mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-08 16:28:04 -06:00
a small change, autos work.
This commit is contained in:
Michael Mikovsky
@@ -13,13 +13,7 @@
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"name": "place-coral-left-l4"
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@@ -43,13 +37,7 @@
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"name": "place-coral"
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"name": "place-coral-left-l4"
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@@ -13,13 +13,7 @@
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"name": "place-coral"
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"name": "place-coral-right-l4"
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@@ -43,13 +37,7 @@
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"name": "place-coral"
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@@ -13,13 +13,7 @@
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"name": "place-coral-right-l4"
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@@ -28,6 +22,12 @@
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@@ -43,13 +43,7 @@
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"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
|
||||
}
|
||||
@@ -58,13 +58,13 @@
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -1.9251837083231407
|
||||
"rotation": 179.59913485447024
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -1.1306909512379957
|
||||
"rotation": -179.85896618052556
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -16,12 +16,12 @@
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.464431818181818,
|
||||
"y": 5.6403977272727275
|
||||
"x": 5.344772727272727,
|
||||
"y": 5.391107954545454
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 5.240820707070706,
|
||||
"y": 5.254160353535354
|
||||
"x": 5.121161616161616,
|
||||
"y": 5.00487058080808
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
|
||||
@@ -3,25 +3,25 @@
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.0807449494949497,
|
||||
"y": 6.972601010101011
|
||||
"x": 1.116818181818182,
|
||||
"y": 6.956647727272727
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 2.0869949494949496,
|
||||
"y": 6.291603535353536
|
||||
"x": 2.123068181818182,
|
||||
"y": 6.275650252525252
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.764078282828282,
|
||||
"y": 5.24469696969697
|
||||
"x": 3.6196875,
|
||||
"y": 5.35122159090909
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.9836492542425197,
|
||||
"y": 5.685899280282051
|
||||
"x": 2.8392584714142375,
|
||||
"y": 5.792423901494171
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
@@ -42,13 +42,13 @@
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 121.34521414171566
|
||||
"rotation": -59.239047023115106
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 124.23611780915067
|
||||
"rotation": -52.93323259086456
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -8,8 +8,8 @@
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 8.242449416720314,
|
||||
"y": 3.1104783377417067
|
||||
"x": 7.319147727272727,
|
||||
"y": 2.3198579545454536
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
@@ -20,8 +20,8 @@
|
||||
"y": 2.6934974747474745
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 4.985594317577342,
|
||||
"y": 2.6542548990156853
|
||||
"x": 6.401761363636364,
|
||||
"y": 1.5819602272727276
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
@@ -42,13 +42,13 @@
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -54.659893078442295
|
||||
"rotation": 123.49004753500587
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 0.0
|
||||
"rotation": -178.9832812445108
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -3,13 +3,13 @@
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.17689393939394,
|
||||
"y": 5.224368686868687
|
||||
"x": 5.284943181818181,
|
||||
"y": 5.401079545454545
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 5.9669821266547345,
|
||||
"y": 4.892012503312241
|
||||
"x": 4.844554924242423,
|
||||
"y": 6.744466540404039
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
@@ -20,8 +20,8 @@
|
||||
"y": 7.003093434343434
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 0.960567140436829,
|
||||
"y": 7.086188101328755
|
||||
"x": 1.9644034090909093,
|
||||
"y": 5.750085227272726
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
@@ -42,13 +42,13 @@
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 126.86989764584399
|
||||
"rotation": -54.83470564502973
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 57.21571913413089
|
||||
"rotation": -121.0370223454415
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
@@ -47,6 +47,7 @@ import frc4388.robot.commands.LidarAlign;
|
||||
import frc4388.robot.commands.MoveForTimeCommand;
|
||||
import frc4388.robot.commands.waitElevatorRefrence;
|
||||
import frc4388.robot.commands.waitEndefectorRefrence;
|
||||
import frc4388.robot.commands.waitFeedCoral;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
|
||||
@@ -295,6 +296,13 @@ public class RobotContainer {
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
|
||||
NamedCommands.registerCommand("grab-coral", new waitFeedCoral(m_robotElevator));
|
||||
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
|
||||
new MoveForTimeCommand(m_robotSwerveDrive,
|
||||
new Translation2d(0, 1),
|
||||
new Translation2d(), 200, true
|
||||
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
|
||||
|
||||
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
|
||||
NamedCommands.registerCommand("place-coral-right-l4", AprilLidarAlignL4Right);
|
||||
@@ -642,9 +650,9 @@ public class RobotContainer {
|
||||
// return autoCommand;
|
||||
// } catch (Exception e) {
|
||||
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
|
||||
// return autoCommand;
|
||||
return autoCommand;
|
||||
// }
|
||||
return new PathPlannerAuto("Line-up-no-arm");
|
||||
// return new PathPlannerAuto("Line-up-no-arm");
|
||||
// zach told me to do the below comment
|
||||
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
|
||||
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
|
||||
@@ -659,7 +667,8 @@ public class RobotContainer {
|
||||
|
||||
for (String auto : autos) {
|
||||
if (auto.endsWith(".auto"))
|
||||
autoChooser.addOption(auto.replaceAll(".auto", ""), auto);
|
||||
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
|
||||
// System.out.println(auto);
|
||||
}
|
||||
|
||||
autoChooser.onChange((filename) -> {
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.Elevator;
|
||||
|
||||
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
|
||||
public class waitFeedCoral extends Command {
|
||||
/** Creates a new waitElevatorRefrence. */
|
||||
private Elevator elevator;
|
||||
public waitFeedCoral(Elevator elevator) {
|
||||
this.elevator = elevator;
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return elevator.hasCoral();
|
||||
}
|
||||
}
|
||||
@@ -301,6 +301,10 @@ public class Elevator extends Subsystem {
|
||||
return currentState == CoordinationState.PrimedThree;
|
||||
}
|
||||
|
||||
public boolean hasCoral(){
|
||||
return elevatorAtReference() && currentState == CoordinationState.Hovering && !endeffectorLimitSwitch.get();
|
||||
}
|
||||
|
||||
public void armShuffle(){
|
||||
if(!basinBeamBreak.get()){
|
||||
//shuffle the coral with the arm until coral hits beam break
|
||||
|
||||
Reference in New Issue
Block a user