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a small change, autos work.

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This commit is contained in:
Michael Mikovsky
2025-02-28 18:46:30 -07:00
parent 870dfa2e67
commit bd67c9e8d3
24 changed files with 139 additions and 332 deletions
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src/main/deploy/pathplanner/autos/Blue Top Cage.auto
+2 -14
View File
@@ -13,13 +13,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-left-l4"
}
},
{
@@ -43,13 +37,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-left-l4"
}
}
]
src/main/deploy/pathplanner/autos/Red Bottom Cage.auto
+2 -14
View File
@@ -13,13 +13,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-right-l4"
}
},
{
@@ -43,13 +37,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-left-l4"
}
}
]
src/main/deploy/pathplanner/autos/Red Center Cage.auto
+8 -14
View File
@@ -13,13 +13,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-right-l4"
}
},
{
@@ -28,6 +22,12 @@
"pathName": "Bottom Reef to Feed"
}
},
{
"type": "named",
"data": {
"name": "align-feed"
}
},
{
"type": "named",
"data": {
@@ -43,13 +43,7 @@
{
"type": "named",
"data": {
"name": "april-allign"
}
},
{
"type": "named",
"data": {
"name": "place-coral"
"name": "place-coral-left-l4"
}
}
]
src/main/deploy/pathplanner/autos/Stupid auto.auto
-31
View File
@@ -1,31 +0,0 @@
{
"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/autos/Test Auto.auto
-19
View File
@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Stupid auto 1"
}
}
]
}
},
"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": 60.35013649242443
"rotation": -121.26879518614867
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
"rotation": 179.34296858150984
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path
+8 -8
View File
@@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 2.115768324814807,
"y": 1.5107373181346522
"x": 4.39747159090909,
"y": 1.3027556818181814
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.692929292929293,
"y": 2.6833333333333327
"x": 5.3048863636363635,
"y": 2.5292613636363637
},
"prevControl": {
"x": 3.11332763609877,
"y": 2.3131602797293294
"x": 5.893210227272728,
"y": 1.9808238636363626
},
"nextControl": null,
"isLocked": false,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -121.27770286686648
"rotation": 114.22774531795413
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -126.57303097851931
"rotation": 53.446462811652175
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path
+6 -6
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 5.1565656565656575,
"y": 2.886616161616162
"x": 5.344772727272727,
"y": 2.6688636363636364
},
"prevControl": null,
"nextControl": {
"x": 5.532638888888889,
"y": 2.530871212121211
"x": 6.4715625,
"y": 1.432386363636364
},
"isLocked": false,
"linkedName": null
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -123.50343698241421
"rotation": 55.05578949900953
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -59.036243467926624
"rotation": 121.42956561483854
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Barge to Reef.path
+6 -6
View File
@@ -8,19 +8,19 @@
},
"prevControl": null,
"nextControl": {
"x": 8.114457611671098,
"y": 4.043616195025507
"x": 7.269289772727273,
"y": 4.064886363636362
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.979861111111112,
"x": 6.172414772727272,
"y": 4.045328282828282
},
"prevControl": {
"x": 5.5035379766577375,
"x": 5.696091638273898,
"y": 4.0462802990619195
},
"nextControl": null,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0.5456575934157175
"rotation": -179.96096735022735
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
"rotation": -179.2890804030095
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path
+2 -2
View File
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 60.851928154286895
"rotation": -120.86136963407526
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 1.1457628387483283
"rotation": -179.99261564513898
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path
+3 -3
View File
@@ -9,7 +9,7 @@
"prevControl": null,
"nextControl": {
"x": 5.96969696969697,
"y": 1.128219696969696
"y": 1.1282196969696958
},
"isLocked": false,
"linkedName": null
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -60.52411099675423
"rotation": 122.87136694597014
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 1.97493401088202
"rotation": 179.5295681977034
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path
+6 -6
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 5.786742424242425,
"y": 4.035164141414142
"x": 6.092642045454545,
"y": 3.9651704545454542
},
"prevControl": null,
"nextControl": {
"x": 7.026767676767678,
"y": 2.185290404040403
"x": 9.024289772727268,
"y": 3.446647727272728
},
"isLocked": false,
"linkedName": null
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -124.91183021661
"rotation": 52.857102599919905
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -1.6365770416167795
"rotation": -179.46454101443553
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Center Reef to Feed.path
+12 -12
View File
@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 5.817234848484849,
"y": 4.045328282828282
"x": 5.982954545454545,
"y": 4.03497159090909
},
"prevControl": null,
"nextControl": {
"x": 6.62020202020202,
"y": 4.797474747474748
"x": 7.109744318181819,
"y": 3.8355397727272718
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.2175505050505055,
"y": 5.45814393939394
"x": 6.232244318181818,
"y": 5.281420454545455
},
"prevControl": {
"x": 5.45268897997343,
"y": 5.373232823449551
"x": 7.1397939460232385,
"y": 4.676387369317844
},
"nextControl": {
"x": 3.388005050505051,
"y": 6.1188131313131295
"x": 5.574119318181818,
"y": 5.720170454545454
},
"isLocked": false,
"linkedName": null
@@ -58,13 +58,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 126.3843518158359
"rotation": -53.93780932479241
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
"rotation": 179.1574757392596
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupid auto 1.path
-54
View File
@@ -1,54 +0,0 @@
{
"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
@@ -1,54 +0,0 @@
{
"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
@@ -1,54 +0,0 @@
{
"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
@@ -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
}
src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path
+4 -4
View File
@@ -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,
src/main/deploy/pathplanner/paths/Top Feed to Reef.path
+10 -10
View File
@@ -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
}
src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path
+6 -6
View File
@@ -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
}
src/main/deploy/pathplanner/paths/Top Reef to Feed.path
+8 -8
View File
@@ -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
}
src/main/java/frc4388/robot/RobotContainer.java
+12 -3
View File
@@ -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) -> {
src/main/java/frc4388/robot/commands/waitFeedCoral.java
+36
View File
@@ -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();
}
}
src/main/java/frc4388/robot/subsystems/Elevator.java
+4
View File
@@ -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