Team_2648/2025_Robot_Code
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middle of southern maine

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Team 2648 2025-03-15 17:22:30 -04:00
parent 945747778b
commit 51ef5ff2d0
5 changed files with 20 additions and 34 deletions
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6
src/main/deploy/pathplanner/autos/1 L4 Center.auto
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@ -4,6 +4,12 @@
"type": "sequential", "type": "sequential",
"data": { "data": {
"commands": [ "commands": [
{
"type": "named",
"data": {
"name": "Lift L4"
}
},
{ {
"type": "path", "type": "path",
"data": { "data": {

19
src/main/deploy/pathplanner/autos/fein.auto
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@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "New New Path"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

13
src/main/deploy/pathplanner/paths/New New Path.path
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@ -16,11 +16,11 @@
}, },
{ {
"anchor": { "anchor": {
"x": 4.735143442622951, "x": 7.060758196721312,
"y": 6.506454918032786 "y": 6.506454918032786
}, },
"prevControl": { "prevControl": {
"x": 3.7351434426229506, "x": 6.060758196721312,
"y": 6.506454918032786 "y": 6.506454918032786
}, },
"nextControl": null, "nextControl": null,
@ -31,7 +31,14 @@
"rotationTargets": [], "rotationTargets": [],
"constraintZones": [], "constraintZones": [],
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [
{
"name": "Lift L4",
"waypointRelativePos": 0.351851851851855,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 4.0, "maxVelocity": 4.0,
"maxAcceleration": 2.5, "maxAcceleration": 2.5,

9
src/main/deploy/pathplanner/paths/Start to H.path
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@ -31,14 +31,7 @@
"rotationTargets": [], "rotationTargets": [],
"constraintZones": [], "constraintZones": [],
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [ "eventMarkers": [],
{
"name": "Lift L4",
"waypointRelativePos": 0.08214624881291864,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 4.0, "maxVelocity": 4.0,
"maxAcceleration": 2.5, "maxAcceleration": 2.5,

7
src/main/java/frc/robot/RobotContainer.java
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@ -228,14 +228,13 @@ public class RobotContainer {
} }
private void configureNamedCommands() { private void configureNamedCommands() {
new EventTrigger("Lift L4").whileTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)); new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
new EventTrigger("HP Pickup").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)); new EventTrigger("HP Pickup").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand()); NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
NamedCommands.registerCommand("Shoot Coral L4", manipulator.runManipulator(() -> 0.4, true).withTimeout(2).andThen(manipulator.runUntilCollected(() -> 0))); 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("Collect Coral", manipulator.runUntilCollected(() -> 0.30).andThen(manipulator.runUntilCollected(() -> 0)).withTimeout(0.5)); 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("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
.andThen(Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition())));
NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)); NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition));
} }