From ebc08d7eaa4a22dd9ad1e9001aa0fb1f835c0816 Mon Sep 17 00:00:00 2001 From: Michael Mikovsky <77305074+Astatin3@users.noreply.github.com> Date: Mon, 3 Mar 2025 16:40:33 -0700 Subject: [PATCH] Rename autos --- ...d Bottom Cage.auto => 2 Coral Cage 1.auto} | 14 ++- ...d Center Cage.auto => 2 Coral Cage 2.auto} | 6 +- .../{Mira's Auto.auto => 2 Coral Cage 3.auto} | 28 +++--- ...Blue Top Cage.auto => 2 Coral Cage 4.auto} | 12 ++- .../pathplanner/autos/2 Coral Cage 5.auto | 55 +++++++++++ .../pathplanner/autos/2 Coral Cage 6.auto | 55 +++++++++++ .../autos/2 Coral Center Barge Bottom.auto | 55 +++++++++++ ...Top.auto => 2 Coral Center Barge Top.auto} | 28 +++--- .../pathplanner/autos/3 Coral Cage 5.auto | 91 +++++++++++++++++++ .../pathplanner/autos/Blue Bottom Cage.auto | 61 ------------- .../pathplanner/autos/Blue Center Cage.auto | 61 ------------- .../autos/Center Barge Bottom.auto | 61 ------------- .../pathplanner/autos/Line-up-no-arm.auto | 25 ----- .../pathplanner/autos/Red Top Cage.auto | 61 ------------- .../paths/Bottom Feed to Reef 2.path | 54 +++++++++++ .../paths/Bottom Feed to Reef.path | 54 ----------- ... Cage to Reef.path => Cage 1 to Reef.path} | 10 +- ...age to Reef.path => Cage 2 to Reef 5.path} | 10 +- ... Cage to Reef.path => Cage 3 to Reef.path} | 14 +-- ... Cage to Reef.path => Cage 4 to Reef.path} | 10 +- ... Cage to Reef.path => Cage 5 to Reef.path} | 16 ++-- ... Cage to Reef.path => Cage 6 to Reef.path} | 18 ++-- ... Reef.path => Center Barge to Reef 4.path} | 8 +- .../paths/Center Reef to Feed.path | 70 -------------- .../paths/Reef 2 to Bottom Feed.path | 54 +++++++++++ ...o Feed.path => Reef 3 to Bottom Feed.path} | 18 ++-- ...m Feed.path => Reef 4 to Bottom Feed.path} | 18 ++-- .../pathplanner/paths/Reef 4 to Top Feed.path | 54 +++++++++++ ...f to Feed.path => Reef 5 to Top Feed.path} | 10 +- src/main/deploy/pathplanner/paths/Taxi.path | 24 +---- ...d to Reef.path => Top Feed to Reef 6.path} | 2 +- src/main/deploy/pathplanner/settings.json | 8 +- .../java/frc4388/robot/RobotContainer.java | 9 +- 33 files changed, 544 insertions(+), 530 deletions(-) rename src/main/deploy/pathplanner/autos/{Red Bottom Cage.auto => 2 Coral Cage 1.auto} (71%) rename src/main/deploy/pathplanner/autos/{Red Center Cage.auto => 2 Coral Cage 2.auto} (86%) rename src/main/deploy/pathplanner/autos/{Mira's Auto.auto => 2 Coral Cage 3.auto} (68%) rename src/main/deploy/pathplanner/autos/{Blue Top Cage.auto => 2 Coral Cage 4.auto} (75%) create mode 100644 src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto create mode 100644 src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto create mode 100644 src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto rename src/main/deploy/pathplanner/autos/{Center Barge Top.auto => 2 Coral Center Barge Top.auto} (68%) create mode 100644 src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto delete mode 100644 src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto delete mode 100644 src/main/deploy/pathplanner/autos/Blue Center Cage.auto delete mode 100644 src/main/deploy/pathplanner/autos/Center Barge Bottom.auto delete mode 100644 src/main/deploy/pathplanner/autos/Line-up-no-arm.auto delete mode 100644 src/main/deploy/pathplanner/autos/Red Top Cage.auto create mode 100644 src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path delete mode 100644 src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path rename src/main/deploy/pathplanner/paths/{Top Blue Cage to Reef.path => Cage 1 to Reef.path} (87%) rename src/main/deploy/pathplanner/paths/{Center Blue Cage to Reef.path => Cage 2 to Reef 5.path} (87%) rename src/main/deploy/pathplanner/paths/{Bottom Blue Cage to Reef.path => Cage 3 to Reef.path} (81%) rename src/main/deploy/pathplanner/paths/{Top Red Cage to Reef.path => Cage 4 to Reef.path} (87%) rename src/main/deploy/pathplanner/paths/{Center Red Cage to Reef.path => Cage 5 to Reef.path} (79%) rename src/main/deploy/pathplanner/paths/{Bottom Red Cage to Reef.path => Cage 6 to Reef.path} (75%) rename src/main/deploy/pathplanner/paths/{Center Barge to Reef.path => Center Barge to Reef 4.path} (89%) delete mode 100644 src/main/deploy/pathplanner/paths/Center Reef to Feed.path create mode 100644 src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path rename src/main/deploy/pathplanner/paths/{Bottom Reef to Feed.path => Reef 3 to Bottom Feed.path} (76%) rename src/main/deploy/pathplanner/paths/{Center Reef to Bottom Feed.path => Reef 4 to Bottom Feed.path} (75%) create mode 100644 src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path rename src/main/deploy/pathplanner/paths/{Top Reef to Feed.path => Reef 5 to Top Feed.path} (87%) rename src/main/deploy/pathplanner/paths/{Top Feed to Reef.path => Top Feed to Reef 6.path} (97%) diff --git a/src/main/deploy/pathplanner/autos/Red Bottom Cage.