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driver control updates + autonomous paths.

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This commit is contained in:
Tyler-J42 2024-03-12 14:29:29 -04:00
parent 1754ee43a4
commit 5496d9177e
12 changed files with 372 additions and 130 deletions
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79
src/main/deploy/pathplanner/autos/Left Sub 3s.auto Normal file
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@ -0,0 +1,79 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.4936438362905214,
"y": 6.981410202136645
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Left Subwoofer"
}
},
{
"type": "named",
"data": {
"name": "Charge Shooter"
}
},
{
"type": "named",
"data": {
"name": "Speaker Note Shot"
}
},
{
"type": "path",
"data": {
"pathName": "L Sub to Note 1"
}
},
{
"type": "path",
"data": {
"pathName": "Note 1 to Speaker"
}
},
{
"type": "named",
"data": {
"name": "Charge Shooter"
}
},
{
"type": "named",
"data": {
"name": "Speaker Note Shot"
}
},
{
"type": "path",
"data": {
"pathName": "L Sub to Note 2"
}
},
{
"type": "named",
"data": {
"name": "Charge Shooter"
}
},
{
"type": "named",
"data": {
"name": "Speaker Note Shot"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

2
src/main/deploy/pathplanner/autos/Left Subwoofer Center 2S.auto
View File

@ -32,7 +32,7 @@
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "L Sub to Center" "pathName": "L Sub to Note 1"
} }
}, },
{ {

50
src/main/deploy/pathplanner/autos/Right 2 Amp.auto
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@ -1,50 +0,0 @@
{
"version": 1.0,
"startingPose": null,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Speaker Note Shot"
}
},
{
"type": "path",
"data": {
"pathName": "Left Preloaded+Pickup"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Amp Handoff"
}
},
{
"type": "path",
"data": {
"pathName": "Note 1 to amp"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Amp Note Shot"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

46
src/main/deploy/pathplanner/autos/Right 1S 2A.auto → src/main/deploy/pathplanner/autos/Right 2S.auto
View File

@ -2,41 +2,47 @@
"version": 1.0, "version": 1.0,
"startingPose": { "startingPose": {
"position": { "position": {
"x": 1.1134340217398382, "x": 0.4936438362905214,
"y": 6.525338178881486 "y": 4.092954054853979
}, },
"rotation": 42.79740183823424 "rotation": 180.0
}, },
"command": { "command": {
"type": "sequential", "type": "sequential",
"data": { "data": {
"commands": [ "commands": [
{
"type": "path",
"data": {
"pathName": "Right Wall to Sub"
}
},
{
"type": "named",
"data": {
"name": "Charge Shooter"
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Speaker Note Shot" "name": "Speaker Note Shot"
} }
}, },
{
"type": "path",
"data": {
"pathName": "Left Preloaded+Pickup"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
"commands": [ "commands": [
{ {
"type": "wait", "type": "named",
"data": { "data": {
"waitTime": 2.0 "name": "Auto Intake"
} }
}, },
{ {
"type": "named", "type": "path",
"data": { "data": {
"name": "Amp Handoff" "pathName": "Right Sub Note 3"
} }
} }
] ]
@ -45,25 +51,19 @@
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "Note 1 to amp" "pathName": "Note 3 to Sub"
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Amp Note Shot" "name": "Charge Shooter"
} }
}, },
{ {
"type": "path", "type": "named",
"data": { "data": {
"pathName": "Leftmost Center Note" "name": "Speaker Note Shot"
}
},
{
"type": "path",
"data": {
"pathName": "Note 1 to amp"
} }
} }
] ]

43
src/main/deploy/pathplanner/autos/Right 3 Amp.auto
View File

@ -1,43 +0,0 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.1134340217398382,
"y": 6.525338178881486
},
"rotation": 33.13560954871888
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Left Preloaded+Pickup"
}
},
{
"type": "path",
"data": {
"pathName": "Note 1 to amp"
}
},
{
"type": "path",
"data": {
"pathName": "Leftmost Center Note"
}
},
{
"type": "path",
"data": {
"pathName": "Note 1 to amp"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

4
src/main/deploy/pathplanner/paths/L Sub to Center.path → src/main/deploy/pathplanner/paths/L Sub to Note 1.path
View File

@ -3,12 +3,12 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 1.1251281761822782, "x": 1.0900457128549583,
"y": 6.560420642208806 "y": 6.560420642208806
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 1.569506044994996, "x": 1.5344235816676761,
"y": 7.098351746561042 "y": 7.098351746561042
}, },
"isLocked": false, "isLocked": false,

