center 4 piece, intake reverse, hood software limits

src/main/deploy/pathplanner/autos/Center Sub 4s.auto

@@ -0,0 +1,118 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3216735004898588,
+      "y": 5.55593454044051
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Center Sub to Note 1"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Auto Intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to Center Sub"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Center Sub to Note 2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Auto Intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 2 to Center Sub"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Left Sub to Note 3"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Auto Intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Note 3 to Sub"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/From Subwoofer Far Edge to Amp.auto

@@ -1,25 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.7046435911053639,
-      "y": 4.3751818412727745
-    },
-    "rotation": 120.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "From Subwoofer Far Edge to Amp"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/From Subwoofer Front to Amp.auto

@@ -1,25 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 1.29,
-      "y": 5.58
-    },
-    "rotation": 0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "From Subwoofer Front to Amp"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/He He He Haw.auto

@@ -1,25 +0,0 @@
-{
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 0.4585613729632017,
-      "y": 7.0398809743488435
-    },
-    "rotation": 180.0
-  },
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "He He He Haw"
-          }
-        }
-      ]
-    }
-  },
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Left Sub 4s.auto

@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.4936438362905214,
+      "x": 0.5740411480822968,
-      "y": 6.981410202136645
+      "y": 7.021880329474945
     },
     "rotation": 180.0
   },

src/main/deploy/pathplanner/paths/Center Sub to Note 1.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.7046435911053639,
+        "x": 1.3216735004898588,
-        "y": 4.3751818412727745
+        "y": 5.55593454044051
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4368920788482864,
+        "x": 1.8054356108712222,
-        "y": 3.1622483921028106
+        "y": 6.010377735041184
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.82409310273166,
+        "x": 2.421132842265685,
-        "y": 7.565612949407717
+        "y": 6.728691171668058
       },
       "prevControl": {
-        "x": 1.8176568333482528,
+        "x": 2.1572626002394863,
-        "y": 6.336387277909188
+        "y": 6.3328858086287605
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 89.21368742867472,
+    "rotation": -151.8214098900407,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 122.73522627210761,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Center Sub to Note 2.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2945574370576298,
+        "x": 1.3216735004898588,
-        "y": 5.580559282764361
+        "y": 5.541275082550166
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2786077412442953,
+        "x": 2.3216735004898608,
-        "y": 5.580559282764361
+        "y": 5.541275082550166
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8232420006879377,
+        "x": 2.289197721252586,
-        "y": 7.533755031731888
+        "y": 5.541275082550166
       },
       "prevControl": {
-        "x": 1.8232420006879377,
+        "x": 1.2891977212525858,
-        "y": 6.694612522270728
+        "y": 5.541275082550166
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0,
+    "rotation": 180.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 0,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Gremlin Start.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.4585613729632017,
+        "x": 0.66,
-        "y": 4.0695657459691
+        "y": 4.38
       },
       "prevControl": null,
       "nextControl": {
-        "x": 0.7743035429090797,
+        "x": 0.8945513262455097,
-        "y": 3.9643183559871398
+        "y": 3.688073587575746
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.9029392417759192,
+        "x": 0.9539344375942316,
-        "y": 4.408696224799858
+        "y": 4.503791885637482
       },
       "prevControl": {
-        "x": 1.2654580294915574,
+        "x": 1.3164532253098697,
-        "y": 4.02278912819934
+        "y": 4.117884789036965
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 132.79740183823424,
+    "rotation": 133.4021151464655,
     "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 180.0,
+    "rotation": 119.88721357012417,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/He He He Haw.path

@@ -1,74 +0,0 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 0.4585613729632017,
-        "y": 7.0398809743488435
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 1.4585613729632003,
-        "y": 7.0398809743488435
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.7856981070087494,
-        "y": 5.98740707452925
-      },
-      "prevControl": {
-        "x": 1.7856981070087494,
-        "y": 5.98740707452925
-      },
-      "nextControl": {
-        "x": 3.7856981070087494,
-        "y": 5.98740707452925
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.69184528112646,
-        "y": 7.051575128791284
-      },
-      "prevControl": {
-        "x": 4.238771694067605,
-        "y": 6.519491101660266
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 1.0,
-      "rotationDegrees": 90.0,
-      "rotateFast": false
-    }
-  ],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 4.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 88.210089391754,
-    "rotateFast": false
-  },
-  "reversed": false,
-  "folder": null,
-  "previewStartingState": {
-    "rotation": 0,
-    "velocity": 0
-  },
-  "useDefaultConstraints": true
-}