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto similarity index 71% rename from src/main/deploy/pathplanner/autos/Red Bottom Cage.auto rename to src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto index 3439f6b..e35d8f0 100644 --- a/src/main/deploy/pathplanner/autos/Red Bottom Cage.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Bottom Red Cage to Reef" + "pathName": "Cage 1 to Reef" } }, { @@ -19,7 +19,13 @@ { "type": "path", "data": { - "pathName": "Bottom Reef to Feed" + "pathName": "Reef 5 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" } }, { @@ -31,13 +37,13 @@ { "type": "path", "data": { - "pathName": "Bottom Feed to Reef" + "pathName": "Top Feed to Reef 6" } }, { "type": "named", "data": { - "name": "place-coral-left-l4" + "name": "place-coral-right-l4" } } ] diff --git a/src/main/deploy/pathplanner/autos/Red Center Cage.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto similarity index 86% rename from src/main/deploy/pathplanner/autos/Red Center Cage.auto rename to src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto index 7bfeb66..9a62160 100644 --- a/src/main/deploy/pathplanner/autos/Red Center Cage.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Center Red Cage to Reef" + "pathName": "Cage 2 to Reef 5" } }, { @@ -19,7 +19,7 @@ { "type": "path", "data": { - "pathName": "Bottom Reef to Feed" + "pathName": "Reef 5 to Top Feed" } }, { @@ -37,7 +37,7 @@ { "type": "path", "data": { - "pathName": "Bottom Feed to Reef" + "pathName": "Top Feed to Reef 6" } }, { diff --git a/src/main/deploy/pathplanner/autos/Mira's Auto.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto similarity index 68% rename from src/main/deploy/pathplanner/autos/Mira's Auto.auto rename to src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto index 3acc852..bd7da14 100644 --- a/src/main/deploy/pathplanner/autos/Mira's Auto.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto @@ -7,25 +7,25 @@ { "type": "path", "data": { - "pathName": "Top Blue Cage to Reef" + "pathName": "Cage 3 to Reef" } }, { "type": "named", "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" + "name": "place-coral-right-l4" } }, { "type": "path", "data": { - "pathName": "Top Reef to Feed" + "pathName": "Reef 5 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" } }, { @@ -37,19 +37,13 @@ { "type": "path", "data": { - "pathName": "Top Feed to Reef" + "pathName": "Top Feed to Reef 6" } }, { "type": "named", "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" + "name": "place-coral-right-l4" } } ] diff --git a/src/main/deploy/pathplanner/autos/Blue Top Cage.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto similarity index 75% rename from src/main/deploy/pathplanner/autos/Blue Top Cage.auto rename to src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto index 555bb6c..766c054 100644 --- a/src/main/deploy/pathplanner/autos/Blue Top Cage.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Top Blue Cage to Reef" + "pathName": "Cage 4 to Reef" } }, { @@ -19,7 +19,13 @@ { "type": "path", "data": { - "pathName": "Top Reef to Feed" + "pathName": "Reef 3 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" } }, { @@ -31,7 +37,7 @@ { "type": "path", "data": { - "pathName": "Top Feed to Reef" + "pathName": "Bottom Feed to Reef 2" } }, { diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto new file mode 100644 index 0000000..387787a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Cage 5 to Reef" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 3 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Feed to Reef 2" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto new file mode 100644 index 0000000..c861420 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Cage 6 to Reef" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 3 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Feed to Reef 2" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto new file mode 100644 index 0000000..dbe71b6 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center Barge to Reef 4" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 4 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Feed to Reef 2" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Barge Top.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto similarity index 68% rename from src/main/deploy/pathplanner/autos/Center Barge Top.auto rename to src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto index a5f3397..68320cc 100644 --- a/src/main/deploy/pathplanner/autos/Center Barge Top.