From 4ebadce5fcc41dbfed95a5652abccac4214c23e3 Mon Sep 17 00:00:00 2001 From: Qbert Date: Thu, 21 Nov 2024 20:57:19 -0600 Subject: [PATCH] So, we made a bunch of really interesting silly changes. first, changed the choreo file to run this test case. Worked on the fudge factor... we ended up deciding it should just be one after tests thought it was .899. Changed the serial number so robotIdentification worked. And, that's about it. --- .paths.chor | 823 ++++++++++--------------------- deploy/choreo/DriveOut.traj | 782 ++++++++++------------------- drivetrain/drivetrainPhysical.py | 3 +- glass-window.json | 10 +- utils/robotIdentification.py | 2 +- 5 files changed, 513 insertions(+), 1107 deletions(-) diff --git a/.paths.chor b/.paths.chor index e0c51ee..b90dc76 100644 --- a/.paths.chor +++ b/.paths.chor @@ -1,9 +1,9 @@ { - "version": "v0.2.1", + "version": "v0.2.2", "robotConfiguration": { "mass": 74.08797700309194, "rotationalInertia": 6, - "motorMaxTorque": 1.087292817679558, + "motorMaxTorque": 0.3624309392265193, "motorMaxVelocity": 4704, "gearing": 6.75, "wheelbase": 0.5778496879611685, @@ -16,36 +16,18 @@ "DriveOut": { "waypoints": [ { - "x": 1.0592666864395142, - "y": 7.223808288574219, + "x": 1.4685735702514648, + "y": 7.136099338531494, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 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b/drivetrain/drivetrainPhysical.py @@ -54,7 +54,8 @@ # by driving the robot a known distance, seeing the measured distance in software, # and adjusting this factor till the measured distance matches known # Might have to be different for colson wheels? -WHEEL_FUDGE_FACTOR = 0.9238 +WHEEL_FUDGE_FACTOR = 1.0 +#1/.899 # Nominal 4-inch diameter swerve drive wheels # https:#www.swervedrivespecialties.com/collections/mk4i-parts/products/billet-wheel-4d-x-1-5w-bearing-bore diff --git a/glass-window.json b/glass-window.json index e8cb0a5..c9e6674 100644 --- a/glass-window.json +++ b/glass-window.json @@ -1,7 +1,7 @@ { "Docking": { "Data": [ - "DockSpace ID=0x8B93E3BD Window=0xA787BDB4 Pos=0,19 Size=1920,990 CentralNode=1" + "DockSpace ID=0x8B93E3BD Window=0xA787BDB4 Pos=0,19 Size=1366,686 CentralNode=1" ] }, "MainWindow": { @@ -19,12 +19,12 @@ "Window": { "###/SmartDashboard/DT Pose 2D": { "Collapsed": "0", - "Pos": "456,119", - "Size": "1338,714" + "Pos": "276,68", + "Size": "824,569" }, "###NetworkTables": { "Collapsed": "0", - "Pos": "250,277", + "Pos": "327,-24", "Size": "750,723" }, "###NetworkTables Info": { @@ -45,7 +45,7 @@ "DockSpaceViewport_11111111": { "Collapsed": "0", "Pos": "0,19", - "Size": "1920,990" + "Size": "1366,686" } } } diff --git a/utils/robotIdentification.py b/utils/robotIdentification.py index 1564957..b46e717 100644 --- a/utils/robotIdentification.py +++ b/utils/robotIdentification.py @@ -29,7 +29,7 @@ def _configureValue(self): if self.roboControl.getSerialNumber() == "030e2cb0": #Test to see if the RoboRio serial number is the main/"Production" bot. self.robotType = RobotTypes.Main - elif self.roboControl.getSerialNumber() == "03064e3f" or wpilib.TimedRobot.isSimulation(): + elif self.roboControl.getSerialNumber() == "03134d41" or wpilib.TimedRobot.isSimulation(): #Test to see if the RoboRio serial number is the practice bot. self.robotType = RobotTypes.Practice elif self.roboControl.getSerialNumber() == "0316b37c":