src/main/deploy/pathplanner/paths/Note 1 to Center Sub.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.353014392638472,
+        "x": 2.230559889691208,
-        "y": 6.993104356579084
+        "y": 6.640734424325992
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.768306670516475,
+        "x": 1.8200950687615667,
-        "y": 7.004798511021523
+        "y": 5.863783156137741
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8384715971711143,
+        "x": 1.3070140425995143,
-        "y": 7.624588696470841
+        "y": 5.570593998330854
       },
       "prevControl": {
-        "x": 1.7950792079196904,
+        "x": 1.8494139845422553,
-        "y": 7.315863019194643
+        "y": 5.629231829892232
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,18 +30,7 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [
+  "eventMarkers": [],
-    {
-      "name": "New Event Marker",
-      "waypointRelativePos": 0,
-      "command": {
-        "type": "parallel",
-        "data": {
-          "commands": []
-        }
-      }
-    }
-  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
@@ -49,14 +38,14 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0.0,
+    "velocity": 0,
-    "rotation": 90.0,
+    "rotation": 180.0,
-    "rotateFast": true
+    "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": -178.36342295838335,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Note 2 to Center Sub.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.503225806451614,
+        "y": 5.535411299394028
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.016531804492181,
+        "y": 5.541275082550166
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.3480605246924788,
+        "y": 5.535411299394028
+      },
+      "prevControl": {
+        "x": 1.6881599477484674,
+        "y": 5.55300264886244
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -178.53119928561404,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.0095431619434665,
+        "x": 7.639899851228273,
-        "y": 0.8355890997496291
+        "y": 0.7769512681882514
       },
       "prevControl": {
-        "x": 6.0095431619434665,
+        "x": 6.639899851228273,
-        "y": 0.8355890997496291
+        "y": 0.7769512681882514
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 180.0,
     "rotateFast": false
   },
   "reversed": false,

src/main/java/frc/robot/RobotContainer.java

@@ -233,8 +233,6 @@ public class RobotContainer {
             )
         );
 
-        //intake.setDefaultCommand(intake.intakeUpCommand());
-        //intake.setDefaultCommand(intake.manualPivot(() -> -operator.getLeftY(), operator::getRightY));
         intake.setDefaultCommand(
             intake.intakeControl(
                 () -> {
@@ -247,6 +245,8 @@ public class RobotContainer {
                 () -> {
                     if(intakeDown && indexer.getBeamBreak()){
                         return 1.0;
+                    }else if(operator.leftBumper().getAsBoolean()){
+                        return -1.0;
                     }else{
                         return 0.0;
                     }
@@ -290,7 +290,6 @@ public class RobotContainer {
                 }
             )
         );
-        //shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis));
 
         driver.leftBumper().onTrue(
             shooter.angleSpeedsSetpoints(
@@ -415,18 +414,13 @@ public class RobotContainer {
         driver.a().whileTrue(indexer.shootNote(() -> 1.0));
 
         operator.back().toggleOnTrue(shooter.manualPivot(
-        () -> MathUtil.clamp(-operator.getLeftY(), -0.75, 0.75),
+        () -> MathUtil.clamp(-operator.getLeftY(), -0.5, 0.5),
-        () -> MathUtil.clamp(operator.getRightTriggerAxis()-operator.getLeftTriggerAxis(), -0.75, 0.75)
+        () -> MathUtil.clamp(driver.getRightTriggerAxis(), -1, 1)
         ));
 
         driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
 
         operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
-
-        //operator.povDown().whileTrue(intake.intakeDownCommand());
-        //operator.povUp().whileTrue(intake.intakeUpCommand());
-
-        //driver.leftTrigger().whileTrue(Commands.parallel( intake.manualPivot(() -> 0.0, () -> 1.0), indexer.advanceNote()));
         
   }
 

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

@@ -29,9 +29,11 @@ public class Climber extends SubsystemBase {
 
     public Command setSpeedWithSupplier(DoubleSupplier speed) {
         return run(() -> {
-
+            if(shooterAngle.getAsDouble() <= ShooterConstants.kShooterLoadAngle){
-            motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
+           
-            
+                motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
+                 
+            }
         });
     }
 

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

@@ -141,9 +141,14 @@ public class Shooter extends SubsystemBase{
 
     public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
         return run(() ->{
-            shooterPivot.set(pivotPower.getAsDouble());
+            shooterPivot.setIdleMode(IdleMode.kBrake);
+            if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle || getShooterAngle() <= ShooterConstants.kShooterAmpAngle){
+                shooterPivot.set(pivotPower.getAsDouble());
+            }
+
             topShooter.set(spinny.getAsDouble());
             bottomShooter.set(spinny.getAsDouble());
+            
         });
     }
 

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.6",
+    "version": "2024.2.7",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.6"
+            "version": "2024.2.7"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.6",
+            "version": "2024.2.7",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/REVLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.3",
+    "version": "2024.2.4",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.3"
+            "version": "2024.2.4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,