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto @@ -7,25 +7,25 @@ { "type": "path", "data": { - "pathName": "Center Barge to Reef" + "pathName": "Center Barge to Reef 4" } }, { "type": "named", "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" + "name": "place-coral-right-l4" } }, { "type": "path", "data": { - "pathName": "Center Reef to Feed" + "pathName": "Reef 4 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" } }, { @@ -37,19 +37,13 @@ { "type": "path", "data": { - "pathName": "Top Feed to Reef" + "pathName": "Top Feed to Reef 6" } }, { "type": "named", "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" + "name": "place-coral-right-l4" } } ] diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto new file mode 100644 index 0000000..1145cb6 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto @@ -0,0 +1,91 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Cage 5 to Reef" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-right-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 3 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Feed to Reef 2" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-right-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "align-feed" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Feed to Reef 2" + } + }, + { + "type": "named", + "data": { + "name": "place-coral-left-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto b/src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto deleted file mode 100644 index 98b8016..0000000 --- a/src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Bottom Blue Cage to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Reef to Feed" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue Center Cage.auto b/src/main/deploy/pathplanner/autos/Blue Center Cage.auto deleted file mode 100644 index a7a32d6..0000000 --- a/src/main/deploy/pathplanner/autos/Blue Center Cage.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Blue Cage to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Reef to Feed" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Barge Bottom.auto b/src/main/deploy/pathplanner/autos/Center Barge Bottom.auto deleted file mode 100644 index 70a439a..0000000 --- a/src/main/deploy/pathplanner/autos/Center Barge Bottom.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Barge to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Center Reef to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Line-up-no-arm.auto b/src/main/deploy/pathplanner/autos/Line-up-no-arm.auto deleted file mode 100644 index 4d51c0d..0000000 --- a/src/main/deploy/pathplanner/autos/Line-up-no-arm.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Top Blue Cage to Reef" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Red Top Cage.auto b/src/main/deploy/pathplanner/autos/Red Top Cage.auto deleted file mode 100644 index 429e075..0000000 --- a/src/main/deploy/pathplanner/autos/Red Top Cage.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Top Red Cage to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Reef to Feed" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef" - } - }, - { - "type": "named", - "data": { - "name": "april-allign" - } - }, - { - "type": "named", - "data": { - "name": "place-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path b/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path new file mode 100644 index 0000000..bef1742 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.0603125, + "y": 1.0390625 + }, + "prevControl": null, + "nextControl": { + "x": 2.3463856916648673, + "y": 1.797152889765366 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.680625, + "y": 2.635625 + }, + "prevControl": { + "x": 2.741625910703272, + "y": 2.050875079374932 + }, + "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": 59.28109573597083 + }, + "reversed": false, + "folder": "Bottom Feed to Reef", + "idealStartingState": { + "velocity": 0, + "rotation": 53.32565033042684 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path b/src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path deleted file mode 100644 index 0762347..0000000 --- a/src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.3145202020202018, - "y": 0.9655934343434341 - }, - "prevControl": null, - "nextControl": { - "x": 2.4125846006173957, - "y": 1.7771562346874141 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.5997443181818185, - "y": 2.6888068181818174 - }, - "prevControl": { - "x": 2.6837095087024796, - "y": 1.9835311238550895 - }, - "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": 56.633633998940475 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 53.446462811652175 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path similarity index 87% rename from src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 1 to Reef.path index 66ebba7..7e7a001 100644 --- a/src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 6.599873737373737, - "y": 8.029671717171716 + "x": 5.8378125, + "y": 6.9378125 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 5.391107954545454 }, "prevControl": { - "x": 5.121161616161616, - "y": 5.00487058080808 + "x": 5.630625, + "y": 5.5728125 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": -122.99770510121631 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": 180.0 diff --git a/src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path similarity index 87% rename from src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path index 434e054..4dc63d4 100644 --- a/src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 6.3210457316672, - "y": 6.004686892287159 + "x": 6.451471554401174, + "y": 5.958542570253511 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 5.417487373737374 }, "prevControl": { - "x": 6.306061170284897, - "y": 5.670117895431184 + "x": 5.8621875, + "y": 6.12125 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": -120.86136963407526 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": -179.99261564513898 diff --git a/src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path similarity index 81% rename from src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 3 to Reef.path index f63510a..6ad2651 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 8.269913357759823, - "y": 5.035328772529629 + "x": 7.366483068336041, + "y": 5.1021119267533175 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.370012626262627, - "y": 5.346338383838384 + "x": 5.31375, + "y": 5.43875 }, "prevControl": { - "x": 4.997649306769947, - "y": 5.369630479499745 + "x": 5.7403125, + "y": 5.6215625 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": -121.26879518614867 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": 179.34296858150984 diff --git a/src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path similarity index 87% rename from src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 4 to Reef.path index 0cefb5a..e904b37 100644 --- a/src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 7.319147727272727, - "y": 2.3198579545454536 + "x": 6.2521875, + "y": 2.6234375000000005 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 2.6934974747474745 }, "prevControl": { - "x": 6.401761363636364, - "y": 1.5819602272727276 + "x": 5.630625, + "y": 2.148125 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": 123.49004753500587 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": -178.9832812445108 diff --git a/src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path similarity index 79% rename from src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 5 to Reef.path index 7e6f511..e015f20 100644 --- a/src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 5.96969696969697, - "y": 1.1282196969696958 + "x": 7.044375, + "y": 1.8921875 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.319191919191919, - "y": 2.6833333333333327 + "x": 5.2771875, + "y": 2.61125 }, "prevControl": { - "x": 5.75625, - "y": 2.256439393939394 + "x": 5.3503125, + "y": 2.1603125 }, "nextControl": null, "isLocked": false, @@ -42,10 +42,10 @@ }, "goalEndState": { "velocity": 0, - "rotation": 122.87136694597014 + "rotation": 118.99790479482637 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": 179.5295681977034 diff --git a/src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path b/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path similarity index 75% rename from src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path rename to src/main/deploy/pathplanner/paths/Cage 6 to Reef.path index 226a1a8..42a1ac9 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 8.123574009981496, - "y": 0.3592362071562901 + "x": 6.625889381464077, + "y": 1.4477106264692527 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.3903409090909085, - "y": 2.6833333333333327 + "x": 5.3015625, + "y": 2.6234375 }, "prevControl": { - "x": 5.06636861749931, - "y": 2.9361778277713553 + "x": 5.721332938841585, + "y": 2.265481302925542 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -57.4259428654274 + "rotation": 120.98817835541992 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": -0.9548412538721401 + "rotation": -179.94258861633824 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center Barge to Reef.path b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path similarity index 89% rename from src/main/deploy/pathplanner/paths/Center Barge to Reef.path rename to src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path index cfbbb95..596548a 100644 --- a/src/main/deploy/pathplanner/paths/Center Barge to Reef.path +++ b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 6.172414772727272, + "x": 6.1059375, "y": 4.045328282828282 }, "prevControl": { - "x": 5.696091638273898, - "y": 4.0462802990619195 + "x": 6.35555109493404, + "y": 4.031433923393444 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": -179.96096735022735 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, "rotation": -179.2890804030095 diff --git a/src/main/deploy/pathplanner/paths/Center Reef to Feed.path b/src/main/deploy/pathplanner/paths/Center Reef to Feed.path deleted file mode 100644 index 5bee8d7..0000000 --- a/src/main/deploy/pathplanner/paths/Center Reef to Feed.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.982954545454545, - "y": 4.03497159090909 - }, - "prevControl": null, - "nextControl": { - "x": 7.109744318181819, - "y": 3.8355397727272718 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.232244318181818, - "y": 5.281420454545455 - }, - "prevControl": { - "x": 7.1397939460232385, - "y": 4.676387369317844 - }, - "nextControl": { - "x": 5.574119318181818, - "y": 5.720170454545454 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.121401515151515, - "y": 7.003093434343434 - }, - "prevControl": { - "x": 0.32627122293847843, - "y": 7.229156472141377 - }, - "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": -53.93780932479241 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 179.1574757392596 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path b/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path new file mode 100644 index 0000000..562a21c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.680625, + "y": 2.61125 + }, + "prevControl": null, + "nextControl": { + "x": 3.2541591082344743, + "y": 2.3264921263556886 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.12125, + "y": 1.0025 + }, + "prevControl": { + "x": 1.3989083079519464, + "y": 1.1682576997602765 + }, + "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": 55.37584492005105 + }, + "reversed": false, + "folder": "Reef to Bottom Feed", + "idealStartingState": { + "velocity": 0, + "rotation": 58.10920819815426 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path b/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path similarity index 76% rename from src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path rename to src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path index 6bb67cc..48b8fd6 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.344772727272727, - "y": 2.6688636363636364 + "x": 5.265, + "y": 2.61125 }, "prevControl": null, "nextControl": { - "x": 6.4715625, - "y": 1.432386363636364 + "x": 4.137208815063533, + "y": 2.0700494801809173 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.1823863636363636, - "y": 1.026578282828283 + "x": 1.096875, + "y": 1.0390625 }, "prevControl": { - "x": 0.9229528762543462, - "y": 0.9200437072077402 + "x": 1.3299317623663032, + "y": 1.1501468126694903 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": 55.05578949900953 }, "reversed": false, - "folder": null, + "folder": "Reef to Bottom Feed", "idealStartingState": { "velocity": 0, "rotation": 121.42956561483854 diff --git a/src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path b/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path similarity index 75% rename from src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path rename to src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path index 200490f..cbd1bbf 100644 --- a/src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 6.092642045454545, - "y": 3.9651704545454542 + "x": 6.1059375, + "y": 4.0249999999999995 }, "prevControl": null, "nextControl": { - "x": 9.024289772727268, - "y": 3.446647727272728 + "x": 7.264857954545455, + "y": 2.244517045454545 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.3755050505050503, - "y": 0.8842803030303026 + "x": 1.1090625, + "y": 1.0146875 }, "prevControl": { - "x": 1.5707222528658078, - "y": 1.040454064918909 + "x": 1.95, + "y": 2.1115625000000002 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": 52.857102599919905 }, "reversed": false, - "folder": null, + "folder": "Reef to Bottom