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Tweak lineup constants #253

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Merged
aidnem merged 4 commits into from
Oct 13, 2025
Merged

Tweak lineup constants #253

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d70c73d
Tweak lineup constants
Sep 24, 2025
32a8451
blue ridge brawl field cal
minhlpnguyen Oct 4, 2025
d7409a6
Try inverting the drive rotation axis. This was BACKWARD before I inv…
minhlpnguyen Oct 8, 2025
b11c024
Merge branch 'main' into september-tuneup
aidnem Oct 13, 2025
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8 changes: 4 additions & 4 deletions src/main/deploy/constants/BlueFieldLocations.json
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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8 changes: 4 additions & 4 deletions src/main/deploy/constants/RedFieldLocations.json
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 2 additions & 2 deletions src/main/deploy/constants/comp/DrivetrainConstants.json
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@
"driveRotationKi": 0.0,
"driveRotationKd": 0.0,
"driveAlongTrackMultiplier": 1,
"driveAlongTrackOffset": 0.27,
"driveCrossTrackFrontRightOffset": -0.04,
"driveAlongTrackOffset": 0.24,
"driveCrossTrackFrontRightOffset": -0.03,
"driveCrossTrackFrontLeftOffset": -0.03,
"driveCrossTrackFrontRightAlgaeOffset": 0.25,
"driveCrossTrackFrontLeftAlgaeOffset": 0.25,
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6 changes: 3 additions & 3 deletions src/main/deploy/constants/comp/controllers.json
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Expand Up @@ -53,12 +53,12 @@
{
"command": "driveX",
"axis": "JOYSTICK_X",
"negate": false
"negate": true
},
{
"command": "driveY",
"axis": "JOYSTICK_Y",
"negate": false
"negate": true
}
]
},
Expand All @@ -83,7 +83,7 @@
{
"command": "driveRotation",
"axis": "JOYSTICK_X",
"negate": false
"negate": true
}
]
},
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/InitBindings.java
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Expand Up @@ -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
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