Merge pull request #533 from Coolearthsky/visualServoing

Work from today
Team100 · Oct 31, 2024 · 8cc79bd · 8cc79bd
2 parents 7b033ea + cd529e7
commit 8cc79bd
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/lib/src/main/java/org/team100/lib/controller/drivetrain/HolonomicDriveControllerFactory.java b/lib/src/main/java/org/team100/lib/controller/drivetrain/HolonomicDriveControllerFactory.java
@@ -29,7 +29,7 @@ public static PIDController cartesian() {
                 pid.setTolerance(0.01); // 1 cm
                 return pid;
             case SWERVE_ONE:
-                pid = new PIDController(0.15, 0, 0);
+                pid = new PIDController(0.3, 0, 0);
                 pid.setIntegratorRange(-0.1, 0.1);
                 pid.setTolerance(0.01); // 1 cm
                 return pid;

diff --git a/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java b/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java
@@ -105,7 +105,7 @@ public static SwerveModuleCollection get(
                                 DriveRatio.FAST, AnalogTurningEncoder.class,
                                 12,
                                 2,
-                                0.347717,
+                                0.336,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(frontRightLogger,
@@ -115,7 +115,7 @@ public static SwerveModuleCollection get(
                                 DriveRatio.FAST, AnalogTurningEncoder.class,
                                 11,
                                 1,
-                                0.60923,  
+                                0.619,  
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(rearLeftLogger,
@@ -125,7 +125,7 @@ public static SwerveModuleCollection get(
                                 DriveRatio.FAST, AnalogTurningEncoder.class,
                                 21,
                                 3,
-                                0.60012,
+                                0.591,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(rearRightLogger,
@@ -135,7 +135,7 @@ public static SwerveModuleCollection get(
                                 DriveRatio.FAST, AnalogTurningEncoder.class,
                                 33,
                                 0,
-                                0.489393,
+                                0.512,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE));
             case BETA_BOT:

diff --git a/raspberry_pi/app/camera/real_camera.py b/raspberry_pi/app/camera/real_camera.py
@@ -301,8 +301,8 @@ def __mtx_from_model(model: Model) -> Mat:
             case Model.GS:
                 return np.array(
                     [
-                        [1680, 0, 728],
-                        [0, 1680, 544],
+                        [1780, 0, 728],
+                        [0, 1780, 544],
                         [0, 0, 1],
                     ]
                 )