Team_2648/2026-Robot-Code
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quals day one of unh

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This commit is contained in:
Tylr-J42
2026-03-28 20:24:28 -04:00
parent 3ea469ae1c
commit eb02a28048
8 changed files with 60 additions and 39 deletions
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6
src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto
View File

@@ -61,6 +61,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "aim"
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {

6
src/main/deploy/pathplanner/autos/left to center.auto
View File

@@ -61,6 +61,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "aim"
}
},
{ {
"type": "named", "type": "named",
"data": { "data": {

2
src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path
View File

@@ -69,7 +69,7 @@
}, },
"prevControl": { "prevControl": {
"x": 8.08578683847011, "x": 8.08578683847011,
"y": 0.4907704016028374 "y": 0.49077040160283736
}, },
"nextControl": { "nextControl": {
"x": 8.318287488908608, "x": 8.318287488908608,

30
src/main/deploy/pathplanner/paths/back from center.path
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@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 5.894304568527918, "x": 6.742194543297748,
"y": 5.614192893401015 "y": 5.589703440094898
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 5.074781725888325, "x": 3.68848717948718,
"y": 5.632609137055837 "y": 5.639692307692307
}, },
"isLocked": false, "isLocked": false,
"linkedName": "after center grab" "linkedName": "after center grab"
}, },
{ {
"anchor": { "anchor": {
"x": 3.002954314720812, "x": 2.979166666666668,
"y": 5.310324873096447 "y": 5.2327051282051285
}, },
"prevControl": { "prevControl": {
"x": 4.052680203045686, "x": 3.0721923076923088,
"y": 5.9825177664974625 "y": 5.721089743589744
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -30,12 +30,8 @@
], ],
"rotationTargets": [ "rotationTargets": [
{ {
"waypointRelativePos": 0.10454545454545605, "waypointRelativePos": 0.11569148936170148,
"rotationDegrees": -115.0 "rotationDegrees": -34.71279786419313
},
{
"waypointRelativePos": 0.7931818181818296,
"rotationDegrees": -115.0
} }
], ],
"constraintZones": [], "constraintZones": [],
@@ -43,7 +39,7 @@
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 4.0, "maxVelocity": 4.0,
"maxAcceleration": 2.5, "maxAcceleration": 3.0,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@@ -56,8 +52,8 @@
"reversed": false, "reversed": false,
"folder": null, "folder": null,
"idealStartingState": { "idealStartingState": {
"velocity": 2.0, "velocity": 4.0,
"rotation": -129.95754893082906 "rotation": -45.365518355574764
}, },
"useDefaultConstraints": false "useDefaultConstraints": false
} }

20
src/main/deploy/pathplanner/paths/over bump to pile move.path
View File

@@ -48,12 +48,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.894304568527918, "x": 6.742194543297748,
"y": 5.614192893401015 "y": 5.589703440094898
}, },
"prevControl": { "prevControl": {
"x": 6.841360406091369, "x": 7.758358974358975,
"y": 5.0824238578680205 "y": 5.616435897435898
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -74,7 +74,7 @@
{ {
"name": "Constraints Zone", "name": "Constraints Zone",
"minWaypointRelativePos": 1.1243680485338854, "minWaypointRelativePos": 1.1243680485338854,
"maxWaypointRelativePos": 2.0, "maxWaypointRelativePos": 2.077102803738317,
"constraints": { "constraints": {
"maxVelocity": 1.0, "maxVelocity": 1.0,
"maxAcceleration": 1.5, "maxAcceleration": 1.5,
@@ -95,16 +95,16 @@
} }
], ],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 2.0, "maxVelocity": 4.0,
"maxAcceleration": 1.5, "maxAcceleration": 2.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": false
}, },
"goalEndState": { "goalEndState": {
"velocity": 3.0, "velocity": 4.0,
"rotation": -129.95754893082906 "rotation": -45.365518355574764
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,
@@ -112,5 +112,5 @@
"velocity": 0, "velocity": 0,
"rotation": -129.95754893082906 "rotation": -129.95754893082906
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

16
src/main/deploy/pathplanner/paths/over bump to pile.path
View File

@@ -48,12 +48,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.894304568527918, "x": 6.742194543297748,
"y": 5.614192893401015 "y": 5.589703440094898
}, },
"prevControl": { "prevControl": {
"x": 6.750659898477156, "x": 7.598549873246986,
"y": 5.614192893401015 "y": 5.589703440094898
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -95,16 +95,16 @@
} }
], ],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 4.0,
"maxAcceleration": 2.0, "maxAcceleration": 2.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": false
}, },
"goalEndState": { "goalEndState": {
"velocity": 3.0, "velocity": 4.0,
"rotation": -129.95754893082906 "rotation": -45.365518355574764
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,

17
src/main/java/frc/robot/RobotContainer.java
View File

@@ -435,8 +435,21 @@ public class RobotContainer {
).withTimeout(3).andThen(spindexer.instantaneousStop())); ).withTimeout(3).andThen(spindexer.instantaneousStop()));
NamedCommands.registerCommand("auto shoot", hood.trackToAnglePoseBased(drivetrain, shooter) NamedCommands.registerCommand("aim",
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed), spindexer.spinToShooter(), intakePivot.jimmy(0.5))); hood.trackToAnglePoseBased(drivetrain, shooter)
.alongWith(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
intakePivot.jimmy(0.5),
drivetrain.lockRotationToHub(() -> 0.0, () -> 0.0, false))
.withTimeout(0.5));
NamedCommands.registerCommand("auto shoot",
hood.trackToAnglePoseBased(drivetrain, shooter)
.alongWith(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
spindexer.spinToShooter(),
intakePivot.jimmy(0.5),
drivetrain.lockRotationToHub(() -> 0.0, () -> 0.0, false)));
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {

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

@@ -56,7 +56,7 @@ public class ModuleConstants {
// TODO Hold over from 2025, adjust? // TODO Hold over from 2025, adjust?
public static final int kDriveMotorStatorCurrentLimit = 90; public static final int kDriveMotorStatorCurrentLimit = 90;
public static final int kDriveMotorSupplyCurrentLimit = 55; public static final int kDriveMotorSupplyCurrentLimit = 40;
// TODO Hold over from 2025, adjust? // TODO Hold over from 2025, adjust?
public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive; public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;