From 5026bf86a659f91f4b61228d19d76f247b2b1a2f Mon Sep 17 00:00:00 2001 From: aidnem <99768676+aidnem@users.noreply.github.com> Date: Fri, 10 Oct 2025 13:49:36 -0400 Subject: [PATCH 1/6] (#252) Untested - Add separate along track offsets for each camera and add (unused) constants for rotation offsets in lineup --- .../constants/comp/DrivetrainConstants.json | 5 +++- src/main/java/frc/robot/BuildConstants.java | 12 ++++----- .../subsystems/DrivetrainConstants.java | 5 +++- .../subsystems/drive/states/LineupState.java | 26 +++++++++++++++---- 4 files changed, 35 insertions(+), 13 deletions(-) diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index 96253972..7427fea6 100644 --- a/src/main/deploy/constants/comp/DrivetrainConstants.json +++ b/src/main/deploy/constants/comp/DrivetrainConstants.json @@ -38,11 +38,14 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackOffset": 0.24, + "driveAlongTrackFrontRightOffset": 0.24, + "driveAlongTrackFrontLeftOffset": 0.24, "driveCrossTrackFrontRightOffset": -0.03, "driveCrossTrackFrontLeftOffset": -0.03, "driveCrossTrackFrontRightAlgaeOffset": 0.25, "driveCrossTrackFrontLeftAlgaeOffset": 0.25, + "driveLineupHeadingFrontRightOffsetDegrees": 0.0, + "driveLineupHeadingFrontLeftOffsetDegrees": 0.0, "lineupRotationMarginRadians": 0.05, "lineupAlongTrackThresholdMeters": 0.05, "lineupCrossTrackThresholdMeters": 0.04, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index cb579028..19d30ed5 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 = 94; - public static final String GIT_SHA = "8f0396d74d2a8c697941aada0550766844303745"; - public static final String GIT_DATE = "2025-08-22 17:46:12 EDT"; - public static final String GIT_BRANCH = "248-add-readme"; - public static final String BUILD_DATE = "2025-08-23 21:35:05 EDT"; - public static final long BUILD_UNIX_TIME = 1755999305676L; + public static final int GIT_REVISION = 84; + public static final String GIT_SHA = "bf849482b207e99dbef557e890bb630fc8c8e557"; + public static final String GIT_DATE = "2025-09-16 09:37:25 EDT"; + public static final String GIT_BRANCH = "252-separate-lineup-offsets"; + public static final String BUILD_DATE = "2025-10-10 13:48:45 EDT"; + public static final long BUILD_UNIX_TIME = 1760118525068L; public static final int DIRTY = 1; private BuildConstants() {} diff --git a/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java b/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java index 5b117e1f..436a37f5 100644 --- a/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java +++ b/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java @@ -84,11 +84,14 @@ public class DrivetrainConstants { public final Double driveRotationKi = 0.0; public final Double driveRotationKd = 0.0; public final Double driveAlongTrackMultiplier = -1.0; - public final Double driveAlongTrackOffset = 0.25; + public final Double driveAlongTrackFrontRightOffset = 0.25; + public final Double driveAlongTrackFrontLeftOffset = 0.25; public final Double driveCrossTrackFrontRightOffset = 0.0; public final Double driveCrossTrackFrontLeftOffset = 0.0; public final Double driveCrossTrackFrontRightAlgaeOffset = 0.25; public final Double driveCrossTrackFrontLeftAlgaeOffset = 0.25; + public final Double driveLineupHeadingFrontRightOffsetDegrees = 0.0; + public final Double driveLineupHeadingFrontLeftOffsetDegrees = 0.0; public final Double lineupMaxVelocity = 3.0; public final Double lineupMaxAcceleration = 1.5; diff --git a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java index f443a518..68f4c121 100644 --- a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java +++ b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java @@ -337,13 +337,23 @@ public DistanceToTag tryOtherCamera( ? 