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Reverse robot if in "Danger Zone" for Barge #79

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Merged
mwitcpalek merged 1 commit into from
Jul 9, 2025
Merged

Reverse robot if in "Danger Zone" for Barge #79

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ public boolean isFinished() {
return robotStateSubsystem.getState() == RobotStates.PROCESSOR_ALGAE
|| (robotStateSubsystem.getState() == RobotStates.BARGE_ALGAE
&& !robotStateSubsystem.getIsAutoPlacing())
|| !robotStateSubsystem.getIsBargeSafe();
/*|| !robotStateSubsystem.getIsBargeSafe() */ ;
}
}
}
4 changes: 4 additions & 0 deletions src/main/java/frc/robot/constants/BargeAlignConstants.java
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Expand Up @@ -4,12 +4,16 @@

public class BargeAlignConstants {
public static final double kXSpeed = 0.45;
public static final double kXRevSpeed = 2;

public static final double kBlueEjectAlgaeX = 7.67; // 7.72
public static final double kRedEjectAlgaeX = 9.86; // 9.81
public static final double kBlueRaiseElevatorX = 6.82; // 7.02
public static final double kRedRaiseElevatorX = 10.71; // 10.51

public static final double kBlueRevDoneX = kBlueRaiseElevatorX + 0.25;
public static final double kRedRevDoneX = kRedRaiseElevatorX - 0.25;

public static final double kBlueUnsafeX = 7.02;
public static final double kRedUnsafeX = 10.51;

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22 changes: 11 additions & 11 deletions src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java
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Expand Up @@ -741,18 +741,18 @@ public void toScoreAlgae() {
isBargeSafe =
poseX > RobotStateConstants.kRedBargeSafeX
|| poseX < RobotStateConstants.kBlueBargeSafeX;
if (isBargeSafe) {
driveSubsystem.setDriveMultiplier(DriveConstants.kBargeScoreStickMultiplier);
if (isAutoPlacing) {
setAutoPlacingLed(true);
driveSubsystem.setIgnoreSticks(true);
bargeAlignSubsystem.startBargeAlign(allianceColor);
setState(RobotStates.BARGE_ALIGN);
} else {
elevatorSubsystem.setPosition(ElevatorConstants.kBargeSetpoint);
setState(RobotStates.TO_BARGE_ALGAE);
}
// if (isBargeSafe) {
driveSubsystem.setDriveMultiplier(DriveConstants.kBargeScoreStickMultiplier);
if (isAutoPlacing) {
setAutoPlacingLed(true);
driveSubsystem.setIgnoreSticks(true);
bargeAlignSubsystem.startBargeAlign(allianceColor);
setState(RobotStates.BARGE_ALIGN);
} else {
elevatorSubsystem.setPosition(ElevatorConstants.kBargeSetpoint);
setState(RobotStates.TO_BARGE_ALGAE);
}
// }
}
}
}
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27 changes: 17 additions & 10 deletions src/main/java/frc/robot/subsystems/tagAlign/BargeAlignSubsystem.java
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Expand Up @@ -39,12 +39,12 @@ public BargeAlignSubsystem(FlyskyJoystick flysky, DriveSubsystem driveSubsystem)

public void startBargeAlign(Alliance alliance) {
this.alliance = alliance;
if (isSafe()) {
this.isOnBlueSide = isOnBlueSide();
setState(BargeAlignStates.DRIVE);
setupBargeAlign();
driveOmega.reset();
}
// if (isSafe()) {
this.isOnBlueSide = isOnBlueSide();
setState(BargeAlignStates.DRIVE);
setupBargeAlign();
driveOmega.reset();
// }
}

public void killBargeAlign() {
Expand Down Expand Up @@ -96,6 +96,13 @@ private boolean shouldDriveBackwards() {
: poseX < BargeAlignConstants.kRedUnsafeX;
}

private boolean shouldStopDrivingBackwards() {
double poseX = driveSubsystem.getPoseMeters().getX();
return isOnBlueSide
? poseX < BargeAlignConstants.kBlueRevDoneX
: poseX > BargeAlignConstants.kRedRevDoneX;
}

private boolean shouldEjectAlgae() {
double poseX = driveSubsystem.getPoseMeters().getX();
return isOnBlueSide
Expand Down Expand Up @@ -160,14 +167,14 @@ public void periodic() {
double vOmega =
driveOmega.calculate(
driveSubsystem.getPoseMeters().getRotation().getRadians(), targetYaw.getRadians());
double revX = BargeAlignConstants.kXRevSpeed * (isOnBlueSide ? -1 : 1);
driveSubsystem.move(revX, getYStickReading(), vOmega, true);

driveSubsystem.move(-vX, getYStickReading(), vOmega, true);

Logger.recordOutput("BargeAlign/Vx", vX);
Logger.recordOutput("BargeAlign/Vx", revX);
Logger.recordOutput("BargeAlign/OmegaErr", driveOmega.getError());
Logger.recordOutput("BargeAlign/Vomega", vOmega);

if (shouldRaiseElevator()) {
if (shouldStopDrivingBackwards()) {
setState(BargeAlignStates.RAISE_ELEV);
}
}
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