invert joysticks and add new auto

FRC3636 · Oct 17, 2024 · 9b8d324 · 9b8d324
1 parent d53abc8
commit 9b8d324
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Showing 3 changed files with 59 additions and 3 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto b/src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto
@@ -0,0 +1,56 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7003471493721009,
+      "y": 6.668600082397461
+    },
+    "rotation": 60.52408484195273
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ensureNoteSecure"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "revAimSpeaker"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "shootWhenReady"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stow"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp 1-Piece, Mobility 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Amp Side",
+  "choreoAuto": true
+}
diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
@@ -241,8 +241,8 @@ object Drivetrain : Subsystem, TalonFXStatusProvider {
 
                 chassisSpeeds =
                     ChassisSpeeds.fromFieldRelativeSpeeds(
-                        translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
-                        translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
+                        -translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
+                        -translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
                         -rotationJoystick.x * TAU * ROTATION_SENSITIVITY,
                         gyroRotation.toRotation2d()
                     )

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt
@@ -264,7 +264,7 @@ class PivotIOKraken : PivotIO {
         const val PROFILE_JERK = 80.0
 
         val HARDSTOP_OFFSET: Rotation2d = Rotation2d.fromDegrees(-27.0)
-        val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(219.5) + HARDSTOP_OFFSET
+        val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(229.5) + HARDSTOP_OFFSET
     }
 
     override val talonCANStatuses = listOf(leftMotor.version, rightMotor.version)