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Merge pull request #19 from Team4388/make-autos

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lgtm
This commit is contained in:
C4llSqin
2025-01-24 20:48:51 -07:00
committed by GitHub
parent e5cdcd0c07 5ed7e59ccb
commit a7ac44c25d
28 changed files with 1335 additions and 25 deletions
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src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Blue Center Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Blue Top Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Center Barge Bottom.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Center Barge Top.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Mira's Auto.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Red Bottom Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Red Center Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/Red Top Cage.auto
+61
View File
@@ -0,0 +1,61 @@
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src/main/deploy/pathplanner/autos/New Auto.auto → src/main/deploy/pathplanner/autos/Taxi.auto
+1 -1
View File
@@ -7,7 +7,7 @@
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src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path
+54
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@@ -0,0 +1,54 @@
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src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path
+54
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src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path
+54
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src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path
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src/main/deploy/pathplanner/paths/Example Path.path → src/main/deploy/pathplanner/paths/Center Barge to Reef.path
+10 -10
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src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path
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src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path
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src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path
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src/main/deploy/pathplanner/paths/Center Reef to Feed.path
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"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -52.30575953331084
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -177.95459151111288
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Taxi.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.565467171717171,
"y": 7.348674242424242
},
"prevControl": null,
"nextControl": {
"x": 7.8906231049309685,
"y": 7.339915637757156
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.305113636363636,
"y": 7.348674242424242
},
"prevControl": {
"x": 5.928529040722133,
"y": 7.353679406601922
},
"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": 179.47479945510887
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 177.6140559696112
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.575631313131314,
"y": 7.287689393939393
},
"prevControl": null,
"nextControl": {
"x": 7.270707070707072,
"y": 7.013257575757576
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.309027777777779,
"y": 5.3768308080808085
},
"prevControl": {
"x": 4.945156854248459,
"y": 5.08761998976538
},
"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": -120.0183674276091
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 179.30972280213487
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Feed to Reef.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.263699494949495,
"y": 7.135227272727272
},
"prevControl": null,
"nextControl": {
"x": 1.6862557056350642,
"y": 6.8478211564289
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.6217803030303033,
"y": 5.417487373737374
},
"prevControl": {
"x": 3.111746968518841,
"y": 5.776730048021274
},
"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": -60.228308784269046
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -55.124671655397854
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.595959595959596,
"y": 3.0289141414141416
},
"prevControl": null,
"nextControl": {
"x": 8.242449416720314,
"y": 3.1104783377417067
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.349684343434343,
"y": 2.6934974747474745
},
"prevControl": {
"x": 4.985594317577342,
"y": 2.6542548990156853
},
"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": 120.25643716352924
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -179.06080905426438
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Reef to Feed.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.17689393939394,
"y": 5.224368686868687
},
"prevControl": null,
"nextControl": {
"x": 5.9669821266547345,
"y": 4.892012503312241
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.192550505050505,
"y": 7.0234217171717175
},
"prevControl": {
"x": 0.9300747161944047,
"y": 7.106516384157039
},
"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": -52.56142842766699
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -121.75948008481281
},
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/Constants.java
+4 -2
View File
@@ -341,7 +341,7 @@ public final class Constants {
public static final class VisionConstants {
public static final String CAMERA_NAME = "Camera_Module_v1";
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413*0, .2794), new Rotation3d(0,0.52333,Math.PI));
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
@@ -354,7 +354,9 @@ 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 = Units.inchesToMeters(6.5);
public static final double HORISONTAL_SCORING_POSITION_OFFSET = 0;
// 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
+1
View File
@@ -148,6 +148,7 @@ public class Robot extends TimedRobot {
// 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_robotTime.startMatchTime();
src/main/java/frc4388/robot/RobotContainer.java
+42 -8
View File
@@ -16,6 +16,8 @@ import java.util.List;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
@@ -28,6 +30,8 @@ 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.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.Commands;
// Autos
@@ -35,6 +39,10 @@ import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
@@ -87,17 +95,39 @@ public class RobotContainer {
// ! /* Autos */
private String lastAutoName = "defualt.auto";
private final SendableChooser<Command> autoChooser;
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(), // lastAutoName
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command placeCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Placing Some Coral")),
new WaitCommand(3)
);
private Command aprilAlign = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Aligning...")),
new WaitCommand(1)
);
private Command grabCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Yoinking some coral...")),
new WaitCommand(2)
);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
NamedCommands.registerCommand("april-allign", aprilAlign);
NamedCommands.registerCommand("place-coral", placeCoral);
NamedCommands.registerCommand("grab-coral", grabCoral);
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
@@ -115,6 +145,8 @@ public class RobotContainer {
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
// this.subsystems.add(m_robotSwerveDrive);
// this.subsystems.add(m_robotMap.leftFront);
// this.subsystems.add(m_robotMap.rightFront);
@@ -265,15 +297,17 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
try{
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("New Auto");
} catch (Exception e) {
DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
return autoChooser.getSelected();
// try{
// // Load the path you want to follow using its name in the GUI
// return new PathPlannerAuto("New Auto");
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return Commands.none();
// }
// zach told me to do the below comment
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10 -4
View File
@@ -32,6 +32,7 @@ import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Status.ReportLevel;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.config.PIDConstants;
@@ -52,6 +53,8 @@ public class SwerveDrive extends Subsystem {
public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
// 25%
public Pose2d initalPose2d = null;
public double rotTarget = 0.0;
public Rotation2d orientRotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
@@ -75,11 +78,9 @@ public class SwerveDrive extends Subsystem {
// DoubleSupplier a = () -> 1.d;
AutoBuilder.configure(
() -> {
var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
// pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;// getRotation().times(-1)
return swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(initalPose2d);
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting
this::setOdoPose, // Method to reset odometry (will be called if your auto has a starting
// pose)
() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
@@ -108,6 +109,11 @@ public class SwerveDrive extends Subsystem {
}
public void setOdoPose(Pose2d pose) {
initalPose2d = pose;
swerveDriveTrain.resetPose(pose);
}
// public void oneModuleTest(SwerveModule module, Translation2d leftStick,
// Translation2d rightStick){
// // double ang = Math.atan2(rightStick.getY(), rightStick.getX());