From 294222353c397386d11d3c59dc75af3110d4edad Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Wed, 18 Feb 2026 11:32:41 -0800 Subject: [PATCH] more clean up --- .../frc/robot/constants/FieldConstants.java | 8 +----- .../controls/PS5ControllerDriverConfig.java | 4 --- .../java/frc/robot/subsystems/hood/Hood.java | 7 +++-- .../robot/subsystems/hood/HoodConstants.java | 26 ++----------------- 4 files changed, 6 insertions(+), 39 deletions(-) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 33cdcff..d31c8dc 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -1,19 +1,13 @@ package frc.robot.constants; -import java.lang.reflect.Field; - -import org.opencv.dnn.Net; - import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.InstantCommand; import frc.robot.Robot; import frc.robot.util.FieldZone; -import frc.robot.util.ShootingTarget; public class FieldConstants { /** Width of the field [meters] */ @@ -92,7 +86,7 @@ public class FieldConstants { public static FieldZone getZone(Translation2d drivepose) { double x = drivepose.getX(); - double y = drivepose.getY(); + //double y = drivepose.getY(); if(x < FieldConstants.RedAllianceLine) { // inside red if (Robot.getAlliance() == Alliance.Red) { return FieldZone.ALLIANCE; diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 2f47c82..75daa51 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -2,7 +2,6 @@ package frc.robot.controls; import java.util.function.BooleanSupplier; -import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; @@ -14,7 +13,6 @@ import frc.robot.commands.gpm.AutoShootCommand; import frc.robot.constants.Constants; import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.shooter.ShooterConstants; import frc.robot.subsystems.spindexer.Spindexer; import frc.robot.subsystems.turret.Turret; import frc.robot.subsystems.hood.Hood; @@ -35,8 +33,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { private Intake intake; private Spindexer spindexer; - private Pose2d alignmentPose = null; - private Command turretAutoShoot; private Command autoShoot; private boolean intakeBoolean = true; diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java index 82ef495..89ac487 100644 --- a/src/main/java/frc/robot/subsystems/hood/Hood.java +++ b/src/main/java/frc/robot/subsystems/hood/Hood.java @@ -24,13 +24,12 @@ public class Hood extends SubsystemBase implements HoodIO{ private double MIN_ANGLE_RAD = Units.degreesToRadians(HoodConstants.MIN_ANGLE); private double MAX_ANGLE_RAD = Units.degreesToRadians(HoodConstants.MAX_ANGLE); - private double MAX_VEL_RAD_PER_SEC = 25; - private double MAX_ACCEL_RAD_PER_SEC2 = 160.0; + private double MAX_VEL_RAD_PER_SEC = HoodConstants.MAX_VELOCITY; + private double MAX_ACCEL_RAD_PER_SEC2 = HoodConstants.MAX_ACCELERATION; private double GEAR_RATIO = HoodConstants.HOOD_GEAR_RATIO; - private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02 - , 0.02); + private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02, 0.02); private double FEEDFORWARD_KV = 0.12; diff --git a/src/main/java/frc/robot/subsystems/hood/HoodConstants.java b/src/main/java/frc/robot/subsystems/hood/HoodConstants.java index 07928fe..03343b0 100644 --- a/src/main/java/frc/robot/subsystems/hood/HoodConstants.java +++ b/src/main/java/frc/robot/subsystems/hood/HoodConstants.java @@ -1,9 +1,5 @@ package frc.robot.subsystems.hood; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.util.Units; - public class HoodConstants { public static final double HOOD_GEAR_RATIO = 64; @@ -13,27 +9,9 @@ public class HoodConstants { public static final double CENTER_OF_MASS_LENGTH = 0.138; // meters - // public static final double MAX_VELOCITY = 5; // rad/s - public static final double MAX_VELOCITY = 0.30; // rad/s - public static final double MAX_ACCELERATION = 30; // rad/s^2 + public static final double MAX_VELOCITY = 25; // rad/s + public static final double MAX_ACCELERATION = 160; // rad/s^2 public static final double MAX_ANGLE = 82; // degrees public static final double MIN_ANGLE = 58.5; // degrees - - public static final double START_ANGLE = 90-22.9; // degrees - - // Arena dimensions - public static final double TARGET_HEIGHT = 2.44; // meters - public static final double SHOOTER_HEIGHT = 0.51; // meters - - public static final Translation2d TRANSLATION_TARGET = new Translation2d(0, 0); - public static final Rotation2d ROTATION_TARGET_ANGLE = new Rotation2d(); - // Other - public static final double INITIAL_VELOCTIY = 14.9; // meters per second - - // Testing purposes - public static final double START_DISTANCE = 2; // meters - - // Calibration Purposes - public static final double CURRENT_SPIKE_THRESHHOLD = 10.0; // amps } -- 2.39.5