Worked on 7-6 cargo ship auton high and low #71
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Added 4 to NearRocketLow as well, but didn't test
src/main/java/frc/robot/OI.java
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| @@ -55,7 +56,7 @@ public OI() { | |||
| driverJoystick.blueX .whileHeld(new CGDriveToFarRocketFromLoadLeft()); | |||
| driverJoystick.yellowY .whenPressed(new removeNeoOpenLoopRampRate()); | |||
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| driverJoystick.start .whenPressed(new driveAtSpeedToAngle(0, 0.5, 200000, 0.7)); | |||
| driverJoystick.start .whenPressed(new CGHatchRightLowShip7Ship6()); | |||
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Take this off the driver joystick, please
src/main/java/frc/robot/commands/Auto/CommandGroups/CGHatchMiddleShip5NearRocketLow.java
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| public CGHatchRightHighShip7Ship6() { | ||
| double[][] values = pathway.valuesPID; | ||
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| // addSequential(new autoDriveWithPitch(-.75, 30000, 5, 0)); |
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Are we going to add these back in? If not, take them out, please
| public CGHatchRightLowShip7Ship6() { | ||
| double[][] values = pathway.valuesPID; | ||
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| // addSequential(new autoDriveWithPitch(-.75, 30000, 5, 0)); |
| @@ -2,6 +2,8 @@ | |||
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| import com.revrobotics.CANSparkMax.IdleMode; | |||
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| import org.opencv.features2d.FastFeatureDetector; | |||
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Clean up unused imports
src/main/java/frc/robot/commands/Auto/autoTankDriveWithGyro.java
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| public autoTankDriveWithGyro(double angle, double leftSpeed, double rightDist, String side, | ||
| IdleMode brakeMode) { | ||
| this.angle = angle; | ||
| this.rightSpeed = rightSpeed; |
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Go through the warnings and clean up any that you can
worked on tuning to the omnis with ship 7-6 auto NOTE: make omni command for all auton CGs and commons Added threshold timer in autoTurnToDegree
Changed the vision speed to 24% max on omni vision drive need to tune far rocket with omnis
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This needs to be merged before the competition on Wednesday. I know it's kind of a mess right now, but this needs to be merged because of the work we've done with the omnis. After worlds I will go through all of our code and add necessary comments, and remove unused code. |
| boolean turnInPlace = false; | ||
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| /** | ||
| /** | ||
| * @param p - P value (Ex: 0.05 (percent of the stop distance)) | ||
| * @param i - I value (Ex: 0.05 (lowers/raises the steady coarse rate)) | ||
| * @param d - D value (Ex: 0.05 (dampens the ocilation)) | ||
| * @param targetAngle - Desired angle of the robot (right is negative, left is positive) | ||
| * @param timeout | ||
| */ | ||
| public autoTurnToDegree(double p, double i, double d, double targetAngle, double timeout) { |
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Did we change anything in here to be specific to the omnis? If so, please make an omni version of this file
Near far is working, but still needs to be tuned Teleop vision works Need to add new commands for the new hatch manipulator
added autons to chooser added new hatch score commands to OI We need to test all of the set points again at the comp brake mode is on all the time during teleop with omnis on need to run all autos on the cart to make sure they go the right way
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