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witherslayer67witherslayer67
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Merge remote-tracking branch 'origin/old-climb'
2 parents cb38dd0 + ec51640 commit 5961b43

2 files changed

Lines changed: 219 additions & 14 deletions

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‎src/main/deploy/AdvantageScope.json‎

Lines changed: 216 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -23,24 +23,29 @@
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"/Robot/Vision/RIGHT/Tag Poses",
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"/Robot/Vision/LEFT/Pose",
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"/Robot/Vision/REAR/Tag Poses",
26-
"/Robot/Robot",
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"/Robot/Vision/LEFT/Pose/translation",
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"/Robot/Vision/CENTER/Pose",
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"/Robot/Vision/CENTER/Pose/translation",
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"/Robot",
31-
"/Robot/Fault",
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"/Robot/PIDSwerve/Pose target",
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"/Robot/PIDSwerve/Pose target/translation",
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"/Robot/RadioStatus",
35-
"/Robot/Vision/REAR",
36-
"/Robot/Pose",
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"/Robot/Pose/Pose/rotation",
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"/Robot/Pose/Pose/translation",
39-
"/Robot/Vision"
35+
"/Robot/Misc",
36+
"/Robot/Vision/CENTER",
37+
"/Robot/Vision/LEFT",
38+
"/Robot/Vision/RIGHT",
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"/Robot/Vision/REAR",
40+
"/Robot/Pose/Pose",
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"/Robot/State",
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"/DS",
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"/DS/joystick0/buttons",
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"/Robot/EndEffector"
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]
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},
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"tabs": {
43-
"selected": 9,
48+
"selected": 2,
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"tabs": [
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{
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"type": 0,
@@ -120,7 +125,7 @@
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"logType": "Pose2d",
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"visible": true,
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"options": {
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"color": "#ff00ff"
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"color": "#00ff00"
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}
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},
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{
@@ -182,7 +187,7 @@
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"type": "ghost",
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"logKey": "NT:/Robot/Vision/CENTER/Pose",
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"logType": "Pose3d",
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"visible": true,
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"visible": false,
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"options": {
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"color": "#ff8c00"
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}
@@ -191,7 +196,7 @@
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"type": "vision",
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"logKey": "NT:/Robot/Vision/CENTER/Tag Poses",
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"logType": "Pose3d[]",
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"visible": true,
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"visible": false,
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"options": {
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"color": "#ff8c00",
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"size": "normal"
@@ -215,18 +220,102 @@
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"color": "#ff00ff",
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"size": "normal"
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}
223+
},
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{
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"type": "ghost",
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"logKey": "/Robot/Vision/CENTER/Pose",
227+
"logType": "Pose3d",
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"visible": true,
229+
"options": {
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"color": "#ff8c00"
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}
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},
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{
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"type": "vision",
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"logKey": "/Robot/Vision/CENTER/Tag Poses",
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"logType": "Pose3d[]",
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"visible": true,
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"options": {
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"color": "#ff8c00",
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"size": "normal"
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}
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},
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{
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"type": "ghost",
245+
"logKey": "/Robot/Vision/LEFT/Pose",
246+
"logType": "Pose3d",
247+
"visible": true,
248+
"options": {
249+
"color": "#0000ff"
250+
}
251+
},
252+
{
253+
"type": "vision",
254+
"logKey": "/Robot/Vision/LEFT/Tag Poses",
255+
"logType": "Pose3d[]",
256+
"visible": true,
257+
"options": {
258+
"color": "#0000ff",
259+
"size": "normal"
260+
}
261+
},
262+
{
263+
"type": "ghost",
264+
"logKey": "/Robot/Vision/RIGHT/Pose",
