35 create make determine waypoint command #39
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| case L1Coral: | ||
| case L3Coral: | ||
| case L4Coral: | ||
| getCoralWaypoint(scoringSide); |
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Does this method exist?
| @Override | ||
| public void initialize() { | ||
| List<PhotonPipelineResult> visionResults = vision.getResults(); | ||
| double area = 0.0; |
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What will the area be used for?
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The area variable isn't used for anything. It only determines the april tag with the smallest area.
| AcquisitionPositionSetpoint setpointLevel = OperatorState.getLastInput(); | ||
| ScoringSide scoringSide = OperatorState.getScoringSide(); |
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Right now, I think we are assuming that the operator will need to press one of the scoring buttons before setting the waypoint. I would assume this means that we will need to disable the magic button until a scoring button is pressed.
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Also, if we decide to change the scoring or cancel it altogether, we must ensure that the current instance of this command gets canceled and a new command replaces it.
| case 6: | ||
| this.waypoint = scoringSide == ScoringSide.LEFT ? DriveWaypoints.LeftCoral22 | ||
| : DriveWaypoints.RightCoral22; | ||
| this.isMirrored = true; |
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I would set this boolean based on if it's greater than an April Tag judicial ID (i.e. this.isMirror = this.bestTag >= 17)
| public static final double kMaxAccelerationMetersPerSecondSquared = 7; | ||
| public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; | ||
| public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; | ||
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| public static final double kPXController = 1.0; | ||
| public static final double kIXController = 0.35; | ||
| public static final double kDController = 0.0; |
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I feel this should be called kDXController to be consistent with the other variable names.
| @@ -8,8 +18,8 @@ public final class VisionConstants { | |||
| public static final String kEnabled0Topic = "enable0"; | |||
| public static final String kEnabled1Topic = "enable1"; | |||
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These variables should each have a k at the start of their names to remain consistent with the other variable names.
…ithub.com/LakotaRobotics1038/2025RobotProject into 35-create-make-determine-waypoint-command
| case L1Coral: | ||
| case L3Coral: | ||
| case L4Coral: | ||
| this.waypoint = get134CoralWaypoint(scoringSide); |
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Instead of passing in the scoringSide and performing the check for scoringSide within each case of the switch-case statement, we could pass in a boolean variable indicating whether the scoringSide is left or right and use that boolean to determine whether to use the right or left waypoint.
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| private Optional<DriveWaypoints> get134CoralWaypoint(ScoringSide scoringSide) { | ||
| switch (this.bestId) { | ||
| case 6: |
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Look in branch 35-create-make-determine-waypoint-command-RG for HashMap implementation.
| driveTrain.getState().Speeds.vxMetersPerSecond, | ||
| driveTrain.getState().Pose.getRotation()), | ||
| new GoalEndState(0, Rotation2d.kZero))))); | ||
| super.aButton.and(() -> determineWaypointCommand.getPose2d().isPresent()).whileTrue( |
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I think the way this is working right now is that when the "A" button is first pressed, we check whether there is a waypoint present to go towards. However, we call the command after this check, so there will not be a value associated with the Optional when the check is performed. Though, my logic might be wrong.
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I see that this check ensures the robot does not move until a waypoint is available. Perhaps, we can call driveToWaypoint every time the acquisition setpoint changes.
Pull Request
Issue Number
Closes #35
Closes #36
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