Path Planner #30

bellfrog1 · 2025-02-20T04:00:19Z

No description provided.

2Carrot10 · 2025-02-20T04:04:11Z

src/main/java/frc/robot/Robot.java

-  Optional<Elevator> elevator = Optional.of(new Elevator());
-  Optional<Collector> collector = Optional.of(new Collector());
-  Optional<Climber> climber = Optional.of(new Climber());
+  Optional<Elevator> elevator = Optional.ofNullable(null);


Revert Optional.ofNullable

Don't need to do it now, but all of these subsystems need to be non null by merge time

2Carrot10 · 2025-02-20T04:05:58Z

src/main/java/frc/robot/constants/Constants.java

+    public static final double ROBOT_LENGTH = 0.864; //in meters with bumpers
+    public static final double ROBOT_WIDTH = 0.864; // in meters with bumpers
+
+    public static final double MODULE_OFFSETS = Constants.Drivebase.MODULE_OFFSET;


Is this line necessary/useful?

i did it so that it a bit more organized for the pathplanner config

2Carrot10 · 2025-02-20T04:06:33Z

src/main/java/frc/robot/constants/Constants.java

+    public static final double MODULE_OFFSETS = Constants.Drivebase.MODULE_OFFSET;
+
+    public static final double ROBOT_MASS = 67.1317; //kilograms
+    public static final double MOI = 1.0/12.0 * (ROBOT_MASS)*(Math.sqrt(ROBOT_WIDTH) + Math.sqrt(ROBOT_LENGTH));


What does MOI mean?

moment of inertia, i didn't want to spell it out at the time

Please update to the full words

2Carrot10 · 2025-02-20T04:07:12Z

src/main/java/frc/robot/constants/Constants.java

+    // distance from center to wheel
+    public static final double PATHPLANNER_DRIVEBASE_RADIUS_METERS = 0.;
+
+    public static final double PERIOD = .02; //seconds


Add comment

I recommend changing this variable name to UPDATE_PERIOD

2Carrot10 · 2025-02-20T04:07:33Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java


    odometryThread.startThread();
+
+    //configurePathPlanner();


Remove comment (add code back in or delete line).

2Carrot10 · 2025-02-20T04:12:11Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

+          // This will flip the path being followed to the red side of the field.
+          // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+          var alliance = DriverStation.getAlliance();


Change var

what should i change it to?

changed to what it should be

Ronoman · 2025-02-21T04:32:07Z

src/main/java/frc/robot/constants/Constants.java

    public static SwerveModuleConstants MODULES[] = {
      new SwerveModuleConstants(
-        10, 11, 12, -0.337158 + .75, new Translation2d(-MODULE_OFFSET, MODULE_OFFSET), "Back Left"
+        16, 17, 18, 0.476318 - .75, new Translation2d(MODULE_OFFSET, MODULE_OFFSET), "Front Left"


Please reorder so that these are in the original order

Ronoman · 2025-02-21T04:32:26Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

 import frc.robot.utils.error.ErrorGroup;
 import frc.robot.utils.error.DiagnosticSubsystem;

+import org.ejml.equation.Variable;


This is an unused import

Ronoman · 2025-02-21T04:32:48Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

+        1, 
+        DCMotor.getKrakenX60(1).withReduction(Constants.Drivebase.Info.DRIVE_MOTOR_GEAR_RATIO), 
+        100, 
+        4


Please add comments for these magic numbers at the very least. Ideally make these constants

Ronoman · 2025-02-21T04:33:01Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

    setModuleStates(swerveModuleStates);
  }
-
+  


remove extra space

…into mergingpathplanner

2Carrot10 · 2025-03-02T00:11:08Z

src/main/java/frc/robot/Robot.java

          true
        )
-      );
+      ); // add a set translation controls function. Create a curried function that creates


Remove comment

2Carrot10 · 2025-03-02T00:12:10Z

src/main/java/frc/robot/Robot.java

+    autoChooser = AutoBuilder.buildAutoChooser();
+    SmartDashboard.putData("Auto Chooser", autoChooser);
+
+    field = new Field2d();


Where is this being used? Delete it if it is not necessary.

2Carrot10 · 2025-03-02T00:21:08Z

src/main/java/frc/robot/Robot.java

+    NamedCommands.registerCommand("Funnel to up pos",
+      new MoveFunnelToSetpoint(funnel.get(), Constants.Funnel.FUNNEL_POSITION_HIGH_CONVERTED));
+
+    //Collector 


Add space between / and C

2Carrot10 · 2025-03-02T00:21:30Z

src/main/java/frc/robot/Robot.java

+
+    NamedCommands.registerCommand("Intake Coral", collector.get().intakeCoralCommand(isAutonomous()));
+
+    NamedCommands.registerCommand("Intake Algea", collector.get().intakeAlgaeCommand(isAutonomous()));


Check spelling of algae in all locations.

