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two and three peice from left sub works

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This commit is contained in:
Bradley Bickford 2024-03-12 18:16:08 -04:00
parent 5496d9177e
commit f538076438
11 changed files with 176 additions and 81 deletions
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38
src/main/deploy/pathplanner/autos/Left Sub 3s.auto
View File

@ -30,9 +30,22 @@
}
},
{
"type": "path",
"type": "parallel",
"data": {
"pathName": "L Sub to Note 1"
"commands": [
{
"type": "path",
"data": {
"pathName": "L Sub to Note 1"
}
},
{
"type": "named",
"data": {
"name": "Auto Intake"
}
}
]
}
},
{
@ -53,10 +66,29 @@
"name": "Speaker Note Shot"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "L Sub to Note 2"
}
},
{
"type": "named",
"data": {
"name": "Auto Intake"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "L Sub to Note 2"
"pathName": "Note 2 to L Sub"
}
},
{

17
src/main/deploy/pathplanner/autos/Left Subwoofer Center 2S.auto
View File

@ -30,9 +30,22 @@
}
},
{
"type": "path",
"type": "parallel",
"data": {
"pathName": "L Sub to Note 1"
"commands": [
{
"type": "path",
"data": {
"pathName": "L Sub to Note 1"
}
},
{
"type": "named",
"data": {
"name": "Auto Intake"
}
}
]
}
},
{

17
src/main/deploy/pathplanner/paths/L Sub to Note 1.path
View File

@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 1.0900457128549583,
"y": 6.560420642208806
"x": 1.4408703461281565,
"y": 6.583808951093687
},
"prevControl": null,
"nextControl": {
"x": 1.5344235816676761,
"y": 7.098351746561042
"x": 1.8852482149408742,
"y": 7.121740055445923
},
"isLocked": false,
"linkedName": null
@ -43,14 +43,7 @@
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Auto Intake"
}
}
]
"commands": []
}
}
}

56
src/main/deploy/pathplanner/paths/L Sub to Note 2.path
View File

@ -3,41 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 1.0900457128549583,
"y": 6.548726487766366
"x": 1.5578118905525558,
"y": 6.4083966344570875
},
"prevControl": null,
"nextControl": {
"x": 1.4993411183403562,
"y": 6.490255715554167
"x": 1.9671072960379536,
"y": 6.349925862244889
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.247767002656512,
"y": 5.87046553010485
"x": 2.5284267092750707,
"y": 5.671664904583371
},
"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
"x": 2.1659079215594326,
"y": 6.057572001183889
},
"nextControl": null,
"isLocked": false,
@ -46,31 +30,13 @@
],
"rotationTargets": [
{
"waypointRelativePos": 1.1,
"waypointRelativePos": 0.7,
"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"
}
}
]
}
}
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
@ -79,7 +45,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -153.43494882292208,
"rotation": 159.0754982550787,
"rotateFast": false
},
"reversed": false,

10
src/main/deploy/pathplanner/paths/Left Subwoofer.path
View File

@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 1.148516485067158,
"y": 6.560420642208806
"x": 1.2771521839339972,
"y": 6.268066781147808
},
"prevControl": {
"x": 1.5812001994374358,
"y": 6.864468657712245
"x": 1.709835898304275,
"y": 6.572114796651247
},
"nextControl": null,
"isLocked": false,
@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -128.39665211123375,
"rotation": -141.11550356628527,
"rotateFast": false
},
"reversed": false,

10
src/main/deploy/pathplanner/paths/Note 1 to Speaker.path
View File

@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 1.136822330624718,
"y": 6.478561561111727
"x": 1.3122346472613169,
"y": 6.232984317820488
},
"prevControl": {
"x": 1.581200199437436,
"y": 6.712444649960526
"x": 1.756612516074035,
"y": 6.466867406669287
},
"nextControl": null,
"isLocked": false,
@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -145.88552705465875,
"rotation": -141.34019174590983,
"rotateFast": false
},
"reversed": false,