92
src/main/deploy/pathplanner/paths/L Sub to Note 2.path Normal file
View File

@ -0,0 +1,92 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.0900457128549583,
"y": 6.548726487766366
},
"prevControl": null,
"nextControl": {
"x": 1.4993411183403562,
"y": 6.490255715554167
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.247767002656512,
"y": 5.87046553010485
},
"prevControl": {
"x": 1.8852482149408738,
"y": 6.256372626705368
},
"nextControl": {
"x": 2.61028579037215,
"y": 5.484558433504332
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.0900457128549583,
"y": 6.548726487766366
},
"prevControl": {
"x": 2.095742994904793,
"y": 6.805997885500045
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.1,
"rotationDegrees": 157.35591349901955,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [
{
"name": "New Event Marker",
"waypointRelativePos": 0.1,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Auto Intake"
}
}
]
}
}
}
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": -153.43494882292208,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -148.523160650416,
"velocity": 0
},
"useDefaultConstraints": true
}

8
src/main/deploy/pathplanner/paths/Note 1 to Speaker.path
View File

@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 1.2654580294915574, "x": 1.136822330624718,
"y": 6.291455090032687 "y": 6.478561561111727
}, },
"prevControl": { "prevControl": {
"x": 1.7098358983042754, "x": 1.581200199437436,
"y": 6.525338178881486 "y": 6.712444649960526
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

52
src/main/deploy/pathplanner/paths/Note 3 to Sub.path Normal file
View File

@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.2360728482140724,
"y": 4.139730672623739
},
"prevControl": null,
"nextControl": {
"x": 1.8501657516135543,
"y": 3.940930047102261
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.9380217051032389,
"y": 4.4671669970120575
},
"prevControl": {
"x": 1.6162826627647555,
"y": 3.730435267138341
},
"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": 132.43622978853497,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -1.5911402711946612,
"velocity": 0
},
"useDefaultConstraints": true
}

58
src/main/deploy/pathplanner/paths/Right Sub Note 3.path Normal file
View File

@ -0,0 +1,58 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.0666574039700785,
"y": 4.373613761472538
},
"prevControl": null,
"nextControl": {
"x": 1.5344235816676757,
"y": 4.338531298145218
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.282849465983832,
"y": 4.139730672623739
},
"prevControl": {
"x": 1.7210430076110608,
"y": 4.139730672623739
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.0,
"rotationDegrees": 180.0,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 131.18592516570968,
"velocity": 0
},
"useDefaultConstraints": true
}

52
src/main/deploy/pathplanner/paths/Right Wall to Sub.path Normal file
View File

@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.4936438362905214,
"y": 4.092954054853979
},
"prevControl": null,
"nextControl": {
"x": 1.359011265031077,
"y": 4.034483282641779
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.0198807862003185,
"y": 4.502249460339376
},
"prevControl": {
"x": 1.0315749406427583,
"y": 4.116342363738859
},
"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": 141.34019174590983,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}

14
src/main/java/frc/robot/RobotContainer.java
View File

@ -194,13 +194,13 @@ public class RobotContainer {
) )
); );
driver.leftTrigger().onTrue( driver.leftTrigger().onTrue(Commands.parallel(
new InstantCommand( new InstantCommand(
() -> { () -> {
intakeDown = true; intakeDown = true;
} }
) ), indexer.advanceNote()
); ));
shooter.setDefaultCommand( shooter.setDefaultCommand(
shooter.angleSpeedsSetpoints( shooter.angleSpeedsSetpoints(
@ -214,8 +214,10 @@ public class RobotContainer {
() -> { () -> {
if(driver.getRightTriggerAxis() > 0.25){ if(driver.getRightTriggerAxis() > 0.25){
return 1.0; return 1.0;
} else if(operator.getRightTriggerAxis() > 0.25){
return -1.0;
}else{ }else{
return 0; return 0.0;
} }
} }
) )
@ -240,7 +242,7 @@ public class RobotContainer {
indexer.setDefaultCommand(indexer.shootNote( indexer.setDefaultCommand(indexer.shootNote(
() -> { () -> {
if (driver.getLeftTriggerAxis() > .25) { if (driver.getRightTriggerAxis() > .25) {
return -1.0; return -1.0;
}else { }else {
return 0.0; return 0.0;
@ -354,7 +356,7 @@ public class RobotContainer {
//operator.povDown().whileTrue(intake.intakeDownCommand()); //operator.povDown().whileTrue(intake.intakeDownCommand());
//operator.povUp().whileTrue(intake.intakeUpCommand()); //operator.povUp().whileTrue(intake.intakeUpCommand());
driver.leftTrigger().whileTrue(Commands.parallel( intake.manualPivot(() -> 0.0, () -> 1.0), indexer.advanceNote())); //driver.leftTrigger().whileTrue(Commands.parallel( intake.manualPivot(() -> 0.0, () -> 1.0), indexer.advanceNote()));
} }