2Carrot10 · 2025-03-02T00:21:55Z

src/main/java/frc/robot/constants/Constants.java


    // All modules are at the position (+-MODULE_TO_OFFSET, +-MODULE_TO_OFFSET)
-    private static double MODULE_OFFSET = 0.288925;
+    public static double MODULE_OFFSET = 0.288925;


Revert line.

2Carrot10 · 2025-03-02T00:22:11Z

src/main/java/frc/robot/constants/Constants.java

      new SwerveModuleConstants(
        10, 11, 12, -0.337158 + .75, new Translation2d(-MODULE_OFFSET, MODULE_OFFSET), "Back Left"
      ),
      new SwerveModuleConstants(


Revert all of these.

2Carrot10 · 2025-03-02T00:23:39Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

  }
-}
+
+    public Command followPathCommand(String pathName) {


Move to a new file or to the new command style.

2Carrot10 · 2025-03-02T00:24:11Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

+
+  }
+
+  public Command followAutoTrajectory(String autoName) {


Change to new command style.

2Carrot10 · 2025-03-04T16:20:57Z

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java

+          // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+          Optional<Alliance> alliance = DriverStation.getAlliance();
+          if (alliance.isPresent()) {


Simplify boolean logic. You don't need an if statement if you use short circuit evaluation.

…5Reefscape into mergingpathplanner

…into mergingpathplanner

…3/2025Reefscape into mergingpathplanner

bellfrog1 added 4 commits February 19, 2025 18:49

merged main with the pathplanner config stuff

09c62dc

adding main into pathplannerand getting the autos back

656201d

added autos and paths back in

582fc42

auto config done and tested and works

e53c78f

2Carrot10 requested changes Feb 20, 2025

View reviewed changes

bellfrog1 added 2 commits February 19, 2025 20:23

fxing some things for a pull request

34d9a44

more fixing for pull request

5f060ab

Ronoman changed the title ~~Mergingpathplanner~~ Path Planner Feb 21, 2025

bellfrog1 added 2 commits February 20, 2025 20:28

auto workings and pr fixings

8bb872a

more auto workings

9f273e7

Ronoman reviewed Feb 21, 2025

View reviewed changes

src/main/java/frc/robot/subsystems/drivebase/Drivebase.java Outdated

setModuleStates(swerveModuleStates);

}

Copy link

Contributor

Ronoman Feb 21, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

remove extra space

bellfrog1 added 9 commits February 21, 2025 19:12

Merge remote-tracking branch 'origin/main' into mergingpathplanner

bd712f9

starting to log data from pathpalnner

e0eb9eb

Merge branch 'main' of https://github.com/Skunkworks1983/2025Reefscape …

41a43d9

…into mergingpathplanner

autos

bb0de2f

Merge branch 'main' of https://github.com/Skunkworks1983/2025Reefscape …

3be4e23

…into mergingpathplanner

working on autois

025ea3e

more autos 😍

bad2eec

Merge branch 'main' of https://github.com/Skunkworks1983/2025Reefscape …

41bef51

…into mergingpathplanner

pr changes

10ef448

2Carrot10 requested changes Mar 2, 2025

View reviewed changes

more pr changes

17a210b

2Carrot10 reviewed Mar 4, 2025

View reviewed changes

bellfrog1 added 4 commits March 5, 2025 22:20

more pr fixes and some random autos

e5b5363

more pr fixes

3d28553

Merge branch 'commissioning' of https://github.com/Skunkworks1983/202…

13c91ea

…5Reefscape into mergingpathplanner

new pos with lukas commision branch

98cbdbd

2Carrot10 and others added 4 commits March 7, 2025 15:42

Merge main into mergingpathplanner

357746f

Merge branch 'main' of https://github.com/Skunkworks1983/2025Reefscape …

9f079c6

…into mergingpathplanner

Merge branch 'mergingpathplanner' of https://github.com/Skunkworks198…

a431823

…3/2025Reefscape into mergingpathplanner

fixed merge stuff

73bf984


		NamedCommands.registerCommand("Intake Coral", collector.get().intakeCoralCommand(isAutonomous()));

		NamedCommands.registerCommand("Intake Algea", collector.get().intakeAlgaeCommand(isAutonomous()));

Path Planner #30

Are you sure you want to change the base?

Path Planner #30

Uh oh!

Conversation

bellfrog1 commented Feb 20, 2025

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels