Team_2648/2026-Robot-Code
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Merge branch 'main' of https://git.coldlightalchemist.com/Team_2648/2026-Robot-Code

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This commit is contained in:
Bradley Bickford
2026-03-17 19:02:03 -04:00
parent 048c7158ee a8833aaf5b
commit d29acde2df
16 changed files with 354 additions and 49 deletions
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30
src/main/deploy/pathplanner/autos/Left Shoot.auto
View File

@@ -27,6 +27,36 @@
"data": {
"name": "shoot close"
}
},
{
"type": "path",
"data": {
"pathName": "Left to Outpost"
}
},
{
"type": "named",
"data": {
"name": "stop spindexer"
}
},
{
"type": "path",
"data": {
"pathName": "trough to shot"
}
},
{
"type": "named",
"data": {
"name": "spinup"
}
},
{
"type": "named",
"data": {
"name": "shoot N jimmy"
}
}
]
}

25
src/main/deploy/pathplanner/autos/left to center.auto Normal file
View File

@@ -0,0 +1,25 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intake down"
}
},
{
"type": "path",
"data": {
"pathName": "left start to center"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

4
src/main/deploy/pathplanner/paths/Center to Shoot.path
View File

@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,

4
src/main/deploy/pathplanner/paths/Example Path.path
View File

@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,

53
src/main/deploy/pathplanner/paths/Left to Outpost.path
View File

@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 2.9872360616844604,
"y": 4.599857651245552
"x": 3.2515736040609142,
"y": 4.914375634517767
},
"prevControl": null,
"nextControl": {
"x": 2.1695373665480435,
"y": 5.019466192170819
"x": 2.4338749089244973,
"y": 5.333984175443034
},
"isLocked": false,
"linkedName": "left close"
},
{
"anchor": {
"x": 1.1043772241992889,
"y": 5.815646500593119
"x": 0.77458883248731,
"y": 5.927269035532995
},
"prevControl": {
"x": 2.7074970344009497,
"y": 5.998552787663108
"x": 2.3777086426889733,
"y": 6.110175322602984
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "trough"
}
],
"rotationTargets": [
@@ -34,12 +34,33 @@
"rotationDegrees": 180.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0.3963599595551063,
"maxWaypointRelativePos": 1.0,
"constraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Intake Start",
"waypointRelativePos": 0.09706774519716882,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -47,13 +68,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 178.53119928561412
"rotation": 178.80651057601818
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -22.619864948040433
"rotation": -31.15930450834445
},
"useDefaultConstraints": true
}

6
src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path
View File

@@ -69,7 +69,7 @@
},
"prevControl": {
"x": 8.08578683847011,
"y": 0.49077040160283747
"y": 0.4907704016028374
},
"nextControl": {
"x": 8.318287488908608,
@@ -130,8 +130,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,

6
src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path
View File

@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -42,7 +42,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 24.304549265936604
"rotation": 24.304549265936608
},
"reversed": false,
"folder": "Right Outpost",

6
src/main/deploy/pathplanner/paths/Start to outpost.path
View File

@@ -20,7 +20,7 @@
"y": 0.668228980317108
},
"prevControl": {
"x": 1.6987119856944102,
"x": 1.6987119856944104,
"y": 1.0414132379199703
},
"nextControl": null,
@@ -45,8 +45,8 @@
}
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,

132
src/main/deploy/pathplanner/paths/left start to center.path Normal file
View File

@@ -0,0 +1,132 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.573857868020305,
"y": 6.3692588832487305
},
"prevControl": null,
"nextControl": {
"x": 3.1594923857868027,
"y": 6.424507614213196
},
"isLocked": false,
"linkedName": "start left"
},
{
"anchor": {
"x": 2.634629441624366,
"y": 5.558944162436549
},
"prevControl": {
"x": 2.4136345177664977,
"y": 5.908852791878173
},
"nextControl": {
"x": 2.895419769065523,
"y": 5.146026143988051
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.522294416243654,
"y": 5.558944162436549
},
"prevControl": {
"x": 3.5095162657293457,
"y": 5.533304209258972
},
"nextControl": {
"x": 6.704619289340102,
"y": 5.614192893401015
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.478101522849547,
"y": 7.244030456855094
},
"prevControl": {
"x": 6.765542310662505,
"y": 7.465169522706244
},
"nextControl": {
"x": 8.012172588839395,
"y": 7.078284263961693
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.671472081218274,
"y": 4.7670456852791885
},
"prevControl": {
"x": 7.726720812182741,
"y": 7.639979695431472
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.5636363636363326,
"rotationDegrees": -45.0
},
{
"waypointRelativePos": 3.0318181818182266,
"rotationDegrees": -90.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 2.6208291203235685,
"maxWaypointRelativePos": 4.0,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Intake Start",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -89.09061955080092
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}