265+
"logType": "Pose3d",
266+
"visible": false,
267+
"options": {
268+
"color": "#ff0000"
269+
}
270+
},
271+
{
272+
"type": "vision",
273+
"logKey": "/Robot/Vision/RIGHT/Pose",
274+
"logType": "Pose3d",
275+
"visible": false,
276+
"options": {
277+
"color": "#ff0000",
278+
"size": "normal"
279+
}
280+
},
281+
{
282+
"type": "ghost",
283+
"logKey": "/Robot/Vision/REAR/Pose",
284+
"logType": "Pose3d",
285+
"visible": true,
286+
"options": {
287+
"color": "#ff00ff"
288+
}
289+
},
290+
{
291+
"type": "vision",
292+
"logKey": "/Robot/Vision/REAR/Pose",
293+
"logType": "Pose3d",
294+
"visible": true,
295+
"options": {
296+
"color": "#ff00ff",
297+
"size": "normal"
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}
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}
219300
],
220301
"game": "2025 Field (AndyMark)",
221302
"bumpers": "auto",
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"origin": "blue",
223-
"orientation": 0,
304+
"orientation": 2,
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"size": 30
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},
226307
"controllerUUID": "78pb9skb45b5cb0330ildjo3r46rbq99",
227308
"renderer": null,
228309
"controlsHeight": 200
229310
},
311+
{
312+
"type": 7,
313+
"title": "Video",
314+
"controller": null,
315+
"controllerUUID": "k6kujdfmu7b3bvbo9h5lnbgzwbwp46dg",
316+
"renderer": null,
317+
"controlsHeight": 85
318+
},
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{
231320
"type": 3,
232321
"title": "3D Field",
@@ -315,7 +404,8 @@
315404
"type": 4,
316405
"title": "Vision",
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"controller": [
318-
"NT:/Robot/Vision/Status",
407+
"/Robot/Vision/Status",
408+
"/Robot/Vision/Camera Mode",
319409
"NT:/Robot/Vision/CENTER/Status",
320410
"NT:/Robot/Vision/LEFT/Status",
321411
"NT:/Robot/Vision/RIGHT/Status",
@@ -325,6 +415,17 @@
325415
"renderer": null,
326416
"controlsHeight": 0
327417
},
418+
{
419+
"type": 4,
420+
"title": "Camera mode",
421+
"controller": [
422+
"/Robot/Misc/Robot Status",
423+
"/Robot/Vision/Camera Mode"
424+
],
425+
"controllerUUID": "9cyuyt8utcrxdjn21iwm1m0l2t0o7hqu",
426+
"renderer": null,
427+
"controlsHeight": 0
428+
},
328429
{
329430
"type": 1,
330431
"title": "Vision",
@@ -425,6 +526,7 @@
425526
"type": 4,
426527
"title": "Console",
427528
"controller": [
529+
"/Robot/Misc/FMS Match Time",
428530
"console"
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],
430532
"controllerUUID": "o6kvg50n6ney7iblzn3kosybq27c0346",
@@ -459,6 +561,109 @@
459561
"renderer": null,
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"controlsHeight": 0
461563
},
564+
{
565+
"type": 4,
566+
"title": "PID Swerve",
567+
"controller": [
568+
"/Robot/PIDSwerve/Aligned time",
569+
"/Robot/Pose/Pose/translation/x",
570+
"/Robot/Pose/Pose/translation/y",
571+
"/Robot/PIDSwerve/Pose target/translation/x",
572+
"/Robot/PIDSwerve/Pose target/translation/y",
573+
"/Robot/PIDSwerve/X error",
574+
"/Robot/PIDSwerve/X error derivative",
575+
"/Robot/PIDSwerve/Y error",
576+
"/Robot/PIDSwerve/Y error derivative"
577+
],
578+
"controllerUUID": "5o18idrv1n6xz0tt93vslydcghtvpxl4",
579+
"renderer": null,
580+
"controlsHeight": 0
581+
},
582+
{
583+
"type": 1,
584+
"title": "PID Swerve",
585+
"controller": {
586+
"leftSources": [
587+
{
588+
"type": "stepped",
589+
"logKey": "/Robot/PIDSwerve/X error",
590+
"logType": "Number",
591+
"visible": true,
592+
"options": {
593+
"color": "#2b66a2",
594+
"size": "normal"
595+
}
596+
},
597+
{
598+
"type": "stepped",
599+
"logKey": "/Robot/PIDSwerve/Y error",
600+
"logType": "Number",
601+
"visible": false,
602+
"options": {
603+
"color": "#e5b31b",
604+
"size": "normal"
605+
}
606+
}
607+
],
608+
"rightSources": [
609+
{
610+
"type": "stepped",
611+
"logKey": "/Robot/PIDSwerve/X error derivative",
612+
"logType": "Number",
613+
"visible": false,
614+
"options": {
615+
"color": "#af2437",
616+
"size": "normal"
617+
}
618+
},
619+
{
620+
"type": "stepped",
621+
"logKey": "/Robot/PIDSwerve/Y error derivative",
622+
"logType": "Number",
623+
"visible": false,
624+
"options": {
625+
"color": "#80588e",
626+
"size": "normal"
627+
}
628+
}
629+
],
630+
"discreteSources": [
631+
{
632+
"type": "stripes",
633+
"logKey": "/Robot/PIDSwerve/Pose target/translation/x",
634+
"logType": "Number",
635+
"visible": true,
636+
"options": {
637+
"color": "#e48b32"
638+
}
639+
},
640+
{
641+
"type": "stripes",
642+
"logKey": "/Robot/PIDSwerve/Pose target/translation/y",
643+
"logType": "Number",
644+
"visible": true,
645+
"options": {
646+
"color": "#c0b487"
647+
}
648+
}
649+
],
650+
"leftLockedRange": null,
651+
"rightLockedRange": null,
652+
"leftUnitConversion": {
653+
"type": null,
654+
"factor": 1
655+
},
656+
"rightUnitConversion": {
657+
"type": null,
658+
"factor": 1
659+
},
660+
"leftFilter": 0,
661+
"rightFilter": 0
662+
},
663+
"controllerUUID": "tl76rl1jy7ze5kybbgcuxmqrpd4ddzid",
664+
"renderer": null,
665+
"controlsHeight": 200
666+
},
462667
{
463668
"type": 4,
464669
"title": "Coral",

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

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -415,14 +415,14 @@ public static final class Climber {
415415
public static final double fastDeployVoltage = 12.0;
416416
public static final double slowDeployVoltage = 3.0;
417417
public static final double engageRetractVoltage = -4.0;
418-
public static final double fastRetractVoltage = -12.0;
418+
public static final double fastRetractVoltage = -8.0;
419419
public static final double slowRetractVoltage = -3.0;
420420
public static final double holdVoltage = -0.5;
421421

422422
public static final double fastDeployedPosition = 110.0;
423423
public static final double fullyDeployedPosition = 135.5;
424-
public static final double engageRetractedPosition = 120.0;
425-
public static final double fastRetractedPosition = -15.0;
424+
public static final double engageRetractedPosition = 85.0;
425+
public static final double fastRetractedPosition = -1.0;
426426
public static final double fullyRetractedPosition = -30.5;
427427

428428
public static final int timeCutoff = 30;

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