0 : JsonConstants.visionConstants.FrontLeftTransform.getY() - JsonConstants.visionConstants.FrontRightTransform.getY(); + + double alongTrackOffset; + if (otherCameraIndex == 0) { + // 0 for Front Left + alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontLeftOffset; + } else { + // 1 for Front Right + alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontRightOffset; + } + DistanceToTag observationOtherCamera = alignmentSupplier.get( tagId, otherCameraIndex, ReefLineupUtil.getCrossTrackOffset(otherCameraIndex) + (signOfError * offsetErrorCorrection), - JsonConstants.drivetrainConstants.driveAlongTrackOffset); + alongTrackOffset); return observationOtherCamera; } @@ -392,12 +402,18 @@ public void LineupWithReefLocation() { return; } + double alongTrackOffset; + if (cameraIndex == 0) { + // 0 for Front Left + alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontLeftOffset; + } else { + // 1 for Front Right + alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontRightOffset; + } + DistanceToTag observation = alignmentSupplier.get( - tagId, - cameraIndex, - ReefLineupUtil.getCrossTrackOffset(cameraIndex), - JsonConstants.drivetrainConstants.driveAlongTrackOffset); + tagId, cameraIndex, ReefLineupUtil.getCrossTrackOffset(cameraIndex), alongTrackOffset); DistanceToTag otherCameraObs = tryOtherCamera(alignmentSupplier, tagId, cameraIndex); From 701d91a281c5147d4427b2142b25c52856767b3c Mon Sep 17 00:00:00 2001 From: aidnem <99768676+aidnem@users.noreply.github.com> Date: Sat, 11 Oct 2025 13:10:13 -0400 Subject: [PATCH 2/6] (#252) Untested - Implement usage of lineup heading offsets --- .../constants/comp/DrivetrainConstants.json | 10 ++++++++-- src/main/java/frc/robot/BuildConstants.java | 10 +++++----- .../subsystems/DrivetrainConstants.java | 4 ++-- .../subsystems/drive/states/LineupState.java | 16 +++++++++++++++- 4 files changed, 30 insertions(+), 10 deletions(-) diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index 7427fea6..34acb85a 100644 --- a/src/main/deploy/constants/comp/DrivetrainConstants.json +++ b/src/main/deploy/constants/comp/DrivetrainConstants.json @@ -44,8 +44,14 @@ "driveCrossTrackFrontLeftOffset": -0.03, "driveCrossTrackFrontRightAlgaeOffset": 0.25, "driveCrossTrackFrontLeftAlgaeOffset": 0.25, - "driveLineupHeadingFrontRightOffsetDegrees": 0.0, - "driveLineupHeadingFrontLeftOffsetDegrees": 0.0, + "driveLineupHeadingFrontRightOffset": { + "value": 0.0, + "unit": "Degree" + }, + "driveLineupHeadingFrontLeftOffset": { + "value": 0.0, + "unit": "Degree" + }, "lineupRotationMarginRadians": 0.05, "lineupAlongTrackThresholdMeters": 0.05, "lineupCrossTrackThresholdMeters": 0.04, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index 19d30ed5..3a1d110c 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 = 84; - public static final String GIT_SHA = "bf849482b207e99dbef557e890bb630fc8c8e557"; - public static final String GIT_DATE = "2025-09-16 09:37:25 EDT"; + public static final int GIT_REVISION = 85; + public static final String GIT_SHA = "6a7f7502ff530be9c2e81260a9b92c8d1310d710"; + public static final String GIT_DATE = "2025-10-10 13:49:36 EDT"; public static final String GIT_BRANCH = "252-separate-lineup-offsets"; - public static final String BUILD_DATE = "2025-10-10 13:48:45 EDT"; - public static final long BUILD_UNIX_TIME = 