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This commit is contained in:
Michael Mikovsky
2025-03-13 07:19:15 -06:00
parent e029739cee
commit d4a26dc948
29 changed files with 472 additions and 136 deletions
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src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto
+15 -3
View File
@@ -31,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -49,13 +49,25 @@
{
"type": "named",
"data": {
"name": "await-coral"
"name": "place-coral-right-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 6 to Top Feed"
}
},
{
"type": "named",
"data": {
"name": "place-coral-right-l4"
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto
+25 -1
View File
@@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 6 to Top Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto
+25 -1
View File
@@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-right-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 6 to Top Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto
+25 -1
View File
@@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto
+15 -3
View File
@@ -31,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -49,13 +49,25 @@
{
"type": "named",
"data": {
"name": "await-coral"
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "place-coral-left-l4"
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto
+25 -1
View File
@@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto
+26 -2
View File
@@ -4,10 +4,16 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4"
"pathName": "Center Barge to Reef 4 Left"
}
},
{
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-left-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto
+26 -2
View File
@@ -4,10 +4,16 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "prepare-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4"
"pathName": "Center Barge to Reef 4 Right"
}
},
{
@@ -25,7 +31,7 @@
{
"type": "named",
"data": {
"name": "align-feed"
"name": "feed-driveback"
}
},
{
@@ -45,6 +51,24 @@
"data": {
"name": "place-coral-right-l4"
}
},
{
"type": "path",
"data": {
"pathName": "Reef 6 to Top Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto
+24
View File
@@ -28,6 +28,12 @@
"pathName": "Reef 3 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
@@ -52,6 +58,12 @@
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
@@ -75,6 +87,18 @@
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto
+24
View File
@@ -28,6 +28,12 @@
"pathName": "Reef 3 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
@@ -52,6 +58,12 @@
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
@@ -75,6 +87,18 @@
"data": {
"pathName": "Reef 2 to Bottom Feed"
}
},
{
"type": "named",
"data": {
"name": "feed-driveback"
}
},
{
"type": "named",
"data": {
"name": "grab-coral"
}
}
]
}
src/main/deploy/pathplanner/autos/New Auto.auto
+61
View File
@@ -0,0 +1,61 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Cage 1 to Reef"
}
},
{
"type": "path",
"data": {
"pathName": "Cage 2 to Reef 5"
}
},
{
"type": "path",
"data": {
"pathName": "Cage 3 to Reef"
}
},
{
"type": "path",
"data": {
"pathName": "Cage 4 to Reef"
}
},
{
"type": "path",
"data": {
"pathName": "Cage 5 to Reef"
}
},
{
"type": "path",
"data": {
"pathName": "Cage 6 to Reef"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4 Left"
}
},
{
"type": "path",
"data": {
"pathName": "Center Barge to Reef 4 Right"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Taxi.auto
+2 -2
View File
@@ -5,9 +5,9 @@
"data": {
"commands": [
{
"type": "path",
"type": "named",
"data": {
"pathName": "Taxi"
"name": "taxi"
}
}
]
src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path
+9 -9
View File
@@ -3,25 +3,25 @@
"waypoints": [
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@@ -48,7 +48,7 @@
"folder": "Bottom Feed to Reef",
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"rotation": 53.426969021480645
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src/main/deploy/pathplanner/paths/Cage 1 to Reef.path
+10 -10
View File
@@ -3,25 +3,25 @@
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@@ -42,13 +42,13 @@
},
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"rotation": -118.81079374297312
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"folder": "Barge to Reef",
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src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path
+9 -9
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@@ -3,25 +3,25 @@
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src/main/deploy/pathplanner/paths/Cage 3 to Reef.path
+9 -9
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@@ -3,25 +3,25 @@
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@@ -48,7 +48,7 @@
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src/main/deploy/pathplanner/paths/Cage 4 to Reef.path
+10 -10
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@@ -3,25 +3,25 @@
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@@ -42,13 +42,13 @@
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src/main/deploy/pathplanner/paths/Cage 5 to Reef.path
+1 -1
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@@ -53,7 +53,7 @@
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src/main/deploy/pathplanner/paths/Cage 6 to Reef.path
+4 -4
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@@ -16,12 +16,12 @@
},
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src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path → src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Left.path
+8 -8
View File
@@ -3,25 +3,25 @@
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src/main/deploy/pathplanner/paths/Taxi.path → src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Right.path
+11 -11
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@@ -3,25 +3,25 @@
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src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path
+8 -8
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@@ -3,25 +3,25 @@
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src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path
+8 -8
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src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path
+8 -8
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{
"anchor": {
"x": 1.1090625,
"y": 1.0146875
"x": 1.3040625,
"y": 1.368125
},
"prevControl": {
"x": 1.9500000000000002,
"y": 2.1115625000000002
"x": 2.1450000000000005,
"y": 2.4650000000000007
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path
+9 -9
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 6.1059375,
"y": 4.037187499999999
"x": 6.4228125,
"y": 4.195625
},
"prevControl": null,
"nextControl": {
"x": 7.1784375,
"y": 6.4015625
"x": 7.0809375,
"y": 6.535625
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.121401515151515,
"y": 7.003093434343434
"x": 1.291875,
"y": 6.7428125
},
"prevControl": {
"x": 1.7184374999999998,
"y": 5.999375
"x": 1.8889109848484849,
"y": 5.739094065656566
},
"nextControl": null,
"isLocked": false,
@@ -48,7 +48,7 @@
"folder": "Reef to Top Feed",
"idealStartingState": {
"velocity": 0,
"rotation": 179.1574757392596
"rotation": 178.9390883097358
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path
+8 -8
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 5.284943181818181,
"y": 5.401079545454545
"x": 5.3015625,
"y": 5.755625
},
"prevControl": null,
"nextControl": {
"x": 4.996875,
"y": 6.8525
"x": 5.013494318181819,
"y": 7.207045454545455
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2230429292929292,
"y": 7.003093434343434
"x": 1.2796875,
"y": 6.730625
},
"prevControl": {
"x": 2.34,
"y": 5.5484375
"x": 2.3966445707070707,
"y": 5.275969065656566
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.485625,
"y": 5.6459375
},
"prevControl": null,
"nextControl": {
"x": 2.5593749999999997,
"y": 6.389374999999999
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.31625,
"y": 6.730625
},
"prevControl": {
"x": 1.9132859848484847,
"y": 5.726906565656566
},
"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": -53.93780932479242
},
"reversed": false,
"folder": "Reef to Top Feed",
"idealStartingState": {
"velocity": 0,
"rotation": -58.96173664449721
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path
+8 -8
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 1.116818181818182,
"y": 6.956647727272727
"x": 1.31625,
"y": 6.730625
},
"prevControl": null,
"nextControl": {
"x": 2.123068181818182,
"y": 6.275650252525252
"x": 2.3225000000000002,
"y": 6.049627525252525
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.6196875,
"y": 5.35122159090909
"x": 3.5465625,
"y": 5.706875
},
"prevControl": {
"x": 2.8392584714142375,
"y": 5.792423901494171
"x": 2.7661334714142374,
"y": 6.148077310585081
},
"nextControl": null,
"isLocked": false,
src/main/java/frc4388/robot/RobotContainer.java
+5
View File
@@ -388,6 +388,11 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
NamedCommands.registerCommand("taxi", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, -1),
new Translation2d(), 1000, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy());
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));