26
src/main/deploy/pathplanner/paths/start to score left.path
View File

@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 3.697342823250297,
"y": 6.0
"x": 3.573857868020305,
"y": 6.3692588832487305
},
"prevControl": null,
"nextControl": {
"x": 2.922680901542112,
"y": 5.890960854092527
"x": 2.7991959463121194,
"y": 6.260219737341258
},
"isLocked": false,
"linkedName": null
"linkedName": "start left"
},
{
"anchor": {
"x": 2.9872360616844604,
"y": 4.599857651245552
"x": 3.2515736040609142,
"y": 4.914375634517767
},
"prevControl": {
"x": 3.1809015421115063,
"y": 5.116298932384343
"x": 3.44523908448796,
"y": 5.430816915656558
},
"nextControl": null,
"isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -22.619864948040433
"rotation": -31.15930450834445
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
"rotation": -90.0
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/trough to shot.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.77458883248731,
"y": 5.927269035532995
},
"prevControl": null,
"nextControl": {
"x": 1.7745888324873098,
"y": 5.927269035532995
},
"isLocked": false,
"linkedName": "trough"
},
{
"anchor": {
"x": 3.2515736040609142,
"y": 4.914375634517767
},
"prevControl": {
"x": 2.6254213197969554,
"y": 5.420822335025381
},
"nextControl": null,
"isLocked": false,
"linkedName": "left close"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -31.15930450834445
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 178.80651057601818
},
"useDefaultConstraints": true
}

4
src/main/deploy/pathplanner/settings.json
View File

@@ -6,8 +6,8 @@
"Right Outpost"
],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxVel": 2.0,
"defaultMaxAccel": 1.5,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,

35
src/main/java/frc/robot/RobotContainer.java
View File

@@ -13,6 +13,8 @@ import org.littletonrobotics.junction.Logger;
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.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
@@ -24,6 +26,7 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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.button.CommandXboxController;
@@ -79,7 +82,7 @@ public class RobotContainer {
resetOdometryToVisualPose = false;
vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
//vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
vision.addPoseEstimateConsumer((vp) -> {
Logger.recordOutput(
"Vision/" + vp.cameraName() + "/Pose",
@@ -349,7 +352,7 @@ public class RobotContainer {
NamedCommands.registerCommand(
"intake down",
intakePivot.manualSpeed(()->-0.75)
intakePivot.manualSpeed(()->0.75)
.withTimeout(1)
);
@@ -361,7 +364,33 @@ public class RobotContainer {
spindexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed))
.alongWith(hood.trackToAngle(() -> Units.degreesToRadians(10)))
.withTimeout(3));
.withTimeout(3).andThen(spindexer.instantaneousStop()));
// NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
new EventTrigger("Intake Start")
.onTrue(intakeRoller.runIn());
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
NamedCommands.registerCommand("jimmy",
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.2)
.andThen(intakePivot.manualSpeed(() -> 0.75).withTimeout(0.2))
)
);
NamedCommands.registerCommand("shoot N jimmy",
Commands.parallel(
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.5),
intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
),
spindexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
hood.trackToAngle(() -> Units.degreesToRadians(10)))
).withTimeout(3).andThen(spindexer.instantaneousStop()));
}
public Command getAutonomousCommand() {

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

@@ -12,9 +12,9 @@ public class SpindexerConstants {
public static final int kSpindexerMotorCANID = 0;
public static final int kFeederMotorCANID = 4;
public static final int kSpindexerStatorCurrentLimit = 110;
public static final int kSpindexerSupplyCurrentLimit = 60;
public static final int kFeederCurrentLimit = 40;
public static final int kSpindexerStatorCurrentLimit = 95;
public static final int kSpindexerSupplyCurrentLimit = 50;
public static final int kFeederCurrentLimit = 30;
public static final double kSpindexerSpeed = 1;
public static final double kFeederSpeed = 1;

7
src/main/java/frc/robot/subsystems/IntakePivot.java
View File

@@ -80,6 +80,13 @@ public class IntakePivot extends SubsystemBase {
});
}
// public Command jimmy(){
// return run(() -> {
// leftMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
// rightMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
// })
// }
public Command stop() {
return manualSpeed(() -> 0);
}

7
src/main/java/frc/robot/subsystems/Spindexer.java
View File

@@ -60,4 +60,11 @@ public class Spindexer extends SubsystemBase {
});
}
public Command instantaneousStop() {
return runOnce(() -> {
spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
feederMotor.set(0);
});
}
}