Feed", "idealStartingState": { "velocity": 0, "rotation": -179.46454101443553 diff --git a/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path new file mode 100644 index 0000000..8f6baad --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 6.1059375, + "y": 4.037187499999999 + }, + "prevControl": null, + "nextControl": { + "x": 7.1784375, + "y": 6.4015625 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.121401515151515, + "y": 7.003093434343434 + }, + "prevControl": { + "x": 1.7184374999999998, + "y": 5.999375 + }, + "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": 179.1574757392596 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Reef to Feed.path b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path similarity index 87% rename from src/main/deploy/pathplanner/paths/Top Reef to Feed.path rename to src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path index 40748ed..612587c 100644 --- a/src/main/deploy/pathplanner/paths/Top Reef to Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 4.844554924242423, - "y": 6.744466540404039 + "x": 4.996875, + "y": 6.8525 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 7.003093434343434 }, "prevControl": { - "x": 1.9644034090909093, - "y": 5.750085227272726 + "x": 2.34, + "y": 5.5484375 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "rotation": -54.83470564502973 }, "reversed": false, - "folder": null, + "folder": "Reef to Top Feed", "idealStartingState": { "velocity": 0, "rotation": -121.0370223454415 diff --git a/src/main/deploy/pathplanner/paths/Taxi.path b/src/main/deploy/pathplanner/paths/Taxi.path index c4ec989..c5d3778 100644 --- a/src/main/deploy/pathplanner/paths/Taxi.path +++ b/src/main/deploy/pathplanner/paths/Taxi.path @@ -16,28 +16,12 @@ }, { "anchor": { - "x": 6.305113636363636, + "x": 6.0571875, "y": 7.348674242424242 }, "prevControl": { - "x": 5.928529040722133, - "y": 7.353679406601922 - }, - "nextControl": { - "x": 6.681698232005139, - "y": 7.343669078246562 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.8889204545454543, - "y": 7.348674242424242 - }, - "prevControl": { - "x": 4.138853417354843, - "y": 7.3544633789160185 + "x": 6.306992295436264, + "y": 7.338796784398704 }, "nextControl": null, "isLocked": false, @@ -58,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 179.59913485447024 + "rotation": 179.5653636269807 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Top Feed to Reef.path b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path similarity index 97% rename from src/main/deploy/pathplanner/paths/Top Feed to Reef.path rename to src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path index fce25be..42b5477 100644 --- a/src/main/deploy/pathplanner/paths/Top Feed to Reef.path +++ b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path @@ -45,7 +45,7 @@ "rotation": -59.239047023115106 }, "reversed": false, - "folder": null, + "folder": "Top Feed to Reef", "idealStartingState": { "velocity": 0, "rotation": -52.93323259086456 diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5bf438c..e658ac9 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -2,7 +2,13 @@ "robotWidth": 0.9, "robotLength": 0.9, "holonomicMode": true, - "pathFolders": [], + "pathFolders": [ + "Barge to Reef", + "Bottom Feed to Reef", + "Reef to Top Feed", + "Reef to Bottom Feed", + "Top Feed to Reef" + ], "autoFolders": [], "defaultMaxVel": 3.0, "defaultMaxAccel": 3.0, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 7ad5266..064ce54 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -90,7 +90,7 @@ public class RobotContainer { public final LED m_robotLED = new LED(); public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera); public final Lidar m_lidar = new Lidar(); - public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotLED); + public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_vision, m_robotLED); public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision); public final Climber m_robotClimber = new Climber(m_robotMap.climber); // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain); @@ -332,10 +332,9 @@ public class RobotContainer { NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left); NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right); - NamedCommands.registerCommand("lineup-no-arm", new SequentialCommandGroup( - new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT), - new LidarAlign(m_robotSwerveDrive, m_lidar) - )); + NamedCommands.registerCommand("enable-preraise-l4", new InstantCommand(() -> { + m_robotElevator.enablePreRaiseElevator(); + })); configureButtonBindings(); configureVirtualButtonBindings();