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end of day 2

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This commit is contained in:
C4llSiqn
2025-03-18 15:44:51 -06:00
parent 4747f6233b
commit 6ac4b62089
17 changed files with 157 additions and 93 deletions
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src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto
+31
View File
@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4 Left"
}
},
{
"type": "named",
"data": {
"name": "place-coral-left-l4"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/1 Coral Center Barge Top.auto
+31
View File
@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4 Right"
}
},
{
"type": "named",
"data": {
"name": "place-coral-right-l4"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path
+6 -6
View File
@@ -8,8 +8,8 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.590135691664867, "x": 2.892340424329296,
"y": 2.114027889765366 "y": 2.067688275398428
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
@@ -20,8 +20,8 @@
"y": 2.3675 "y": 2.3675
}, },
"prevControl": { "prevControl": {
"x": 2.583188410703272, "x": 2.589485733053583,
"y": 1.782750079374932 "y": 1.921600370835535
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 5.0,
"maxAcceleration": 3.0, "maxAcceleration": 5.0,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
src/main/deploy/pathplanner/paths/Cage 1 to Reef.path
+6 -6
View File
@@ -8,20 +8,20 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 5.594062500000001, "x": 6.292598684210526,
"y": 6.7671875 "y": 6.699835526315789
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 5.2528125, "x": 5.590213815789473,
"y": 5.7434375 "y": 5.622203947368421
}, },
"prevControl": { "prevControl": {
"x": 5.50875, "x": 5.846151315789473,
"y": 6.145625 "y": 6.024391447368421
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path
+6 -6
View File
@@ -8,20 +8,20 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 6.3984375, "x": 6.4946546052631575,
"y": 6.291875 "y": 5.9878289473684205
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 5.265, "x": 5.590213815789473,
"y": 5.73125 "y": 5.593338815789473
}, },
"prevControl": { "prevControl": {
"x": 5.8621875, "x": 6.331085526315788,
"y": 6.194375 "y": 5.958963815789473
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Cage 3 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.2528125, "x": 5.619078947368421,
"y": 5.7434375 "y": 5.593338815789473
}, },
"prevControl": { "prevControl": {
"x": 5.728125, "x": 6.094391447368421,
"y": 5.6703125 "y": 5.5202138157894725
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Cage 4 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.2771875, "x": 5.55172697368421,
"y": 2.27 "y": 2.4470394736842103
}, },
"prevControl": { "prevControl": {
"x": 6.1059375, "x": 6.3804769736842095,
"y": 2.5625000000000004 "y": 2.7395394736842107
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Cage 5 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.754837328767123, "x": 5.5805921052631575,
"y": 2.492380136986301 "y": 2.4374177631578946
}, },
"prevControl": { "prevControl": {
"x": 6.077263063386753, "x": 5.9030178398827875,
"y": 2.432264238502225 "y": 2.377301864673819
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Cage 6 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 5.2771875, "x": 5.561348684210526,
"y": 2.294375 "y": 2.456661184210526
}, },
"prevControl": { "prevControl": {
"x": 5.599741161616161, "x": 5.883902345826687,
"y": 1.876556186868687 "y": 2.038842371079213
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path
+8 -8
View File
@@ -8,8 +8,8 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.866114267676767, "x": 2.9564891755960816,
"y": 1.8226988636363637 "y": 2.1114702488693777
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
@@ -20,8 +20,8 @@
"y": 1.3803125 "y": 1.3803125
}, },
"prevControl": { "prevControl": {
"x": 1.8063036616161614, "x": 2.0502196323692035,
"y": 2.0447316919191922 "y": 1.7292616486680126
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -33,15 +33,15 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 5.5,
"maxAcceleration": 3.0, "maxAcceleration": 5.5,
"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": 1.0, "velocity": 0.0,
"rotation": 55.37584492005105 "rotation": 55.37584492005105
}, },
"reversed": false, "reversed": false,
@@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": 58.10920819815426 "rotation": 58.10920819815426
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }
src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path
+9 -9
View File
@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 5.3015625, "x": 5.426644736842105,
"y": 2.2821875 "y": 2.851151315789474
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 4.106435503617635, "x": 4.23151774045974,
"y": 1.8391383607824139 "y": 2.4081021765718877
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 1.31625, "x": 1.7415296052631577,
"y": 1.3559375 "y": 1.5618421052631584
}, },
"prevControl": { "prevControl": {
"x": 2.9441094150144833, "x": 3.369389020277641,
"y": 1.668218251495801 "y": 1.8741228567589594
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -41,7 +41,7 @@
"unlimited": false "unlimited": false
}, },
"goalEndState": { "goalEndState": {
"velocity": 1.0, "velocity": 0.0,
"rotation": 55.05578949900953 "rotation": 55.05578949900953
}, },
"reversed": false, "reversed": false,
src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path
