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Changes from 2/25 build session

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Team 2648 2025-02-25 18:59:42 -05:00
parent 3cf33a049e
commit d2076e7afb
16 changed files with 207 additions and 46 deletions
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31
src/main/deploy/pathplanner/autos/1 L4 Center.auto Normal file
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@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Start to H"
}
},
{
"type": "named",
"data": {
"name": "Shoot Coral L4"
}
},
{
"type": "path",
"data": {
"pathName": "H Backup"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

4
src/main/deploy/pathplanner/paths/150 Right to HP.path
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@ -34,9 +34,9 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

4
src/main/deploy/pathplanner/paths/30 Right to HP.path
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@ -41,9 +41,9 @@
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

4
src/main/deploy/pathplanner/paths/330 Right to HP.path
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@ -46,9 +46,9 @@
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

54
src/main/deploy/pathplanner/paths/H Backup.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.7,
"y": 4.3
},
"prevControl": null,
"nextControl": {
"x": 6.053790983606557,
"y": 4.312704918032787
},
"isLocked": false,
"linkedName": "H"
},
{
"anchor": {
"x": 6.389446721311475,
"y": 4.3
},
"prevControl": {
"x": 6.1394487099079695,
"y": 4.300997143065429
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}

4
src/main/deploy/pathplanner/paths/HP to 330 Left.path
View File

@ -41,9 +41,9 @@
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

4
src/main/deploy/pathplanner/paths/New Path.path
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@ -45,9 +45,9 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

4
src/main/deploy/pathplanner/paths/Right Start to 150 Right.path
View File

@ -41,9 +41,9 @@
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

4
src/main/deploy/pathplanner/paths/Start to 30 Right.path
View File

@ -41,9 +41,9 @@
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},

61
src/main/deploy/pathplanner/paths/Start to H.path Normal file
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@ -0,0 +1,61 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.588217213114754,
"y": 3.9890368852459024
},
"prevControl": null,
"nextControl": {
"x": 6.916905737704918,
"y": 4.036987704918033
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.7,
"y": 4.3
},
"prevControl": {
"x": 6.347336065573771,
"y": 4.2640368852459005
},
"nextControl": null,
"isLocked": false,
"linkedName": "H"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Lift L4",
"waypointRelativePos": 0.08214624881291864,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}

26
src/main/deploy/pathplanner/paths/fein.path
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@ -16,28 +16,28 @@
},
{
"anchor": {
"x": 4.459426229508197,
"y": 5.978995901639344
"x": 6.209631147540984,
"y": 6.074897540983606
},
"prevControl": {
"x": 5.370491803278689,
"y": 5.978995901639344
"x": 7.120696721311476,
"y": 6.074897540983606
},
"nextControl": {
"x": 2.995158619919281,
"y": 5.978995901639344
"x": 4.745363537952068,
"y": 6.074897540983606
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.6543032786885246,
"y": 6.254713114754098
"x": 4.8670081967213115,
"y": 6.973975409836065
},
"prevControl": {
"x": 2.613319672131147,
"y": 6.278688524590164
"x": 5.826024590163935,
"y": 6.9979508196721305
},
"nextControl": null,
"isLocked": false,
@ -50,9 +50,9 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
"unlimited": false
},
@ -64,7 +64,7 @@
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
"rotation": 180.0
},
"useDefaultConstraints": true
}

6
src/main/deploy/pathplanner/settings.json
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@ -5,11 +5,11 @@
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 4.0,
"defaultMaxAccel": 4.0,
"defaultMaxAccel": 1.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultMaxAngAccel": 400.0,
"defaultNominalVoltage": 12.0,
"robotMass": 53.0,
"robotMass": 48.35,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.038,

33
src/main/java/frc/robot/RobotContainer.java
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@ -22,6 +22,8 @@ import java.util.function.IntSupplier;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.events.EventTrigger;
import com.pathplanner.lib.path.EventMarker;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@ -70,6 +72,8 @@ public class RobotContainer {
manipulatorPivot = new ManipulatorPivot();
configureNamedCommands();
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
operator = new CommandXboxController(OIConstants.kOperatorControllerPort);
@ -81,8 +85,6 @@ public class RobotContainer {
//elevatorSysIDBindings();
//elevatorOnlyBindings();
configureNamedCommands();
configureShuffleboard();
}
@ -114,8 +116,8 @@ public class RobotContainer {
drivetrain.setDefaultCommand(
drivetrain.drive(
driver::getLeftY,
driver::getLeftX,
() -> driver.getLeftY(),
() -> driver.getLeftX(),
driver::getRightX,
() -> true
)
@ -148,7 +150,7 @@ public class RobotContainer {
);
driver.leftTrigger().whileTrue(
manipulator.runUntilCollected(() -> 0.35)
manipulator.runUntilCollected(() -> 0.75)
);
driver.start().and(driver.back()).onTrue(
@ -217,21 +219,27 @@ public class RobotContainer {
operator.x().onTrue(
safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
).and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
);
operator.b().onTrue(
safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
).and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
);
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition))
.and(driver.rightTrigger().whileFalse(manipulator.runManipulator(() -> 0.5, false)));
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
);
}
private void configureNamedCommands() {
new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
NamedCommands.registerCommand("Shoot Coral L4", manipulator.runManipulator(() -> 0.4, true));
NamedCommands.registerCommand("Shoot Coral L4", manipulator.runManipulator(() -> 0.4, true).withTimeout(2));
NamedCommands.registerCommand("Collect Coral", manipulator.runUntilCollected(() -> 0.35));
NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kCoralIntakePosition));
@ -311,6 +319,9 @@ public class RobotContainer {
sensorTab.addDouble("dt distance", drivetrain::driveDistance);
sensorTab.addDouble("velocity", drivetrain::getVelocity);
//sensorTab.add("odometry", drivetrain::getPose);
}

8
src/main/java/frc/robot/constants/AutoConstants.java
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@ -12,13 +12,13 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
public class AutoConstants {
public static final double kMaxSpeedMetersPerSecond = 4;
public static final double kMaxAccelerationMetersPerSecondSquared = 4;
public static final double kMaxAccelerationMetersPerSecondSquared = 1;
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
public static final double kPXController = 15;
public static final double kPYController = 15;
public static final double kPThetaController = 5;
public static final double kPXController = 6;
public static final double kPYController = 6;
public static final double kPThetaController = 5.5;
// Constraint for the motion profiled robot angle controller
public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints(

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

@ -45,7 +45,7 @@ public class ElevatorConstants {
public static final double kL3Position = 23.0;
public static final double kL4Position = 50.5;
public static final double kL4TransitionPosition = 40.0;
public static final double kL2AlgaePosition = 21.0;
public static final double kL2AlgaePosition = 23.0;
public static final double kL3AlgaePosition = 39.0;
public static final double kProcessorPosition = 4.0;
/**The position of the top of the elevator brace */

4
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -370,4 +370,8 @@ public class Drivetrain extends SubsystemBase {
public double driveDistance(){
return m_frontLeft.getTotalDist();
}
public double getVelocity(){
return m_frontLeft.getState().speedMetersPerSecond;
}
}