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Added some fuel position tracking and fixed tunerconstants and motor ID #37

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Merged
Carbonic-Acidd merged 1 commit into from
Feb 11, 2026
Merged

Added some fuel position tracking and fixed tunerconstants and motor ID #37

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95 changes: 68 additions & 27 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -164,10 +164,10 @@ public static class SwerveConstants {
}

public static class IntakeConstants {
public static final int armMainID = 15;
public static final int armFollowerID = 16;
public static final int intakeID = 17;
public static final int armEncoderID = 18;
public static final int armMainID = 14;
public static final int armFollowerID = 15;
public static final int intakeID = 16;
public static final int armEncoderID = 17;

public static final double armGearRatio = 3.0;

Expand Down Expand Up @@ -232,40 +232,81 @@ public static class VisionConstants {

public static final Transform3d arducamLeftTransform =
new Transform3d(
Units.inchesToMeters(-10.02),
Units.inchesToMeters(10.02),
Units.inchesToMeters(5),
Units.inchesToMeters(0.036),
Units.inchesToMeters(12.89),
Units.inchesToMeters(11.8),
new Rotation3d(
0, Units.degreesToRadians(-25), Units.degreesToRadians(180 - 45))); // Pitch: 65
0, Units.degreesToRadians(-25), Units.degreesToRadians(90))); // Pitch: 65

public static final String arducamRightName = "Arducam_Right";

public static final Transform3d arducamRightTransform =
new Transform3d(
Units.inchesToMeters(-10.02),
Units.inchesToMeters(-10.02),
Units.inchesToMeters(5),
Units.inchesToMeters(2.8),
Units.inchesToMeters(-12.8),
Units.inchesToMeters(9.4),
new Rotation3d(
0, Units.degreesToRadians(-25), Units.degreesToRadians(180 + 45))); // Pitch: 65
0, Units.degreesToRadians(-25), Units.degreesToRadians(-90))); // Pitch: 65

public static final String arducamFrontName = "Arducam_Front";
public static final String arducamBackLeftName = "Arducam_BackLeft";

public static final Transform3d arducamFrontTransform =
public static final Transform3d arducamBackLeftTransform =
new Transform3d(
Units.inchesToMeters(0),
Units.inchesToMeters(-1),
Units.inchesToMeters(10.07),
new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(0))); // Pitch: 65
Units.inchesToMeters(-9.6),
Units.inchesToMeters(10.6),
Units.inchesToMeters(8.319),
new Rotation3d(
0, Units.degreesToRadians(-25), Units.degreesToRadians(180 - 45))); // Pitch: 65

public static final String arducamBackRightName = "Arducam_BackRight";

public static final Transform3d arducamBackRightTransform =
new Transform3d(
Units.inchesToMeters(-12.147),
Units.inchesToMeters(-12.505),
Units.inchesToMeters(15),
new Rotation3d(
0, Units.degreesToRadians(-25), Units.degreesToRadians(180 + 45))); // Pitch: 65

// public static final String arducamFrontName = "Arducam_Front";

// public static final Transform3d arducamFrontTransform =
// new Transform3d(
// Units.inchesToMeters(0),
// Units.inchesToMeters(-1),
// Units.inchesToMeters(10.07),
// new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(0))); // Pitch:
// 65

public static final String arducamFuelName = "Arducam_Fuel";

// TODO: Update this transform
public static final Transform3d arducamFuelTransform =
new Transform3d(
Units.inchesToMeters(24.468),
Units.inchesToMeters(0),
Units.inchesToMeters(0),
Units.inchesToMeters(0),
new Rotation3d(0, Units.degreesToRadians(0), Units.degreesToRadians(0)));
Units.inchesToMeters(10.591),
new Rotation3d(0, Units.degreesToRadians(-13), Units.degreesToRadians(0)));

public static InterpolatingDoubleTreeMap fuelAreaToDistanceMap =
new InterpolatingDoubleTreeMap();

static {
fuelAreaToDistanceMap.put(80640.0, 15.0); // PIXEL area - INCHES horizontal distnace
fuelAreaToDistanceMap.put(56882.0, 18.0);
fuelAreaToDistanceMap.put(43264.0, 20.0);
fuelAreaToDistanceMap.put(33488.0, 23.0);
fuelAreaToDistanceMap.put(26080.0, 26.0);
fuelAreaToDistanceMap.put(21025.0, 29.0);
fuelAreaToDistanceMap.put(14884.0, 33.0);
fuelAreaToDistanceMap.put(13110.0, 37.0);
fuelAreaToDistanceMap.put(10816.0, 40.0);
fuelAreaToDistanceMap.put(9312.0, 43.0);
fuelAreaToDistanceMap.put(8190.0, 46.0);
fuelAreaToDistanceMap.put(7225.0, 49.0);
fuelAreaToDistanceMap.put(6400.0, 52.0);
fuelAreaToDistanceMap.put(5550.0, 56.0);
}
}

public static class FieldConstants {
Expand Down Expand Up @@ -458,9 +499,9 @@ public static class TurretConstants {
public static final Transform2d robotToTurretTransform =
new Transform2d(TurretConstants.robotToTurret.toTranslation2d(), Rotation2d.kZero);

public static final int turretMotorID = 19;
public static final int encoderAID = 20;
public static final int encoderBID = 21;
public static final int turretMotorID = 18;
public static final int encoderAID = 19;
public static final int encoderBID = 20;
}

public static class AutoConstants {
Expand All @@ -475,7 +516,7 @@ public static class AutoConstants {
}

public static class HoodConstants {
public static final int hoodMotorID = 22;
public static final int hoodMotorID = 21;

public static final Angle minAngle = Degrees.of(21.448);
public static final Angle maxAngle = Degrees.of(59.231);
Expand Down Expand Up @@ -529,8 +570,8 @@ public static class HoodConstants {
}

public static class SpindexerConstants {
public static final int SpindexerMotorID = 23;
public static final int SpindexerLaserID = 24;
public static final int SpindexerMotorID = 22;
public static final int SpindexerLaserID = 23;
public static final double SpindexerMotorSpeed = 0.5;
public static final double SpindexerDistance = 100;
}
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/MoveToFuel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ public MoveToFuel(Swerve swerve) {
}

private void updateDesiredRotation() {
desiredRotation = swerve.desiredFuelRotation;
// desiredRotation = swerve.desiredFuelRotation;
}

// Called when the command is initially scheduled.
Expand Down
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