+10 -10
View File
@@ -3,13 +3,13 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 6.3984375, "x": 5.9750822368421055,
"y": 3.854374999999999 "y": 3.9865131578947364
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 7.557357954545456, "x": 7.0046052631578934,
"y": 2.073892045454545 "y": 1.6388157894736843
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
@@ -20,8 +20,8 @@
"y": 1.368125 "y": 1.368125
}, },
"prevControl": { "prevControl": {
"x": 2.1450000000000005, "x": 1.7992598684210526,
"y": 2.4650000000000007 "y": 2.302713815789474
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -33,15 +33,15 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 5.0,
"maxAcceleration": 3.0, "maxAcceleration": 5.0,
"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": 1.0, "velocity": 0.0,
"rotation": 52.857102599919905 "rotation": 52.857102599919905
}, },
"reversed": false, "reversed": false,
@@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": -179.46454101443553 "rotation": -179.46454101443553
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }
src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path
+8 -8
View File
@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 6.4228125, "x": 5.946217105263157,
"y": 4.195625 "y": 4.178947368421053
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 7.0809375, "x": 6.604342105263157,
"y": 6.535625 "y": 6.518947368421053
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 1.291875, "x": 1.452878289473684,
"y": 6.7428125 "y": 6.565131578947369
}, },
"prevControl": { "prevControl": {
"x": 1.8889109848484849, "x": 2.0499142743221688,
"y": 5.739094065656566 "y": 5.561413144603935
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path
+11 -11
View File
@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 5.3015625, "x": 5.41702302631579,
"y": 5.755625 "y": 5.256578947368421
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 5.013494318181819, "x": 4.012253289473684,
"y": 7.207045454545455 "y": 5.958963815789473
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 1.2796875, "x": 1.3951480263157894,
"y": 6.730625 "y": 6.5747532894736835
}, },
"prevControl": { "prevControl": {
"x": 2.3966445707070707, "x": 2.5121050970228604,
"y": 5.275969065656566 "y": 5.12009735513025
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 5.5,
"maxAcceleration": 3.0, "maxAcceleration": 5.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": -121.0370223454415 "rotation": -121.0370223454415
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }
src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path
+4 -4
View File
@@ -16,12 +16,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 1.31625, "x": 1.4143914473684207,
"y": 6.730625 "y": 6.584375
}, },
"prevControl": { "prevControl": {
"x": 1.9132859848484847, "x": 2.0114274322169052,
"y": 5.726906565656566 "y": 5.580656565656565
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
src/main/deploy/pathplanner/settings.json
+3 -3
View File
@@ -15,11 +15,11 @@
"defaultMaxAngVel": 540.0, "defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0, "defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0, "defaultNominalVoltage": 12.0,
"robotMass": 74.088, "robotMass": 58.18,
"robotMOI": 6.883, "robotMOI": 6.883,
"robotTrackwidth": 0.546, "robotTrackwidth": 0.546,
"driveWheelRadius": 0.048, "driveWheelRadius": 0.0508,
"driveGearing": 5.143, "driveGearing": 6.12,
"maxDriveSpeed": 5.45, "maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60", "driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0, "driveCurrentLimit": 60.0,
src/main/java/frc4388/robot/RobotContainer.java
+8 -6
View File
@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -90,6 +91,7 @@ import frc4388.utility.configurable.ConfigurableString;
*/ */
public class RobotContainer { public class RobotContainer {
/* RobotMap */ /* RobotMap */
public final RobotMap m_robotMap = new RobotMap(); public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */ /* Subsystems */
@@ -154,7 +156,7 @@ public class RobotContainer {
waitDebuger.asProxy(), waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar), new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(), waitDebuger.asProxy(),
new ParallelDeadlineGroup( new ParallelRaceGroup(
new WaitCommand(1), new WaitCommand(1),
new MoveUntilSuply( new MoveUntilSuply(
m_robotSwerveDrive, m_robotSwerveDrive,
@@ -271,7 +273,7 @@ public class RobotContainer {
waitDebuger.asProxy(), waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar), new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(), waitDebuger.asProxy(),
new ParallelDeadlineGroup( new ParallelRaceGroup(
new WaitCommand(1), new WaitCommand(1),
new MoveUntilSuply( new MoveUntilSuply(
m_robotSwerveDrive, m_robotSwerveDrive,
@@ -635,10 +637,10 @@ public class RobotContainer {
), m_robotSwerveDrive)) ), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON) // new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue( new DriveUntilLiDAR(m_robotSwerveDrive, // .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true)); // new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// .onTrue(new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.HALF_ROBOT_SIZE, Side.CENTER, true)); // // .onTrue(new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.HALF_ROBOT_SIZE, Side.CENTER, true));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy()); .onTrue(thrustIntake.asProxy());