PLS5618/Reefscape-2025
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sisid manque drive

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This commit is contained in:
Antoine PerreaultE
2025-02-20 19:20:23 -05:00
parent 6ccef6bad9
commit f10dc1165d
3 changed files with 8 additions and 2 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
@@ -77,6 +78,10 @@ public class RobotContainer {
);
// reset the field-centric heading on left bumper press
manette1.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
manette1.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
manette1.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
manette1.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));

4
src/main/java/frc/robot/TunerConstants/TunerConstants.java
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@@ -24,8 +24,8 @@ public class TunerConstants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs steerGains = new Slot0Configs()
.withKP(100).withKI(0).withKD(0.5)
.withKS(0.1).withKV(2.66).withKA(0)
.withKP(52.109).withKI(0).withKD(3.0232)
.withKS(0.24757).withKV(2.4715).withKA(0.062286)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput