Skip to content

Commit 0293c63

Browse files
TaylerUvaTaylerUva
committed
fixed units
1 parent 5427be9 commit 0293c63

File tree

2 files changed

+35
-31
lines changed

2 files changed

+35
-31
lines changed

‎src/main/java/frc/robot/Constants.java‎

Lines changed: 17 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,7 @@
3232
import edu.wpi.first.math.geometry.Translation2d;
3333
import edu.wpi.first.math.system.plant.DCMotor;
3434
import edu.wpi.first.math.trajectory.TrapezoidProfile;
35+
import edu.wpi.first.units.Units;
3536
import edu.wpi.first.units.measure.Angle;
3637
import edu.wpi.first.units.measure.AngularVelocity;
3738
import edu.wpi.first.units.measure.Current;
@@ -40,7 +41,6 @@
4041
import edu.wpi.first.units.measure.Mass;
4142
import edu.wpi.first.units.measure.Time;
4243
import edu.wpi.first.units.measure.Voltage;
43-
import edu.wpi.first.units.Units;
4444
import edu.wpi.first.wpilibj.DriverStation;
4545
import edu.wpi.first.wpilibj.DriverStation.Alliance;
4646

@@ -458,21 +458,21 @@ public static class LIMELIGHT_LEFT {
458458
}
459459

460460
public static class constRobotPoses {
461-
public static final Distance ROOT_X = Units.Inches.of(0); // TODO: Replace with actual measurement
462-
public static final Distance ROOT_Y = Units.Inches.of(0); // TODO: Replace with actual measurement
463-
464-
public static final Distance ELEVATOR_PIVOT_LENGTH = Units.Inches.of(3.95);// TODO: Replace with actual measurement
465-
public static final Angle ELEVATOR_PIVOT_DEFAULT_ANGLE = Units.Degrees.of(90); // TODO: Replace with actual
466-
// measurement
467-
public static final Distance ELEVATOR_PIVOT_WIDTH = Units.Inches.of(3.95); // TODO: Replace with actual measurement
468-
469-
public static final Distance ELEVATOR_LENGTH = Units.Inches.of(3.95); // TODO: Replace with actual measurement
470-
public static final Angle ELEVATOR_DEFAULT_ANGLE = Units.Degrees.of(90); // TODO: Replace with actual measurement
471-
public static final Distance ELEVATOR_WIDTH = Units.Inches.of(3.95); // TODO: Replace with actual measurement
472-
473-
public static final Distance INTAKE_WRIST_LENGTH = Units.Inches.of(3.95); // TODO: Replace with actual measurement
474-
public static final Angle INTAKE_WRIST_DEFAULT_ANGLE = Units.Degrees.of(90); // TODO: Replace with actual
475-
// measurement
476-
public static final Distance INTAKE_WRIST_WIDTH = Units.Inches.of(3.95); // TODO: Replace with actual measurement
461+
public static final Distance ROOT_X = Units.Inches.of(4.5); // TODO: Replace with actual measurement
462+
public static final Distance ROOT_Y = Units.Inches.of(4.3 / 2); // TODO: Replace with actual measurement
463+
464+
public static final Distance ELEVATOR_PIVOT_LENGTH = Units.Inches.of(10);// TODO: Replace with actual measurement
465+
public static final Angle ELEVATOR_PIVOT_DEFAULT_ANGLE = Units.Degrees.of(0); // TODO: Replace with actual
466+
// measurement
467+
public static final Distance ELEVATOR_PIVOT_WIDTH = Units.Inches.of(4.3); // TODO: Replace with actual measurement
468+
469+
public static final Distance ELEVATOR_LENGTH = Units.Inches.of(10); // TODO: Replace with actual measurement
470+
public static final Angle ELEVATOR_DEFAULT_ANGLE = Units.Degrees.of(0); // TODO: Replace with actual measurement
471+
public static final Distance ELEVATOR_WIDTH = Units.Inches.of(4.3); // TODO: Replace with actual measurement
472+
473+
public static final Distance INTAKE_WRIST_LENGTH = Units.Inches.of(10); // TODO: Replace with actual measurement
474+
public static final Angle INTAKE_WRIST_DEFAULT_ANGLE = Units.Degrees.of(0); // TODO: Replace with actual
475+
// measurement
476+
public static final Distance INTAKE_WRIST_WIDTH = Units.Inches.of(4.3); // TODO: Replace with actual measurement
477477
}
478478
}

‎src/main/java/frc/robot/subsystems/RobotPoses.java‎

Lines changed: 18 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,10 @@
44

55
package frc.robot.subsystems;
66

7-
import edu.wpi.first.units.Units;
87
import edu.wpi.first.epilogue.Logged;
98
import edu.wpi.first.epilogue.NotLogged;
109
import edu.wpi.first.math.geometry.Pose3d;
11-
10+
import edu.wpi.first.units.Units;
1211
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
1312
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
1413
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
@@ -25,7 +24,7 @@ public class RobotPoses extends SubsystemBase {
2524
MechanismLigament2d elevatorPivot; // Pivot point for the elevator
2625
MechanismLigament2d elevator;
2726
MechanismLigament2d intakeWrist;
28-
Mechanism2d mech = new Mechanism2d(3, 3);
27+
Mechanism2d mech = new Mechanism2d(0, 0);
2928

3029
@NotLogged
3130
Drivetrain subDrivetrain;
@@ -43,26 +42,31 @@ public RobotPoses(Drivetrain subDrivetrain, Elevator subElevator, Intake subInta
4342
// the main mechanism object
4443

4544
// the mechanism root node
46-
MechanismRoot2d root = mech.getRoot("drivetrain", constRobotPoses.ROOT_X.in(Units.Meters),
45+
MechanismRoot2d root = mech.getRoot(
46+
"drivetrain",
47+
constRobotPoses.ROOT_X.in(Units.Meters),
4748
constRobotPoses.ROOT_Y.in(Units.Meters));
4849

49-
elevatorPivot = root
50-
.append(new MechanismLigament2d("elevator-pivot", constRobotPoses.ELEVATOR_PIVOT_LENGTH.in(Units.Meters),
50+
elevatorPivot = root.append(
51+
new MechanismLigament2d("elevator-pivot",
52+
constRobotPoses.ELEVATOR_PIVOT_LENGTH.in(Units.Meters),
5153
constRobotPoses.ELEVATOR_PIVOT_DEFAULT_ANGLE.in(Units.Degrees),
52-
constRobotPoses.ELEVATOR_PIVOT_WIDTH.in(Units.Meters),
54+
constRobotPoses.ELEVATOR_PIVOT_WIDTH.in(Units.Centimeters),
5355
new Color8Bit(Color.kGreen)));
56+
5457
elevator = elevatorPivot.append(
55-
new MechanismLigament2d("elevator", constRobotPoses.ELEVATOR_LENGTH.in(Units.Meters),
58+
new MechanismLigament2d("elevator",
59+
constRobotPoses.ELEVATOR_LENGTH.in(Units.Meters),
5660
constRobotPoses.ELEVATOR_DEFAULT_ANGLE.in(Units.Degrees),
57-
constRobotPoses.ELEVATOR_WIDTH.in(Units.Meters), new Color8Bit(Color.kBlue)));
58-
// Set default motor configurations if needed
59-
// e.g., elevatorLeftMotor.configFactoryDefault();
60-
// post the mechanism to the dashboard
61+
constRobotPoses.ELEVATOR_WIDTH.in(Units.Centimeters),
62+
new Color8Bit(Color.kBlue)));
6163

6264
intakeWrist = elevator.append(
63-
new MechanismLigament2d("intake-wrist", constRobotPoses.INTAKE_WRIST_LENGTH.in(Units.Meters),
65+
new MechanismLigament2d("intake-wrist",
66+
constRobotPoses.INTAKE_WRIST_LENGTH.in(Units.Meters),
6467
constRobotPoses.INTAKE_WRIST_DEFAULT_ANGLE.in(Units.Degrees),
65-
constRobotPoses.INTAKE_WRIST_WIDTH.in(Units.Meters), new Color8Bit(Color.kRed)));
68+
constRobotPoses.INTAKE_WRIST_WIDTH.in(Units.Centimeters),
69+
new Color8Bit(Color.kRed)));
6670
}
6771

6872
@Override

0 commit comments

Comments
 (0)