diff --git a/src/main/deploy/pathplanner/autos/Two Coral Right.auto b/src/main/deploy/pathplanner/autos/Two Coral Right.auto new file mode 100644 index 0000000..829bc04 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Two Coral Right.auto @@ -0,0 +1,49 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Start to E" + } + }, + { + "type": "named", + "data": { + "name": "Shoot Coral L4" + } + }, + { + "type": "named", + "data": { + "name": "HP Pickup" + } + }, + { + "type": "path", + "data": { + "pathName": "E to HP" + } + }, + { + "type": "named", + "data": { + "name": "Collect Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "HP to D" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/150 Right to HP.path b/src/main/deploy/pathplanner/paths/E to HP.path similarity index 50% rename from src/main/deploy/pathplanner/paths/150 Right to HP.path rename to src/main/deploy/pathplanner/paths/E to HP.path index 00d9fa7..b0b204f 100644 --- a/src/main/deploy/pathplanner/paths/150 Right to HP.path +++ b/src/main/deploy/pathplanner/paths/E to HP.path @@ -3,35 +3,54 @@ "waypoints": [ { "anchor": { - "x": 5.289041095890411, - "y": 2.9732020547945206 + "x": 4.958476027397261, + "y": 2.837970890410959 }, "prevControl": null, "nextControl": { - "x": 5.950171232876712, - "y": 1.6208904109589037 + "x": 5.619606164383562, + "y": 1.455607876712329 }, "isLocked": false, - "linkedName": null + "linkedName": "E" }, { "anchor": { - "x": 1.4424657534246574, - "y": 0.7944777397260271 + "x": 1.1569777397260272, + "y": 1.0198630136986298 }, "prevControl": { - "x": 2.389083904109589, - "y": 2.5374571917808213 + "x": 2.7647260273972605, + "y": 1.485659246575342 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "Right HP" } ], "rotationTargets": [], "constraintZones": [], "pointTowardsZones": [], - "eventMarkers": [], + "eventMarkers": [ + { + "name": "HP Pickup", + "waypointRelativePos": 0.22857142857142831, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "HP Pickup" + } + } + ] + } + } + } + ], "globalConstraints": { "maxVelocity": 4.0, "maxAcceleration": 2.5, @@ -48,7 +67,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 120.96375653207336 + "rotation": 120.25643716352937 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/HP to D.path similarity index 58% rename from src/main/deploy/pathplanner/paths/New New Path.path rename to src/main/deploy/pathplanner/paths/HP to D.path index ff4331d..535ea23 100644 --- a/src/main/deploy/pathplanner/paths/New New Path.path +++ b/src/main/deploy/pathplanner/paths/HP to D.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.5773565573770494, - "y": 6.506454918032786 + "x": 1.187029109589041, + "y": 0.9747859589041092 }, "prevControl": null, "nextControl": { - "x": 3.5773565573770494, - "y": 6.506454918032786 + "x": 2.268878424657535, + "y": 1.0949914383561645 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.060758196721312, - "y": 6.506454918032786 + "x": 4.011857876712329, + "y": 2.837970890410959 }, "prevControl": { - "x": 6.060758196721312, - "y": 6.506454918032786 + "x": 3.3657534246575342, + "y": 1.9364297945205475 }, "nextControl": null, "isLocked": false, @@ -34,9 +34,21 @@ "eventMarkers": [ { "name": "Lift L4", - "waypointRelativePos": 0.351851851851855, + "waypointRelativePos": 0.27142857142857096, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Lift L4" + } + } + ] + } + } } ], "globalConstraints": { @@ -49,13 +61,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 90.0 + "rotation": 58.57043438516136 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -90.0 + "rotation": 54.24611274556325 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Right Start to 150 Right.path b/src/main/deploy/pathplanner/paths/Right Start to E.path similarity index 61% rename from src/main/deploy/pathplanner/paths/Right Start to 150 Right.path rename to src/main/deploy/pathplanner/paths/Right Start to E.path index 6ed2c94..99e8cc1 100644 --- a/src/main/deploy/pathplanner/paths/Right Start to 150 Right.path +++ b/src/main/deploy/pathplanner/paths/Right Start to E.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 7.602996575342465, - "y": 2.0115582191780823 + "x": 7.572945205479453, + "y": 0.4939640410958907 }, "prevControl": null, "nextControl": { - "x": 6.491095890410959, - "y": 1.9965325342465756 + "x": 6.461044520547946, + "y": 0.478938356164384 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.289041095890411, - "y": 2.9882277397260277 + "x": 4.958476027397261, + "y": 2.837970890410959 }, "prevControl": { - "x": 6.130479452054795, - "y": 2.11673801369863 + "x": 5.799914383561644, + "y": 1.9664811643835614 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "E" } ], "rotationTargets": [], @@ -34,9 +34,21 @@ "eventMarkers": [ { "name": "Lift L4", - "waypointRelativePos": 0.7142857142857124, + "waypointRelativePos": 0.4261904761904757, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Lift L4" + } + } + ] + } + } } ], "globalConstraints": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e5205c9..60bd03c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -237,7 +237,7 @@ public class RobotContainer { new EventTrigger("HP Pickup").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)); NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand()); - NamedCommands.registerCommand("Shoot Coral L4", Commands.race(manipulator.runManipulator(() -> 0.4, true).withTimeout(3).andThen(manipulator.runUntilCollected(() -> 0.0).withTimeout(0.1)), Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition()))); + NamedCommands.registerCommand("Shoot Coral L4", Commands.race(manipulator.runManipulator(() -> 0.4, true).withTimeout(1).andThen(manipulator.runUntilCollected(() -> 0.0).withTimeout(0.1)), Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition()))); NamedCommands.registerCommand("Collect Coral", manipulator.runUntilCollected(() -> 0.30).andThen(manipulator.runUntilCollected(() -> 0)).withTimeout(0.5)); NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)); NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition));