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Rotate for limelight #24

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Rotate for limelight #24

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5a3849b
added buttons to rotate 35 degrees
ProfessorAtomicManiac Mar 24, 2023
6c9901d
Merge branch 'master' of https://github.com/DeepBlueRobotics/RobotCod…
ProfessorAtomicManiac Mar 24, 2023
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5 changes: 4 additions & 1 deletion src/main/java/org/carlmontrobotics/robotcode2023/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@ public static final class Drivetrain {
public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu, autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels, kBackwardAccels, drivekP, drivekI, drivekD, turnkP, turnkI, turnkD, turnkS, turnkV, turnkA, turnZero, driveInversion, reversed, driveModifier, turnInversion);

public static final Limelight.Transform limelightTransformForPoseEstimation = Transform.BOTPOSE_WPIBLUE;

public static final double turnFaceLimelightDeg = 35;
//#endregion

//#region Ports
Expand Down Expand Up @@ -393,6 +393,9 @@ public static final class OI {
public static final class Driver {
public static final int port = 0;

public static final Axis angleLeftButton = Axis.kLeftTrigger;
public static final Axis angleRightButton = Axis.kRightTrigger;

public static final int slowDriveButton = Button.kLeftBumper.value;
public static final int chargeStationAlignButton = Button.kBack.value;
public static final int resetFieldOrientationButton = Button.kRightBumper.value;
Expand Down
5 changes: 5 additions & 0 deletions src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java
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Expand Up @@ -5,6 +5,7 @@
package org.carlmontrobotics.robotcode2023;

import static org.carlmontrobotics.robotcode2023.Constants.OI.MIN_AXIS_TRIGGER_VALUE;
import static org.carlmontrobotics.robotcode2023.Constants.Drivetrain.turnFaceLimelightDeg;

import java.util.HashMap;
import java.util.function.BooleanSupplier;
Expand All @@ -25,6 +26,7 @@
import org.carlmontrobotics.robotcode2023.subsystems.Drivetrain;
import org.carlmontrobotics.robotcode2023.subsystems.Roller;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Joystick;
Expand Down Expand Up @@ -90,6 +92,9 @@ private void configureButtonBindingsDriver() {
new JoystickButton(driverController, Driver.rotateToFieldRelativeAngle90Deg).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(-90), drivetrain));
new JoystickButton(driverController, Driver.rotateToFieldRelativeAngle180Deg).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(180), drivetrain));
new JoystickButton(driverController, Driver.rotateToFieldRelativeAngle270Deg).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(90), drivetrain));
axisTrigger(driverController, Driver.angleLeftButton).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(MathUtil.inputModulus(drivetrain.getHeadingDeg() - turnFaceLimelightDeg, -180, 180)), drivetrain));
axisTrigger(driverController, Driver.angleRightButton).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(MathUtil.inputModulus(drivetrain.getHeadingDeg() + turnFaceLimelightDeg, -180, 180)), drivetrain));

Comment on lines +95 to +97
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  1. These rotate relative to the current heading, but shouldn't they rotate to absolute field relative angles like the the d-pad buttons?
  2. Is the inputModulus call needed? Seems like that should already be happening either in the subsystem or in the command.

}

private void configureButtonBindingsManipulator() {
Expand Down