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Debug autos

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This commit is contained in:
Michael Mikovsky
2025-01-25 14:47:23 -07:00
parent a7ac44c25d
commit 1b9b7ed00c
23 changed files with 272 additions and 62 deletions
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src/main/deploy/pathplanner/autos/Stupid auto.auto
+31
View File
@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Stupid auto 1"
}
},
{
"type": "path",
"data": {
"pathName": "Stupid auto 2"
}
},
{
"type": "path",
"data": {
"pathName": "Stupid auto 3"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -122.12499844038754
"rotation": 60.35013649242443
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 178.97696981133208
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 59.82647997035557
"rotation": -121.27770286686648
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 54.32359177813805
"rotation": -126.57303097851931
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 121.75948008481289
"rotation": -57.4259428654274
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 179.30130561701642
"rotation": -0.9548412538721401
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 54.0394828033551
"rotation": -123.50343698241421
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 119.16761337957772
"rotation": -59.036243467926624
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Barge to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 179.65844947344297
"rotation": 0.5456575934157175
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path
+6 -6
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.197222222222222,
"y": 5.52929292929293
"x": 5.268371212121212,
"y": 5.417487373737374
},
"prevControl": {
"x": 6.234912180385907,
"y": 5.781923450986739
"x": 6.306061170284897,
"y": 5.670117895431184
},
"nextControl": null,
"isLocked": false,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -121.60750224624891
"rotation": 60.851928154286895
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 179.44374777291927
"rotation": 1.1457628387483283
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 118.92642583525368
"rotation": -62.35402463626126
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
"rotation": 1.97493401088202
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 50.964487101253106
"rotation": -124.91183021661
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -178.99491399474581
"rotation": -1.6365770416167795
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Reef to Feed.path
+3 -3
View File
@@ -25,7 +25,7 @@
},
"nextControl": {
"x": 3.388005050505051,
"y": 6.11881313131313
"y": 6.1188131313131295
},
"isLocked": false,
"linkedName": null
@@ -58,13 +58,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -52.30575953331084
"rotation": 126.3843518158359
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -177.95459151111288
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupid auto 1.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 6.081502525252525,
"y": 7.267361111111111
},
"prevControl": null,
"nextControl": {
"x": 4.871969696969696,
"y": 8.070328282828283
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.081502525252525,
"y": 5.10239898989899
},
"prevControl": {
"x": 4.821148989898989,
"y": 5.10239898989899
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupid auto 2.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 6.101830808080808,
"y": 5.041414141414141
},
"prevControl": null,
"nextControl": {
"x": 7.10183080808081,
"y": 5.041414141414141
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.585795454545455,
"y": 6.149305555555555
},
"prevControl": {
"x": 8.175315656565658,
"y": 5.295517676767678
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupid auto 3.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.585795454545455,
"y": 6.200126262626262
},
"prevControl": null,
"nextControl": {
"x": 7.778914141414141,
"y": 7.033585858585859
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.081502525252525,
"y": 7.32834595959596
},
"prevControl": {
"x": 7.595959595959596,
"y": 7.724747474747475
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Taxi.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 179.47479945510887
"rotation": -1.9251837083231407
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 177.6140559696112
"rotation": -1.1306909512379957
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -120.0183674276091
"rotation": 60.255118703057796
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 179.30972280213487
"rotation": -2.223961240385466
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Feed to Reef.path
+10 -10
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 1.263699494949495,
"y": 7.135227272727272
"x": 1.0807449494949497,
"y": 6.972601010101011
},
"prevControl": null,
"nextControl": {
"x": 1.6862557056350642,
"y": 6.8478211564289
"x": 2.0869949494949496,
"y": 6.291603535353536
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.6217803030303033,
"y": 5.417487373737374
"x": 3.764078282828282,
"y": 5.24469696969697
},
"prevControl": {
"x": 3.111746968518841,
"y": 5.776730048021274
"x": 2.9836492542425197,
"y": 5.685899280282051
},
"nextControl": null,
"isLocked": false,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -60.228308784269046
"rotation": 121.34521414171566
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -55.124671655397854
"rotation": 124.23611780915067
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 120.25643716352924
"rotation": -54.659893078442295
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -179.06080905426438
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Reef to Feed.path
+6 -6
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 1.192550505050505,
"y": 7.0234217171717175
"x": 1.2230429292929292,
"y": 7.003093434343434
},
"prevControl": {
"x": 0.9300747161944047,
"y": 7.106516384157039
"x": 0.960567140436829,
"y": 7.086188101328755
},
"nextControl": null,
"isLocked": false,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -52.56142842766699
"rotation": 126.86989764584399
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -121.75948008481281
"rotation": 57.21571913413089
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+1 -1
View File
@@ -16,7 +16,7 @@
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"driveCurrentLimit": 40.0,
"wheelCOF": 1.2,
"flModuleX": 0.273,
"flModuleY": 0.273,
src/main/java/frc4388/robot/Constants.java
+8 -7
View File
@@ -230,7 +230,7 @@ public final class Constants {
}
public static final class AutoConstants {
public static final Gains XY_GAINS = new Gains(3,0,0);
public static final Gains XY_GAINS = new Gains(3,0.01,0);
public static final Gains ROT_GAINS = new Gains(0.05,0,0.0);
public static final Trim X_OFFSET_TRIM = new Trim("X Offset Trim", Double.MAX_VALUE, -Double.MAX_VALUE, 0.05, 0);
@@ -240,7 +240,7 @@ public final class Constants {
public static final int LIDAR_MICROS_TO_CM = 10;
public static final int SECONDS_TO_MICROS = 1000000;
public static final double XY_TOLERANCE = 0.05;
public static final double XY_TOLERANCE = 0.1;
public static final double ROT_TOLERANCE = 1;
// public static final Pose2d targetpos = new Pose2d(new Translation2d(0.3,0), new Rotation2d());
@@ -249,8 +249,8 @@ public final class Constants {
public static final class Configurations {
public static final double OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // Todo: Test. think this will help.
public static final double NEUTRAL_DEADBAND = 0.04;
// POWER! (limiting)
@@ -282,7 +282,7 @@ public final class Constants {
// new ClosedLoopRampsConfigs()
// .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
);
private static final double SLIP_CURRENT = 100; // TODO: Tune???
private static final double SLIP_CURRENT = 20; // TODO: Tune???
}
// No mans land
@@ -343,7 +343,7 @@ public final class Constants {
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
public static final double MIN_ESTIMATION_DISTANCE = 0; // Meters
// Photonvision thing
// The standard deviations of our vision estimated poses, which affect correction rate
@@ -354,7 +354,8 @@ public final class Constants {
public static final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = 0;
public static final double HORISONTAL_SCORING_POSITION_OFFSET = .2794
;
// public static final double HORISONTAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5); // Positive is Right
public static final double VERTICAL_SCORING_POSITION_OFFSET = Units.inchesToMeters(20);
src/main/java/frc4388/robot/Robot.java
+7
View File
@@ -143,13 +143,20 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
m_robotContainer.stop();
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
CommandScheduler.getInstance().cancel(m_autonomousCommand);
m_autonomousCommand.cancel();
m_autonomousCommand.end(true);
System.out.println("NOT Null!!");
} else {
System.out.println("Null!!");
}
m_robotTime.startMatchTime();
}
src/main/java/frc4388/robot/RobotContainer.java
+13 -6
View File
@@ -92,6 +92,10 @@ public class RobotContainer {
// public List<Subsystem> subsystems = new ArrayList<>();
// ! Teleop Commands
public void stop() {
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();;;;;
m_robotSwerveDrive.stopModules();
}
// ! /* Autos */
private String lastAutoName = "defualt.auto";
@@ -104,8 +108,10 @@ public class RobotContainer {
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command placeCoral = new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.stopModules()),
new InstantCommand(() -> System.out.println("Placing Some Coral")),
new WaitCommand(3)
new WaitCommand(3),
new InstantCommand(() -> System.out.println("Done placing Some Coral"))
);
private Command aprilAlign = new SequentialCommandGroup(
@@ -115,7 +121,8 @@ public class RobotContainer {
private Command grabCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Yoinking some coral...")),
new WaitCommand(2)
new WaitCommand(2),
new InstantCommand(() -> System.out.println("Done yoinking some coral..."))
);
/**
@@ -210,10 +217,10 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
.onTrue(AutoGotoPosition);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
.onTrue(new InstantCommand(()->{}, m_robotSwerveDrive));
// creates an empty command & requires the swerve drive, subsystems can run only 1 command at a time
// ? /* Programer Buttons (Controller 3)*/
@@ -300,10 +307,10 @@ public class RobotContainer {
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
return autoChooser.getSelected();
return autoChooser.getSelected().andThen(new InstantCommand(() -> System.err.println("Auto Ded!")));
// try{
// // Load the path you want to follow using its name in the GUI
// return new PathPlannerAuto("New Auto");
// return new PathPlannerAuto("New Auto");
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return Commands.none();
src/main/java/frc4388/robot/commands/GotoPositionCommand.java
+5 -3
View File
@@ -37,14 +37,14 @@ public class GotoPositionCommand extends Command {
public GotoPositionCommand(SwerveDrive swerveDrive, Vision vision) {
this.swerveDrive = swerveDrive;
this.vision = vision;
addRequirements(swerveDrive);
// addRequirements(swerveDrive);
}
@Override
public void initialize() {
xPID.initialize();
yPID.initialize();
this.targetpos = ReefPositionHelper.getNearestPosition(this.vision.getPose2d(), Side.RIGHT, AutoConstants.X_OFFSET_TRIM.get());
this.targetpos = ReefPositionHelper.getNearestPosition(this.vision.getPose2d(), Side.LEFT, AutoConstants.X_OFFSET_TRIM.get());
}
double xerr;
@@ -84,7 +84,9 @@ public class GotoPositionCommand extends Command {
@Override
public final boolean isFinished() {
return (Math.abs(xerr) < AutoConstants.XY_TOLERANCE && Math.abs(yerr) < AutoConstants.XY_TOLERANCE && Math.abs(roterr) < AutoConstants.ROT_TOLERANCE);
boolean finished = (Math.abs(xerr) < AutoConstants.XY_TOLERANCE && Math.abs(yerr) < AutoConstants.XY_TOLERANCE && Math.abs(roterr) < AutoConstants.ROT_TOLERANCE);
// System.out.println(finished);
return finished;
// this statement is a boolean in and of itself
}