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12 changed files with 13 additions and 232 deletions
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1
CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/constants/ShooterConstants.java
View File

@ -12,7 +12,6 @@ public class ShooterConstants {
public static final double kEncoderConversionFactor = 0;
public static final double kBangBangTolerance = 0;
public static final double kBangBangVoltageMultiplier = 10;
public static final double kFFS = 0;
public static final double kFFV = 0;

2
CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/subsystems/Shooter.java
View File

@ -53,7 +53,7 @@ public class Shooter extends SubsystemBase {
double output = controller.calculate(
(motor1Encoder.getRate() + motor2Encoder.getRate()) / 2,
speed
) * ShooterConstants.kBangBangVoltageMultiplier + ff.calculate(speed);
) + ff.calculate(speed);
motor1.setVoltage(output);
});

4
CS20 - REV Swerve/src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -20,8 +20,8 @@ import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.ADIS16470_IMU;
import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
import frc.robot.constants.DrivetrainConstants;
import frc.robot.utils.MAXSwerveModule;
import frc.robot.utils.SwerveUtils;
import frc.utils.MAXSwerveModule;
import frc.utils.SwerveUtils;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

2
CS20 - REV Swerve/src/main/java/frc/robot/utils/MAXSwerveModule.java → CS20 - REV Swerve/src/main/java/frc/utils/MAXSwerveModule.java
View File

@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.utils;
package frc.utils;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;

2
CS20 - REV Swerve/src/main/java/frc/robot/utils/SwerveUtils.java → CS20 - REV Swerve/src/main/java/frc/utils/SwerveUtils.java
View File

@ -1,4 +1,4 @@
package frc.robot.utils;
package frc.utils;
public class SwerveUtils {

31
CS21 - PathPlanner Basics/src/main/deploy/pathplanner/autos/Gremlin.auto
View File

@ -1,31 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2.0,
"y": 7.0
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "New Path"
}
},
{
"type": "named",
"data": {
"name": null
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

1
CS21 - PathPlanner Basics/src/main/deploy/pathplanner/navgrid.json
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File diff suppressed because one or more lines are too long

68
CS21 - PathPlanner Basics/src/main/deploy/pathplanner/paths/Example Path.path
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@ -1,68 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.9219209708544644,
"y": 4.185419462073272
},
"prevControl": {
"x": 3.9219209708544644,
"y": 4.185419462073272
},
"nextControl": {
"x": 5.921920970854464,
"y": 4.185419462073272
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.124773319314081,
"y": 4.185419462073272
},
"prevControl": {
"x": 6.67504098644561,
"y": 3.190431108134944
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": -91.7272598416291,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}

100
CS21 - PathPlanner Basics/src/main/deploy/pathplanner/paths/New Path.path
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@ -1,100 +0,0 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.6077077608723753,
"y": 0.578382247674906
},
"prevControl": {
"x": 1.6077077608723753,
"y": 0.578382247674906
},
"nextControl": {
"x": 3.6077077608723753,
"y": 0.578382247674906
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 9.585609716676286,
"y": 1.026162052325425
},
"prevControl": {
"x": 9.52815390120199,
"y": -0.017618595457612685
},
"nextControl": {
"x": 9.641582192257601,
"y": 2.0429953587193106
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.512803934698777,
"y": 7.602927933128594
},
"prevControl": {
"x": 8.765079824050103,
"y": 7.436655187872565
},
"nextControl": {
"x": 8.102339113771444,
"y": 7.873461565106268
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.572424781213199,
"y": 7.2857505715011435
},
"prevControl": {
"x": 6.2272611817974,
"y": 7.127161890688737
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 13.828650972347063,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}

20
CS21 - PathPlanner Basics/src/main/java/frc/robot/RobotContainer.java
View File

@ -12,9 +12,6 @@ import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
@ -45,12 +42,12 @@ public class RobotContainer {
drivetrain = new Drivetrain();
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
NamedCommands.registerCommand("Set Drivetrain X", drivetrain.setXCommand());
autoChooser = AutoBuilder.buildAutoChooser();
// Configure the button bindings
configureButtonBindings();
configureShuffleboard();
configureNamedCommands();
}
/**
@ -89,19 +86,6 @@ public class RobotContainer {
);
}
private void configureShuffleboard() {
ShuffleboardTab autoTab = Shuffleboard.getTab(OIConstants.kAutoTabName);
autoTab.add("Auto Selection", autoChooser)
.withPosition(0, 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kComboBoxChooser);
}
private void configureNamedCommands() {
NamedCommands.registerCommand("Set Drivetrain X", drivetrain.setXCommand());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*

2
CS21 - PathPlanner Basics/src/main/java/frc/robot/constants/OIConstants.java
View File

@ -3,6 +3,4 @@ package frc.robot.constants;
public class OIConstants {
public static final int kDriverControllerPort = 0;
public static final double kDriveDeadband = 0.05;
public static final String kAutoTabName = "Autonomous";
}

12
CS21 - PathPlanner Basics/vendordeps/PathplannerLib2024.json → CS21 - PathPlanner Basics/vendordeps/PathplannerLib.json
View File

@ -1,18 +1,18 @@
{
"fileName": "PathplannerLib2024.json",
"fileName": "PathplannerLib.json",
"name": "PathplannerLib",
"version": "2024.2.8",
"version": "2024.2.7",
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
"frcYear": "2024",
"mavenUrls": [
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
],
"jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2024.json",
"jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
"javaDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2024.2.8"
"version": "2024.2.7"
}
],
"jniDependencies": [],
@ -20,7 +20,7 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2024.2.8",
"version": "2024.2.7",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
@ -35,4 +35,4 @@
]
}
]
}
}