1760118525068L; + public static final String BUILD_DATE = "2025-10-11 13:08:34 EDT"; + public static final long BUILD_UNIX_TIME = 1760202514694L; public static final int DIRTY = 1; private BuildConstants() {} diff --git a/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java b/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java index 436a37f5..cded3202 100644 --- a/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java +++ b/src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java @@ -90,8 +90,8 @@ public class DrivetrainConstants { public final Double driveCrossTrackFrontLeftOffset = 0.0; public final Double driveCrossTrackFrontRightAlgaeOffset = 0.25; public final Double driveCrossTrackFrontLeftAlgaeOffset = 0.25; - public final Double driveLineupHeadingFrontRightOffsetDegrees = 0.0; - public final Double driveLineupHeadingFrontLeftOffsetDegrees = 0.0; + public final Angle driveLineupHeadingFrontRightOffset = Degrees.zero(); + public final Angle driveLineupHeadingFrontLeftOffset = Degrees.zero(); public final Double lineupMaxVelocity = 3.0; public final Double lineupMaxAcceleration = 1.5; diff --git a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java index 68f4c121..978cfbe0 100644 --- a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java +++ b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java @@ -1,5 +1,7 @@ package frc.robot.subsystems.drive.states; +import static edu.wpi.first.units.Units.Radians; + import coppercore.controls.state_machine.state.PeriodicStateInterface; import coppercore.controls.state_machine.transition.Transition; import coppercore.parameter_tools.LoggedTunableNumber; @@ -11,6 +13,7 @@ import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.DriverStation; import frc.robot.StrategyManager; import frc.robot.StrategyManager.AutonomyMode; @@ -476,9 +479,20 @@ public void LineupWithReefLocation() { * getAlongTrackVelocityReductionFactor(observation.crossTrackDistance()) * getAlongTrackVelocity(observation.alongTrackDistance()); // Maybe use filtered? double vy = driveCrossTrackLineupController.calculate(observation.crossTrackDistance()); + + Angle headingOffset; + if (cameraIndex == 0) { + // 0 for Front Left + headingOffset = JsonConstants.drivetrainConstants.driveLineupHeadingFrontLeftOffset; + } else { + // 1 for Front Right + headingOffset = JsonConstants.drivetrainConstants.driveLineupHeadingFrontRightOffset; + } + double omega = rotationController.calculate( - drive.getRotation().getRadians(), this.getRotationForReefSide().getRadians()); + drive.getRotation().getRadians(), + this.getRotationForReefSide().getRadians() + headingOffset.in(Radians)); if (usingOtherCamera) { vy = driveCrossTrackOtherCameraLineupController.calculate(observation.crossTrackDistance()); From 3e5c4028af16d92f24e435e72275083cb638827b Mon Sep 17 00:00:00 2001 From: team401 <401frc@gmail.com> Date: Mon, 13 Oct 2025 19:56:27 -0400 Subject: [PATCH 3/6] (#252) Untested - Update left lineup gains based on shop testing --- .../deploy/constants/comp/DrivetrainConstants.json | 4 ++-- src/main/java/frc/robot/BuildConstants.java | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index 34acb85a..55c0c2aa 100644 --- a/src/main/deploy/constants/comp/DrivetrainConstants.json +++ b/src/main/deploy/constants/comp/DrivetrainConstants.json @@ -38,9 +38,9 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackFrontRightOffset": 0.24, + "driveAlongTrackFrontRightOffset": 0.26, "driveAlongTrackFrontLeftOffset": 