From d70c73d2628fc0af4eb13db3f9ecc7d61461dd2b Mon Sep 17 00:00:00 2001 From: avidraccoon Date: Wed, 24 Sep 2025 19:27:13 -0400 Subject: [PATCH 1/3] Tweak lineup constants --- .../deploy/constants/comp/DrivetrainConstants.json | 2 +- src/main/deploy/constants/comp/controllers.json | 4 ++-- src/main/java/frc/robot/BuildConstants.java | 12 ++++++------ src/main/java/frc/robot/InitBindings.java | 6 +++--- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index e56a9e3c..48d947f0 100644 --- a/src/main/deploy/constants/comp/DrivetrainConstants.json +++ b/src/main/deploy/constants/comp/DrivetrainConstants.json @@ -38,7 +38,7 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackOffset": 0.27, + "driveAlongTrackOffset": 0.24, "driveCrossTrackFrontRightOffset": -0.04, "driveCrossTrackFrontLeftOffset": -0.03, "driveCrossTrackFrontRightAlgaeOffset": 0.25, diff --git a/src/main/deploy/constants/comp/controllers.json b/src/main/deploy/constants/comp/controllers.json index 76d9e391..162ee2e6 100644 --- a/src/main/deploy/constants/comp/controllers.json +++ b/src/main/deploy/constants/comp/controllers.json @@ -53,12 +53,12 @@ { "command": "driveX", "axis": "JOYSTICK_X", - "negate": false + "negate": true }, { "command": "driveY", "axis": "JOYSTICK_Y", - "negate": false + "negate": true } ] }, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index 91c6bef9..c886b2dd 100644 --- a/src/main/java/frc/robot/BuildConstants.java +++ b/src/main/java/frc/robot/BuildConstants.java @@ -5,12 +5,12 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "2025-Robot-Code"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 85; - public static final String GIT_SHA = "7268d88a541e204ca830e1c76469d75841ec800d"; - public static final String GIT_DATE = "2025-05-05 20:00:28 EDT"; - public static final String GIT_BRANCH = "april-auto-retune"; - public static final String BUILD_DATE = "2025-05-12 18:23:24 EDT"; - public static final long BUILD_UNIX_TIME = 1747088604348L; + public static final int GIT_REVISION = 83; + public static final String GIT_SHA = "78548d16519e17e819c804a9da722a5ba1254a08"; + public static final String GIT_DATE = "2025-05-12 18:41:14 EDT"; + public static final String GIT_BRANCH = "main"; + public static final String BUILD_DATE = "2025-09-24 19:25:52 EDT"; + public static final long BUILD_UNIX_TIME = 1758756352928L; public static final int DIRTY = 1; private BuildConstants() {} diff --git a/src/main/java/frc/robot/InitBindings.java b/src/main/java/frc/robot/InitBindings.java index ff888e37..9f5d3a18 100644 --- a/src/main/java/frc/robot/InitBindings.java +++ b/src/main/java/frc/robot/InitBindings.java @@ -70,9 +70,9 @@ public static void initDriveBindings(Drive drive, StrategyManager strategyManage drive.setDefaultCommand( new DriveWithJoysticks( drive, // type: DriveTemplate - () -> getAxis("driveX").getAsDouble(), - () -> getAxis("driveY").getAsDouble(), - () -> getAxis("driveRotation").getAsDouble(), + () -> -getAxis("driveX").getAsDouble(), + () -> -getAxis("driveY").getAsDouble(), + () -> -getAxis("driveRotation").getAsDouble(), JsonConstants.drivetrainConstants.maxLinearSpeed, // type: double (m/s) JsonConstants.drivetrainConstants.maxAngularSpeed, // type: double (rad/s) JsonConstants.drivetrainConstants.joystickDeadband // type: double From 32a84517bfc61b4bc1aec54723426579bb78f49e Mon Sep 17 00:00:00 2001 From: minhnguyenbhs Date: Sat, 4 Oct 2025 09:57:04 -0400 Subject: [PATCH 2/3] blue ridge brawl field cal --- src/main/deploy/constants/BlueFieldLocations.json | 8 ++++---- src/main/deploy/constants/RedFieldLocations.json | 8 ++++---- .../deploy/constants/comp/DrivetrainConstants.json | 2 +- src/main/java/frc/robot/BuildConstants.java | 12 ++++++------ 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/main/deploy/constants/BlueFieldLocations.json b/src/main/deploy/constants/BlueFieldLocations.json index c431bf56..7d9d88c4 100644 --- a/src/main/deploy/constants/BlueFieldLocations.json +++ b/src/main/deploy/constants/BlueFieldLocations.json @@ -91,15 +91,15 @@ "radians": -2.0943951023931953 }, "blueCoralStationRightTranslation": { - "x": 1.57, - "y": 0.67 + "x": 1.72, + "y": 0.55 }, "blueCoralStationRightRotation": { "radians": 1.0471975511965976 }, "blueCoralStationLeftTranslation": { - "x": 1.61, - "y": 7.44 + "x": 1.62, + "y": 7.38 }, "blueCoralStationLeftRotation": { "radians": -1.0471975511965976 diff --git a/src/main/deploy/constants/RedFieldLocations.json b/src/main/deploy/constants/RedFieldLocations.json index 1bee04a9..e35f0bba 100644 --- a/src/main/deploy/constants/RedFieldLocations.json +++ b/src/main/deploy/constants/RedFieldLocations.json @@ -95,15 +95,15 @@ "radians": 1.0471975511965976 }, "redCoralStationRightTranslation": { - "x": 15.99, - "y": 7.4 + "x": 15.85, + "y": 7.38 }, "redCoralStationRightRotation": { "radians": -2.0943951023931953 }, "redCoralStationLeftTranslation": { - "x": 15.96, - "y": 0.64 + "x": 16.1, + "y": 0.8 }, "redCoralStationLeftRotation": { "radians": 2.0943951023931953 diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index 48d947f0..96253972 100644 --- a/src/main/deploy/constants/comp/DrivetrainConstants.json +++ b/src/main/deploy/constants/comp/DrivetrainConstants.json @@ -39,7 +39,7 @@ "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, "driveAlongTrackOffset": 0.24, - "driveCrossTrackFrontRightOffset": -0.04, + "driveCrossTrackFrontRightOffset": -0.03, "driveCrossTrackFrontLeftOffset": -0.03, "driveCrossTrackFrontRightAlgaeOffset": 0.25, "driveCrossTrackFrontLeftAlgaeOffset": 0.25, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index c886b2dd..b653f1c4 100644 --- a/src/main/java/frc/robot/BuildConstants.java +++ b/src/main/java/frc/robot/BuildConstants.java @@ -5,12 +5,12 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "2025-Robot-Code"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 83; - public static final String GIT_SHA = "78548d16519e17e819c804a9da722a5ba1254a08"; - public static final String GIT_DATE = "2025-05-12 18:41:14 EDT"; - public static final String GIT_BRANCH = "main"; - public static final String BUILD_DATE = "2025-09-24 19:25:52 EDT"; - public static final long BUILD_UNIX_TIME = 1758756352928L; + public static final int GIT_REVISION = 84; + public static final String GIT_SHA = "d70c73d2628fc0af4eb13db3f9ecc7d61461dd2b"; + public static final String GIT_DATE = "2025-09-24 19:27:13 EDT"; + public static final String GIT_BRANCH = "september-tuneup"; + public static final String BUILD_DATE = "2025-10-04 08:43:35 EDT"; + public static final long BUILD_UNIX_TIME = 1759581815985L; public static final int DIRTY = 1; private BuildConstants() {} From d7409a65566742ead16543e22cc4d4ec0395c7fe Mon Sep 17 00:00:00 2001 From: minhnguyenbhs Date: Wed, 8 Oct 2025 19:59:16 -0400 Subject: [PATCH 3/3] Try inverting the drive rotation axis. This was BACKWARD before I inverted it. --- src/main/deploy/constants/comp/controllers.json | 2 +- src/main/java/frc/robot/BuildConstants.java | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/deploy/constants/comp/controllers.json b/src/main/deploy/constants/comp/controllers.json index 162ee2e6..d2232cb2 100644 --- a/src/main/deploy/constants/comp/controllers.json +++ b/src/main/deploy/constants/comp/controllers.json @@ -83,7 +83,7 @@ { "command": "driveRotation", "axis": "JOYSTICK_X", - "negate": false + "negate": true } ] }, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index b653f1c4..d714bf36 100644 --- a/src/main/java/frc/robot/BuildConstants.java +++ b/src/main/java/frc/robot/BuildConstants.java @@ -5,13 +5,13 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "2025-Robot-Code"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 84; - public static final String GIT_SHA = "d70c73d2628fc0af4eb13db3f9ecc7d61461dd2b"; - public static final String GIT_DATE = "2025-09-24 19:27:13 EDT"; + public static final int GIT_REVISION = 85; + public static final String GIT_SHA = "32a84517bfc61b4bc1aec54723426579bb78f49e"; + public static final String GIT_DATE = "2025-10-04 09:57:04 EDT"; public static final String GIT_BRANCH = "september-tuneup"; - public static final String BUILD_DATE = "2025-10-04 08:43:35 EDT"; - public static final long BUILD_UNIX_TIME = 1759581815985L; - public static final int DIRTY = 1; + public static final String BUILD_DATE = "2025-10-08 19:56:35 EDT"; + public static final long BUILD_UNIX_TIME = 1759967795060L; + public static final int DIRTY = 0; private BuildConstants() {} }