58
src/main/deploy/pathplanner/paths/Note 2 to L Sub.path Normal file
View File

@ -0,0 +1,58 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.1776020760018726,
"y": 5.964018765644369
},
"prevControl": null,
"nextControl": {
"x": 1.9671072960379539,
"y": 6.209596008935608
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2888463383764373,
"y": 6.232984317820488
},
"prevControl": {
"x": 1.6630592805345157,
"y": 6.373314171129768
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": -164.3011806576524,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": -144.293308599397,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 150.25511870305772,
"velocity": 0
},
"useDefaultConstraints": true
}

1
src/main/java/frc/robot/Commands/autoIntaking.java
View File

@ -28,4 +28,5 @@ public class autoIntaking extends Command{
return true;
}else {return false;}
}
}

42
src/main/java/frc/robot/RobotContainer.java
View File

@ -27,6 +27,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@ -101,9 +102,40 @@ public class RobotContainer {
climber = new Climber(shooter::getShooterAngle);
NamedCommands.registerCommand("Charge Shooter 2 Sec", shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0).withTimeout(2.0));
NamedCommands.registerCommand("Speaker Note Shot", Commands.parallel(shooter.angleSpeedsSetpoints(() -> ShooterConstants.kShooterLoadAngle, 1.0, 1.0), indexer.shootNote(() -> 1.0)).withTimeout(2.0));
NamedCommands.registerCommand("Auto Intake", new autoIntaking(intake, indexer::getBeamBreak).andThen(intake.intakeUpCommand()));
NamedCommands.registerCommand(
"Charge Shooter 2 Sec",
shooter.angleSpeedsSetpoints(
() -> ShooterConstants.kShooterLoadAngle,
1.0,
1.0
).withTimeout(2.0)
);
NamedCommands.registerCommand(
"Speaker Note Shot",
Commands.parallel(
shooter.angleSpeedsSetpoints(
() -> ShooterConstants.kShooterLoadAngle,
1.0,
1.0
),
indexer.shootNote(() -> 1.0)
).withTimeout(2.0)
);
NamedCommands.registerCommand(
"Auto Intake",
Commands.parallel(
intake.intakeControl(
() -> IntakeConstants.kDownAngle,
() -> 1.0
),
indexer.advanceNote()
).withTimeout(3.0)//.until(indexer::getBeamBreak)
);
//NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note"));
// An example Named Command, doesn't need to remain once we start actually adding real things
// ALL Named Commands need to be defined AFTER subsystem initialization and BEFORE auto/controller configuration
@ -186,7 +218,7 @@ public class RobotContainer {
)
);
driver.leftTrigger().onFalse(
driver.leftTrigger().whileFalse(
new InstantCommand(
() -> {
intakeDown = false;
@ -194,7 +226,7 @@ public class RobotContainer {
)
);
driver.leftTrigger().onTrue(Commands.parallel(
driver.leftTrigger().whileTrue(Commands.parallel(
new InstantCommand(
() -> {
intakeDown = true;

6
src/main/java/frc/robot/constants/AutoConstants.java
View File

@ -13,9 +13,9 @@ public final class AutoConstants {
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kPXController = 1.05;//5;
public static final double kPYController = 1.05;//5;
public static final double kPThetaController = 0.95;//0.5; // needs to be separate from heading control
public static final double kPXController = 5.5;//5;
public static final double kPYController = 5.5;//5;
public static final double kPThetaController = 5;//0.5; // needs to be separate from heading control
public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
public static final double kDHeadingController = 0.0025;

2
src/main/java/frc/robot/constants/IntakeConstants.java
View File

@ -16,7 +16,7 @@ public class IntakeConstants {
public static final double kGFeedForward = 1;//1.11;
public static final double kVFeedForward = .5;//0.73;
public static final double kStartingAngle = Math.toRadians(105.0);
public static final double kStartingAngle = Math.toRadians(95.0);
public static final double kUpAngle = Math.toRadians(90.0);
public static final double kDownAngle = Math.toRadians(-34.0);