commit is contained in:
Tyler Wilcox 2026-03-27 20:51:57 -04:00
parent 326978cd14
commit 65e25ee9e3
1 changed files with 12 additions and 12 deletions
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24
src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
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@ -16,6 +16,7 @@ import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.Units; import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation;
@ -81,7 +82,16 @@ public class AutoShootCommandChassisTurret extends Command{
LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_2D_PIPELINE_NUMBER); LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_2D_PIPELINE_NUMBER);
LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters); LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters);
deadreckoningAutoCenterController.setSetpoint(0); Pose3d botPose = driveSubsystem.getBotPose();
// Find closest target to us
List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList();
closestTag = botPose.nearest(tagPoses);
Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag);
Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
deadreckoningAutoCenterController.setSetpoint(delta.getAngle().getRadians());
} }
@Override @Override
@ -95,17 +105,7 @@ public class AutoShootCommandChassisTurret extends Command{
Logger.recordOutput("AutoAlignState", "Look for tag"); Logger.recordOutput("AutoAlignState", "Look for tag");
Pose3d botPose = driveSubsystem.getBotPose(); Pose3d botPose = driveSubsystem.getBotPose();
// Find closest target to us driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList();
closestTag = botPose.nearest(tagPoses);
Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag);
Pose3d relative = botPose.relativeTo(closestTag);
relative = relative.plus(new Transform3d(new Transform2d(Translation2d.kZero, Rotation2d.fromDegrees(180))));
Logger.recordOutput("AutoAlign-Relative", botPose.relativeTo(closestTag));
driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(relative.getRotation().toRotation2d().getRadians())); // May need to flip this
} }
else // We have an april tag, center it to the camera frame else // We have an april tag, center it to the camera frame
{ {