Merge pull request #7 from hammerhead226/vision-subsytem

Vision subsytem
hammerhead226 · Jul 9, 2024 · 16ec1d5 · 16ec1d5
2 parents a9c8dd6 + 4b93dd0
commit 16ec1d5
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Showing 16 changed files with 688 additions and 299 deletions.
diff --git a/src/main/deploy/pathplanner/paths/$s!p-c5.path b/src/main/deploy/pathplanner/paths/$s!p-c5.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.796716980026477,
-        "y": 2.3772998187926775
+        "x": 3.6444761049293843,
+        "y": 1.885444683870822
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.982064520477115,
-        "y": 0.9134452505709579
+        "x": 5.857824212082089,
+        "y": 0.8666019043878308
       },
       "prevControl": {
-        "x": 4.66225450719953,
-        "y": 0.9134452505709579
+        "x": 4.3119937880389285,
+        "y": 0.8900235774793938
       },
       "nextControl": null,
       "isLocked": false,
@@ -44,7 +44,7 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0.25,
+    "velocity": 2.0,
     "rotation": 0,
     "rotateFast": true
   },

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 258;
-  public static final String GIT_SHA = "ad32eba6a15c1737452fd82c0f431628b1b01939";
-  public static final String GIT_DATE = "2024-04-18 21:52:01 EDT";
-  public static final String GIT_BRANCH = "worlds";
-  public static final String BUILD_DATE = "2024-04-19 18:02:45 EDT";
-  public static final long BUILD_UNIX_TIME = 1713564165427L;
+  public static final int GIT_REVISION = 284;
+  public static final String GIT_SHA = "b1b6e3205d31d1312f8405f3bbea5539a3c4c823";
+  public static final String GIT_DATE = "2024-07-08 23:36:46 EDT";
+  public static final String GIT_BRANCH = "vision-subsytem";
+  public static final String BUILD_DATE = "2024-07-09 12:42:08 EDT";
+  public static final long BUILD_UNIX_TIME = 1720543328895L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -38,7 +38,7 @@ public static Mode getMode() {
     };
   }
 
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
   public static final boolean tuningMode = true;
   public static final String CANBUS = "CAN Bus 2";
   public static final double LOOP_PERIOD_SECS = 0.02;

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -36,7 +36,6 @@ public class Robot extends LoggedRobot {
 
   private Command autonomousCommand;
   private RobotContainer m_robotContainer;
-
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.