misc

Iron-Panthers · Jan 27, 2024 · a928e19 · a928e19
1 parent 0d24d22
commit a928e19
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Showing 4 changed files with 59 additions and 4 deletions.
diff --git a/src/main/deploy/pathplanner/autos/rotate.auto b/src/main/deploy/pathplanner/autos/rotate.auto
@@ -8,7 +8,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "testRotate"
+            "pathName": "rotate"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/rotate.path b/src/main/deploy/pathplanner/paths/rotate.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.5488623056802386,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.4157206775952025,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 2.9621631705552143,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.45,
+      "rotationDegrees": 180.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -179.54205608649008,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -178,7 +178,7 @@ private void configureButtonBindings() {
             new InstantCommand(
                 () ->
                     drivebaseSubsystem.resetOdometryToPose(
-                        new Pose2d(new Translation2d(1.45, 5.5), new Rotation2d(0))),
+                        new Pose2d(new Translation2d(2, 7), new Rotation2d(0))),
                 drivebaseSubsystem));
 
     DoubleSupplier rotation =

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -61,10 +61,10 @@ record CameraEstimator(
 
   /** Creates a new VisionSubsystem. */
   public VisionSubsystem() {
-    // loading the 2023 field arrangement
+    // loading the 2024 field arrangement
     try {
       fieldLayout =
-          AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile);
+          AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile);
     } catch (IOException e) {
       System.err.println("Failed to load field layout.");
       e.printStackTrace();