0.24, - "driveCrossTrackFrontRightOffset": -0.03, + "driveCrossTrackFrontRightOffset": -0.02, "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 3a1d110c..a84ff9c8 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 = "6a7f7502ff530be9c2e81260a9b92c8d1310d710"; - public static final String GIT_DATE = "2025-10-10 13:49:36 EDT"; + public static final int GIT_REVISION = 87; + public static final String GIT_SHA = "701d91a281c5147d4427b2142b25c52856767b3c"; + public static final String GIT_DATE = "2025-10-13 18:41:28 EDT"; public static final String GIT_BRANCH = "252-separate-lineup-offsets"; - public static final String BUILD_DATE = "2025-10-11 13:08:34 EDT"; - public static final long BUILD_UNIX_TIME = 1760202514694L; + public static final String BUILD_DATE = "2025-10-13 18:46:12 EDT"; + public static final long BUILD_UNIX_TIME = 1760395572545L; public static final int DIRTY = 1; private BuildConstants() {} From 69fe6668bc357bc838edcbd85dd68452dfd47f76 Mon Sep 17 00:00:00 2001 From: team401 <401frc@gmail.com> Date: Wed, 22 Oct 2025 19:33:06 -0400 Subject: [PATCH 4/6] (#252) Update other side lineup constants and fail to fix climb --- src/main/deploy/constants/comp/ClimbConstants.json | 2 +- .../deploy/constants/comp/DrivetrainConstants.json | 2 +- src/main/java/frc/robot/BuildConstants.java | 10 +++++----- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/deploy/constants/comp/ClimbConstants.json b/src/main/deploy/constants/comp/ClimbConstants.json index adb46a5f..bd8c4226 100644 --- a/src/main/deploy/constants/comp/ClimbConstants.json +++ b/src/main/deploy/constants/comp/ClimbConstants.json @@ -11,7 +11,7 @@ "value": 0.6, "unit": "Radian" }, - "climbEncoderOffsetRotations": -0.40234375, + "climbEncoderOffsetRotations": -0.238037109375, "leadClimbMotorId": 16, "followerClimbMotorId": 17, "climbkP": 45.0, diff --git a/src/main/deploy/constants/comp/DrivetrainConstants.json b/src/main/deploy/constants/comp/DrivetrainConstants.json index 55c0c2aa..4a23be85 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, - "driveAlongTrackFrontRightOffset": 0.26, + "driveAlongTrackFrontRightOffset": 0.25, "driveAlongTrackFrontLeftOffset": 0.24, "driveCrossTrackFrontRightOffset": -0.02, "driveCrossTrackFrontLeftOffset": -0.03, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index a84ff9c8..1377a4ce 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 = 87; - public static final String GIT_SHA = "701d91a281c5147d4427b2142b25c52856767b3c"; - public static final String GIT_DATE = "2025-10-13 18:41:28 EDT"; + public static final int GIT_REVISION = 88; + public static final String GIT_SHA = "3e5c4028af16d92f24e435e72275083cb638827b"; + public static final String GIT_DATE = "2025-10-13 19:56:27 EDT"; public static final String GIT_BRANCH = "252-separate-lineup-offsets"; - public static final String BUILD_DATE = "2025-10-13 18:46:12 EDT"; - public static final long BUILD_UNIX_TIME = 1760395572545L; + public static final String BUILD_DATE = "2025-10-22 19:29:13 EDT"; + public static final long BUILD_UNIX_TIME = 1761175753133L; public static final int DIRTY = 1; private BuildConstants() {} From 13ec3b6f046838dd98b05d9f82f2362eb77383c4 Mon Sep 17 00:00:00 2001 From: aidnem <99768676+aidnem@users.noreply.github.com> Date: Fri, 24 Oct 2025 15:19:25 -0400 Subject: [PATCH 5/6] (#252) Use camera indices from JSON Constants rather than hardcoding in LineupState --- src/main/java/frc/robot/BuildConstants.java | 10 +++++----- .../java/frc/robot/constants/VisionConstants.java | 2 +- .../robot/subsystems/drive/states/LineupState.java | 12 +++--------- 3 files