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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,
"nextControl": {
"x": 2.590135691664867,
"y": 2.114027889765366
"x": 2.892340424329296,
"y": 2.067688275398428
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 2.3675
},
"prevControl": {
"x": 2.583188410703272,
"y": 1.782750079374932
"x": 2.589485733053583,
"y": 1.921600370835535
},
"nextControl": null,
"isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
src/main/deploy/pathplanner/paths/Cage 1 to Reef.path
+6 -6
View File
@@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 5.594062500000001,
"y": 6.7671875
"x": 6.292598684210526,
"y": 6.699835526315789
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.2528125,
"y": 5.7434375
"x": 5.590213815789473,
"y": 5.622203947368421
},
"prevControl": {
"x": 5.50875,
"y": 6.145625
"x": 5.846151315789473,
"y": 6.024391447368421
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path
+6 -6
View File
@@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 6.3984375,
"y": 6.291875
"x": 6.4946546052631575,
"y": 5.9878289473684205
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.265,
"y": 5.73125
"x": 5.590213815789473,
"y": 5.593338815789473
},
"prevControl": {
"x": 5.8621875,
"y": 6.194375
"x": 6.331085526315788,
"y": 5.958963815789473
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Cage 3 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.2528125,
"y": 5.7434375
"x": 5.619078947368421,
"y": 5.593338815789473
},
"prevControl": {
"x": 5.728125,
"y": 5.6703125
"x": 6.094391447368421,
"y": 5.5202138157894725
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Cage 4 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.2771875,
"y": 2.27
"x": 5.55172697368421,
"y": 2.4470394736842103
},
"prevControl": {
"x": 6.1059375,
"y": 2.5625000000000004
"x": 6.3804769736842095,
"y": 2.7395394736842107
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Cage 5 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.754837328767123,
"y": 2.492380136986301
"x": 5.5805921052631575,
"y": 2.4374177631578946
},
"prevControl": {
"x": 6.077263063386753,
"y": 2.432264238502225
"x": 5.9030178398827875,
"y": 2.377301864673819
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Cage 6 to Reef.path
+4 -4
View File
@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.2771875,
"y": 2.294375
"x": 5.561348684210526,
"y": 2.456661184210526
},
"prevControl": {
"x": 5.599741161616161,
"y": 1.876556186868687
"x": 5.883902345826687,
"y": 2.038842371079213
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path
+8 -8
View File
@@ -8,8 +8,8 @@
},
"prevControl": null,
"nextControl": {
"x": 2.866114267676767,
"y": 1.8226988636363637
"x": 2.9564891755960816,
"y": 2.1114702488693777
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 1.3803125
},
"prevControl": {
"x": 1.8063036616161614,
"y": 2.0447316919191922
"x": 2.0502196323692035,
"y": 1.7292616486680126
},
"nextControl": null,
"isLocked": false,
@@ -33,15 +33,15 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 5.5,
"maxAcceleration": 5.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 1.0,
"velocity": 0.0,
"rotation": 55.37584492005105
},
"reversed": false,
@@ -50,5 +50,5 @@
"velocity": 0,
"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": [
{
"anchor": {
"x": 5.3015625,
"y": 2.2821875
"x": 5.426644736842105,
"y": 2.851151315789474
},
"prevControl": null,
"nextControl": {
"x": 4.106435503617635,
"y": 1.8391383607824139
"x": 4.23151774045974,
"y": 2.4081021765718877
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.31625,
"y": 1.3559375
"x": 1.7415296052631577,
"y": 1.5618421052631584
},
"prevControl": {
"x": 2.9441094150144833,
"y": 1.668218251495801
"x": 3.369389020277641,
"y": 1.8741228567589594
},
"nextControl": null,
"isLocked": false,
@@ -41,7 +41,7 @@
"unlimited": false
},
"goalEndState": {
"velocity": 1.0,
"velocity": 0.0,
"rotation": 55.05578949900953
},
"reversed": false,
src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path
+10 -10
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 6.3984375,
"y": 3.854374999999999
"x": 5.9750822368421055,
"y": 3.9865131578947364
},
"prevControl": null,
"nextControl": {
"x": 7.557357954545456,
"y": 2.073892045454545
"x": 7.0046052631578934,
"y": 1.6388157894736843
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 1.368125
},
"prevControl": {
"x": 2.1450000000000005,
"y": 2.4650000000000007
"x": 1.7992598684210526,
"y": 2.302713815789474
},
"nextControl": null,
"isLocked": false,
@@ -33,15 +33,15 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 1.0,
"velocity": 0.0,
"rotation": 52.857102599919905
},
"reversed": false,
@@ -50,5 +50,5 @@
"velocity": 0,
"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": [
{
"anchor": {
"x": 6.4228125,
"y": 4.195625
"x": 5.946217105263157,
"y": 4.178947368421053
},
"prevControl": null,
"nextControl": {
"x": 7.0809375,
"y": 6.535625
"x": 6.604342105263157,
"y": 6.518947368421053
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.291875,
"y": 6.7428125
"x": 1.452878289473684,
"y": 6.565131578947369
},
"prevControl": {
"x": 1.8889109848484849,
"y": 5.739094065656566
"x": 2.0499142743221688,
"y": 5.561413144603935
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path
+11 -11
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 5.3015625,
"y": 5.755625
"x": 5.41702302631579,
"y": 5.256578947368421
},
"prevControl": null,
"nextControl": {
"x": 5.013494318181819,
"y": 7.207045454545455
"x": 4.012253289473684,
"y": 5.958963815789473
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2796875,
"y": 6.730625
"x": 1.3951480263157894,
"y": 6.5747532894736835
},
"prevControl": {
"x": 2.3966445707070707,
"y": 5.275969065656566
"x": 2.5121050970228604,
"y": 5.12009735513025
},
"nextControl": null,
"isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 5.5,
"maxAcceleration": 5.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
"velocity": 0,
"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": {
"x": 1.31625,
"y": 6.730625
"x": 1.4143914473684207,
"y": 6.584375
},
"prevControl": {
"x": 1.9132859848484847,
"y": 5.726906565656566
"x": 2.0114274322169052,
"y": 5.580656565656565
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/settings.json
+3 -3
View File
@@ -15,11 +15,11 @@
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMass": 58.18,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"driveWheelRadius": 0.0508,
"driveGearing": 6.12,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"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.InstantCommand;
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.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -90,6 +91,7 @@ import frc4388.utility.configurable.ConfigurableString;
*/
public class RobotContainer {
/* RobotMap */
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
@@ -154,7 +156,7 @@ public class RobotContainer {
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(),
new ParallelDeadlineGroup(
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
@@ -271,7 +273,7 @@ public class RobotContainer {
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(),
new ParallelDeadlineGroup(
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
@@ -635,10 +637,10 @@ public class RobotContainer {
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
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));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
// 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));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());