Skip to content

update robot model and add cameras #29

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Sid220 merged 2 commits into from
Feb 26, 2026
Merged

update robot model and add cameras #29

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8ea8ac8
update robot model and add cameras
tytremblay Feb 25, 2026
fcb0969
formatting
Sid220 Feb 26, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
107 changes: 98 additions & 9 deletions advantagescope/assets/Robot_frc2713-2026/config.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,96 @@
0,
0
],
"cameras": [],
"cameras": [
{
"name": "front",
"rotations": [
{
"axis": "y",
"degrees": -12.5
}
],
"position": [
0.2561335746,
0.1198999888,
0.538800167
],
"resolution": [
1920,
1080
],
"fov": 69
},
{
"name": "rear",
"rotations": [
{
"axis": "z",
"degrees": 180
},
{
"axis": "y",
"degrees": 12.5
}
],
"position": [
-0.3132835746,
-0.0436999888,
0.538800167
],
"resolution": [
1920,
1080
],
"fov": 69
},
{
"name": "left",
"rotations": [
{
"axis": "z",
"degrees": 90
},
{
"axis": "x",
"degrees": 12.5
}
],
"position": [
-0.1452999888,
0.3672585746,
0.538800167
],
"resolution": [
1920,
1080
],
"fov": 69
},
{
"name": "right",
"rotations": [
{
"axis": "z",
"degrees": -90
},
{
"axis": "x",
"degrees": -12.5
}
],
"position": [
-0.1722000112,
-0.3672585746,
0.538800167
],
"resolution": [
1920,
1080
],
"fov": 69
}
],
"components": [
{
"zeroedRotations": [
Expand Down Expand Up @@ -48,8 +137,8 @@
}
],
"zeroedPosition": [
0,
-0.04445,
-0.0127,
-0.0127,
0
]
},
Expand All @@ -65,9 +154,9 @@
}
],
"zeroedPosition": [
0,
-0.04445,
-0.4694966226
-0.0127,
-0.0127,
-0.472377262
]
},
{
Expand All @@ -82,9 +171,9 @@
}
],
"zeroedPosition": [
-0.103807641,
-0.04445,
-0.4694966226
-0.0623012978,
-0.0127,
-0.4984384748
]
}
]
Expand Down
Binary file modified advantagescope/assets/Robot_frc2713-2026/model.glb
View file
Open in desktop
Binary file not shown.
Binary file modified advantagescope/assets/Robot_frc2713-2026/model_0.glb
View file
Open in desktop
Binary file not shown.
Binary file modified advantagescope/assets/Robot_frc2713-2026/model_1.glb
View file
Open in desktop
Binary file not shown.
Binary file modified advantagescope/assets/Robot_frc2713-2026/model_2.glb
View file
Open in desktop
Binary file not shown.
Binary file modified advantagescope/assets/Robot_frc2713-2026/model_3.glb
View file
Open in desktop
Binary file not shown.
3 changes: 3 additions & 0 deletions src/main/java/frc2713/lib/subsystem/KinematicsManager.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,9 @@ public void periodic() {
// 1. Rebuild topology if new components were added
if (isDirty) {
rebuildTopology();
Pose3d[] zeroedComponentPoses = new Pose3d[publishableIndices.length];
Arrays.fill(zeroedComponentPoses, new Pose3d());
Logger.recordOutput(pb.makePath("zeroedComponentPoses"), zeroedComponentPoses);
}

// 2. Update Kinematics
Expand Down
5 changes: 1 addition & 4 deletions src/main/java/frc2713/lib/subsystem/TalonFXSubsystemConfig.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,5 @@
package frc2713.lib.subsystem;

import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Meters;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
Expand Down Expand Up @@ -32,5 +29,5 @@ public class TalonFXSubsystemConfig {
public double momentOfInertia = 0.5;

public Transform3d initialTransform =
new Transform3d(new Translation3d(0, 0, Inches.of(18.484119).in(Meters)), new Rotation3d());
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d());
}
2 changes: 1 addition & 1 deletion src/main/java/frc2713/robot/oi/DriverControls.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ public void configureButtonBindings() {

// shoot when flywheels are ready
controller
.rightTrigger(-.98)
.rightTrigger(.98)
.whileTrue(
RobotContainer.GameCommandGroups.otfShot(
drive, flywheels, hood, turret, feeder, dyeRotor))
Expand Down
10 changes: 1 addition & 9 deletions src/main/java/frc2713/robot/subsystems/intake/IntakeExtension.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,10 @@
package frc2713.robot.subsystems.intake;

import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.Radians;

import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj2.command.Command;
import frc2713.lib.io.ArticulatedComponent;
Expand Down Expand Up @@ -68,12 +65,7 @@ public void periodic() {
@Override
public Transform3d getTransform3d() {
Distance distance = getCurrentPositionAsDistance();
Angle sliderAngle = Degrees.of(-4.479515);

Distance distanceX = distance.times(Math.cos(sliderAngle.in(Radians)));
Distance distanceZ = distance.times(Math.sin(sliderAngle.in(Radians)));

return new Transform3d(
new Translation3d(distanceX.in(Meters), 0, distanceZ.in(Meters)), new Rotation3d());
return new Transform3d(new Translation3d(distance.in(Meters), 0, 0), new Rotation3d());
}
}
12 changes: 8 additions & 4 deletions src/main/java/frc2713/robot/subsystems/launcher/LauncherConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,10 @@ public static final class Turret {

config.initialTransform =
new Transform3d(
new Translation3d(0, Inches.of(1.75).in(Meters), Inches.of(18.484119).in(Meters)),
new Translation3d(
Inches.of(0.5).in(Meters),
Inches.of(0.5).in(Meters),
Inches.of(18.484119).in(Meters)),
new Rotation3d(0, 0, 0));
}

Expand Down Expand Up @@ -171,7 +174,8 @@ public final class Hood {

config.initialTransform =
new Transform3d(
new Translation3d(Inches.of(4.086915).in(Meters), 0, 0), new Rotation3d());
new Translation3d(Inches.of(2.452807).in(Meters), 0, Inches.of(1.026032).in(Meters)),
new Rotation3d());
}

public static Angle retractedPosition = Degrees.of(0);
Expand All @@ -193,8 +197,8 @@ public final class Hood {
angleMap.put(1.5, 18.0);
angleMap.put(2.0, 24.0);
angleMap.put(3.0, 28.0);
angleMap.put(4.0, 32.0);
angleMap.put(4.5, 32.0);
angleMap.put(4.0, 30.0);
angleMap.put(4.5, 30.0);
angleMap.put(5.0, 30.0);
}
}
Expand Down
4 changes: 3 additions & 1 deletion src/main/java/frc2713/robot/subsystems/serializer/SerializerConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,9 @@ public static final class DyeRotor {
config.momentOfInertia = 0.001; // kg*m^2 for simulation (small roller)

config.initialTransform =
new Transform3d(new Translation3d(0, Inches.of(1.75).in(Meters), 0), new Rotation3d());
new Transform3d(
new Translation3d(Inches.of(0.5).in(Meters), Inches.of(0.5).in(Meters), 0),
new Rotation3d());
}

public static LoggedTunableMeasure<AngularVelocity> indexingSpeed =
Expand Down