auto factories #55
auto factories #55
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…ser instead of a sendable chooser), created an example auto in robot.java
aridavidson001
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src/main/java/frc/robot/commands/example/ExampleScoreL4Command.java
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src/main/java/frc/robot/subsystems/example/ExampleSubsystem.java
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src/main/java/frc/robot/subsystems/example/ExampleSubsystem.java
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Good job Ari, this looks great!
Next challenge is figuring out how to get pose estimation to work. I would talk with @Ishan1522 about how to do this as we need a command to extend DriveCommandBase but I'm not sure what is the best way to do that.
lol i forgot about this one good question, i think it shouldn't be bad tho. |
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lemme look at the code more...... |
| double moveY = sample.vy + yController.calculate(pose.getY(), sample.y); | ||
| double moveTheta = | ||
| sample.omega + headingController.calculate(pose.getRotation().getRadians(), sample.heading); | ||
| drive(moveX, moveY, moveTheta, true); |
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@JacksonElia would this method not correctly do pose estimation for following trajectories? i don't think it is used yet, but I'm pretty sure this would work no?
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hmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmm
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i suppose it can't estimate the pose if we aren't using the drive command lol
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it could do pose estimation there i guess but then we don't get vision
| (SwerveSample sample) -> { | ||
| FollowChoreoTrajectory command = | ||
| new FollowChoreoTrajectory(swerveDrive, visionSubsystem, sample); | ||
| command.execute(); |
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this might not be correct. idk
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uh it seems weird just doing command.execute? I don't think this is right probably
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yeah me too lol im gonna test it today
src/main/java/frc/robot/subsystems/example/ExampleConstants.java
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… Created constants for all of the paths we should have
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Ok I'm actually so sorry I didn't get to test this yesterday but I pinky promise we will do it today |
…de-2025 into auto-factories
The use of triggers is really cool honestly. We can use them in robotContainer as well to bind certain commands to certain things(like moving the elevator to whatever level if we're x feet from the feeder station, or auto moving the elevator if we're doing auto-align with the reef).
Also the auto stuff is reallllllllly cool.