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Elevator Fix #27

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Merged
merged 3 commits into from
Oct 1, 2025
Merged

Elevator Fix #27

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04b7f28
set elevator to new origin point
ShmayaR Oct 1, 2025
735cd21
Update ArmElevatorConstants.java
ShmayaR Oct 1, 2025
991dea3
Update RobotContainer.java
ShmayaR Oct 1, 2025
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1 change: 1 addition & 0 deletions src/main/java/frc/trigon/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
import frc.trigon.robot.subsystems.MotorSubsystem;
import frc.trigon.robot.subsystems.armelevator.ArmElevator;
import frc.trigon.robot.subsystems.armelevator.ArmElevatorCommands;
import frc.trigon.robot.subsystems.armelevator.ArmElevatorConstants;
import frc.trigon.robot.subsystems.climber.Climber;
import frc.trigon.robot.subsystems.climber.ClimberCommands;
import frc.trigon.robot.subsystems.climber.ClimberConstants;
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47 changes: 24 additions & 23 deletions src/main/java/frc/trigon/robot/subsystems/armelevator/ArmElevatorConstants.java
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Expand Up @@ -143,15 +143,15 @@ public class ArmElevatorConstants {
);

static final Pose3d ELEVATOR_SECOND_STAGE_VISUALIZATION_ORIGIN_POINT = new Pose3d(
new Translation3d(0, -0.17, 0.0814),
new Translation3d(0, -0.17, 0.095),
new Rotation3d(0, 0, 0)
);

static final Transform3d ARM_TO_HELD_GAME_PIECE = new Transform3d(
new Translation3d(0, 0.1, -0.5855),
new Rotation3d(0, edu.wpi.first.math.util.Units.degreesToRadians(0), 0)
);
static final double SECOND_ELEVATOR_COMPONENT_EXTENDED_LENGTH_METERS = 0.603;
static final double SECOND_ELEVATOR_COMPONENT_EXTENDED_LENGTH_METERS = 0.593;
static final double DRUM_DIAMETER_METERS = DRUM_RADIUS_METERS * 2;
private static final double REVERSE_LIMIT_SENSOR_DEBOUNCE_TIME_SECONDS = 0.1;
private static final BooleanEvent REVERSE_LIMIT_SENSOR_BOOLEAN_EVENT = new BooleanEvent(
Expand Down Expand Up @@ -327,27 +327,28 @@ private static void configureReverseLimitSensor() {
}

public enum ArmElevatorState {
PREPARE_SCORE_L1(Rotation2d.fromDegrees(110), 0.3, null, false, 1),
PREPARE_SCORE_L2(Rotation2d.fromDegrees(100), 0.3, null, false, 1),
PREPARE_SCORE_L3(Rotation2d.fromDegrees(100), 0.7, null, false, 1),
PREPARE_SCORE_L4(Rotation2d.fromDegrees(120), 1.2, null, false, 1),
REST(Rotation2d.fromDegrees(0), 0.603, null, false, 0.7),
REST_WITH_CORAL(Rotation2d.fromDegrees(180), 0.603, null, false, 0.7),
REST_WITH_ALGAE(Rotation2d.fromDegrees(90), 0.603, null, false, 0.7),
REST_FOR_CLIMB(Rotation2d.fromDegrees(180), 0.603, null, false, 0.7),
LOAD_CORAL(Rotation2d.fromDegrees(0), 0.5519, REST, true, 0.7),
UNLOAD_CORAL(Rotation2d.fromDegrees(0), 0.5519, null, false, 0.7),
EJECT(Rotation2d.fromDegrees(60), 0.603, null, false, 0.7),
SCORE_L1(Rotation2d.fromDegrees(70), 0.4, null, false, 1),
SCORE_L2(Rotation2d.fromDegrees(90), 0.3, PREPARE_SCORE_L2, false, 1),
SCORE_L3(Rotation2d.fromDegrees(90), 0.7, PREPARE_SCORE_L3, false, 1),
SCORE_L4(Rotation2d.fromDegrees(100), 1.2, PREPARE_SCORE_L4, false, 1),
SCORE_NET(Rotation2d.fromDegrees(160), 1.382, null, false, 0.3),
SCORE_PROCESSOR(Rotation2d.fromDegrees(90), 0.1, null, false, 0.7),
COLLECT_ALGAE_L2(Rotation2d.fromDegrees(90), 0.603, null, false, 1),
COLLECT_ALGAE_L3(Rotation2d.fromDegrees(90), 0.953, null, false, 1),
COLLECT_ALGAE_LOLLIPOP(Rotation2d.fromDegrees(70), 0.3, null, false, 1),
COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(70), 0.1, null, true, 1);
PREPARE_SCORE_L1(Rotation2d.fromDegrees(110), 0.29, null, false, 1),
PREPARE_SCORE_L2(Rotation2d.fromDegrees(100), 0.29, null, false, 1),
PREPARE_SCORE_L3(Rotation2d.fromDegrees(100), 0.69, null, false, 1),
PREPARE_SCORE_L4(Rotation2d.fromDegrees(120), 1.19, null, false, 1),
REST(Rotation2d.fromDegrees(0), 0.593, null, false, 0.7),
REST_WITH_CORAL(Rotation2d.fromDegrees(180), 0.593, null, false, 0.7),
REST_WITH_ALGAE(Rotation2d.fromDegrees(90), 0.593, null, false, 0.7),
REST_FOR_CLIMB(Rotation2d.fromDegrees(180), 0.593, null, false, 0.7),
LOAD_CORAL(Rotation2d.fromDegrees(0), 0.5419, REST, true, 0.7),
UNLOAD_CORAL(Rotation2d.fromDegrees(0), 0.5419, null, false, 0.7),
EJECT(Rotation2d.fromDegrees(60), 0.593, null, false, 0.7),
SCORE_L1(Rotation2d.fromDegrees(70), 0.39, null, false, 1),
SCORE_L2(Rotation2d.fromDegrees(90), 0.29, PREPARE_SCORE_L2, false, 1),
SCORE_L3(Rotation2d.fromDegrees(90), 0.69, PREPARE_SCORE_L3, false, 1),
SCORE_L4(Rotation2d.fromDegrees(100), 1.19, PREPARE_SCORE_L4, false, 1),
SCORE_NET(Rotation2d.fromDegrees(160), 1.372, null, false, 0.3),
SCORE_PROCESSOR(Rotation2d.fromDegrees(90), 0.09, null, false, 0.7),
COLLECT_ALGAE_L2(Rotation2d.fromDegrees(90), 0.593, null, false, 1),
COLLECT_ALGAE_L3(Rotation2d.fromDegrees(90), 0.943, null, false, 1),
COLLECT_ALGAE_LOLLIPOP(Rotation2d.fromDegrees(70), 0.29, null, false, 1),
COLLECT_ALGAE_FLOOR(Rotation2d.fromDegrees(70), 0.09, null, true, 1);


public final Rotation2d targetAngle;
public final double targetPositionMeters;
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