changed, 9 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index 1377a4ce..2a23fe9c 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 = 88; - public static final String GIT_SHA = "3e5c4028af16d92f24e435e72275083cb638827b"; - public static final String GIT_DATE = "2025-10-13 19:56:27 EDT"; + public static final int GIT_REVISION = 89; + public static final String GIT_SHA = "69fe6668bc357bc838edcbd85dd68452dfd47f76"; + public static final String GIT_DATE = "2025-10-22 19:33:06 EDT"; public static final String GIT_BRANCH = "252-separate-lineup-offsets"; - public static final String BUILD_DATE = "2025-10-22 19:29:13 EDT"; - public static final long BUILD_UNIX_TIME = 1761175753133L; + public static final String BUILD_DATE = "2025-10-24 15:18:38 EDT"; + public static final long BUILD_UNIX_TIME = 1761333518349L; public static final int DIRTY = 1; private BuildConstants() {} diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java index 828dae52..dba40e59 100644 --- a/src/main/java/frc/robot/constants/VisionConstants.java +++ b/src/main/java/frc/robot/constants/VisionConstants.java @@ -15,7 +15,7 @@ public class VisionConstants { EnvironmentHandler.getEnvironmentHandler().getEnvironmentPathProvider(), new JSONSyncConfigBuilder().setPrettyPrinting(true).build()); - public final Integer FrontLeftCameraIndex = 0; + public final Integer FrontLeftCameraIndex = 1; public final Integer FrontRightCameraIndex = 0; public final Transform3d FrontLeftTransform = new Transform3d(); public final Transform3d FrontRightTransform = diff --git a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java index 978cfbe0..0a39d0a0 100644 --- a/src/main/java/frc/robot/subsystems/drive/states/LineupState.java +++ b/src/main/java/frc/robot/subsystems/drive/states/LineupState.java @@ -342,11 +342,9 @@ public DistanceToTag tryOtherCamera( - JsonConstants.visionConstants.FrontRightTransform.getY(); double alongTrackOffset; - if (otherCameraIndex == 0) { - // 0 for Front Left + if (otherCameraIndex == JsonConstants.visionConstants.FrontLeftCameraIndex) { alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontLeftOffset; } else { - // 1 for Front Right alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontRightOffset; } @@ -406,11 +404,9 @@ public void LineupWithReefLocation() { } double alongTrackOffset; - if (cameraIndex == 0) { - // 0 for Front Left + if (cameraIndex == JsonConstants.visionConstants.FrontLeftCameraIndex) { alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontLeftOffset; } else { - // 1 for Front Right alongTrackOffset = JsonConstants.drivetrainConstants.driveAlongTrackFrontRightOffset; } @@ -481,11 +477,9 @@ public void LineupWithReefLocation() { double vy = driveCrossTrackLineupController.calculate(observation.crossTrackDistance()); Angle headingOffset; - if (cameraIndex == 0) { - // 0 for Front Left + if (cameraIndex == JsonConstants.visionConstants.FrontLeftCameraIndex) { headingOffset = JsonConstants.drivetrainConstants.driveLineupHeadingFrontLeftOffset; } else { - // 1 for Front Right headingOffset = JsonConstants.drivetrainConstants.driveLineupHeadingFrontRightOffset; } From 2374960507b18c0c1fcbdd5c717504f84793e7d0 Mon Sep 17 00:00:00 2001 From: aidnem <99768676+aidnem@users.noreply.github.com> Date: Fri, 24 Oct 2025 15:22:53 -0400 Subject: [PATCH 6/6] (#252) Update non-comp JSON environments with new separate alongtrack values --- .../deploy/constants/demo/DrivetrainConstants.json | 11 ++++++++++- .../deploy/constants/hitl/DrivetrainConstants.json | 11 ++++++++++- .../constants/test_drivebase/DrivetrainConstants.json | 11 ++++++++++- src/main/java/frc/robot/BuildConstants.java | 10 +++++----- 4 files changed, 35 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/constants/demo/DrivetrainConstants.json b/src/main/deploy/constants/demo/DrivetrainConstants.json index 54cbfeea..185ba238 100644 --- a/src/main/deploy/constants/demo/DrivetrainConstants.json +++ b/src/main/deploy/constants/demo/DrivetrainConstants.json @@ -38,11 +38,20 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackOffset": 0.27, + "driveAlongTrackFrontRightOffset": 0.25, + "driveAlongTrackFrontLeftOffset": 0.24, "driveCrossTrackFrontRightOffset": -0.02, "driveCrossTrackFrontLeftOffset": -0.03, "driveCrossTrackFrontRightAlgaeOffset": 0.25, "driveCrossTrackFrontLeftAlgaeOffset": 0.25, + "driveLineupHeadingFrontRightOffset": { + "value": 0.0, + "unit": "Degree" + }, + "driveLineupHeadingFrontLeftOffset": { + "value": 0.0, + "unit": "Degree" + }, "lineupRotationMarginRadians": 0.05, "lineupAlongTrackThresholdMeters": 0.05, "lineupCrossTrackThresholdMeters": 0.04, diff --git a/src/main/deploy/constants/hitl/DrivetrainConstants.json b/src/main/deploy/constants/hitl/DrivetrainConstants.json index bcf5049f..db5a0c22 100644 --- a/src/main/deploy/constants/hitl/DrivetrainConstants.json +++ b/src/main/deploy/constants/hitl/DrivetrainConstants.json @@ -28,8 +28,17 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackOffset": 0.25, + "driveAlongTrackFrontRightOffset": 0.25, + "driveAlongTrackFrontLeftOffset": 0.25, "driveCrossTrackFrontRightOffset": 0.0, + "driveLineupHeadingFrontRightOffset": { + "value": 0.0, + "unit": "Degree" + }, + "driveLineupHeadingFrontLeftOffset": { + "value": 0.0, + "unit": "Degree" + }, "otfPoseDistanceLimit": 0.1, "lineupMaxVelocity": 3.0, "lineupMaxAcceleration": 1.5, diff --git a/src/main/deploy/constants/test_drivebase/DrivetrainConstants.json b/src/main/deploy/constants/test_drivebase/DrivetrainConstants.json index ef4f7c89..efa27f65 100644 --- a/src/main/deploy/constants/test_drivebase/DrivetrainConstants.json +++ b/src/main/deploy/constants/test_drivebase/DrivetrainConstants.json @@ -28,8 +28,17 @@ "driveRotationKi": 0.0, "driveRotationKd": 0.0, "driveAlongTrackMultiplier": 1, - "driveAlongTrackOffset": 0.25, + "driveAlongTrackFrontRightOffset": 0.25, + "driveAlongTrackFrontLeftOffset": 0.25, "driveCrossTrackFrontRightOffset": 0.0, + "driveLineupHeadingFrontRightOffset": { + "value": 0.0, + "unit": "Degree" + }, + "driveLineupHeadingFrontLeftOffset": { + "value": 0.0, + "unit": "Degree" + }, "otfPoseDistanceLimit": 0.1, "lineupMaxVelocity": 3.0, "lineupMaxAcceleration": 1.5, diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java index 2a23fe9c..5d9c81ca 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 = 89; - public static final String GIT_SHA = "69fe6668bc357bc838edcbd85dd68452dfd47f76"; - public static final String GIT_DATE = "2025-10-22 19:33:06 EDT"; + public static final int GIT_REVISION = 90; + public static final String GIT_SHA = "13ec3b6f046838dd98b05d9f82f2362eb77383c4"; + public static final String GIT_DATE = "2025-10-24 15:19:25 EDT"; public static final String GIT_BRANCH = "252-separate-lineup-offsets"; - public static final String BUILD_DATE = "2025-10-24 15:18:38 EDT"; - public static final long BUILD_UNIX_TIME = 1761333518349L; + public static final String BUILD_DATE = "2025-10-24 15:21:57 EDT"; + public static final long BUILD_UNIX_TIME = 1761333717458L; public static final int DIRTY = 1; private BuildConstants() {}