Team4388/2026KPopRobotHunters
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Autos for Pike

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This commit is contained in:
Shikhar
2026-03-05 23:12:50 -07:00
parent 183caaa970
commit 0957729c80
20 changed files with 152 additions and 90 deletions
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src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto
+6 -6
View File
@@ -28,18 +28,18 @@
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "LShoot-Nu"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "LShoot-Nu"
}
},
{
"type": "path",
"data": {
src/main/deploy/pathplanner/autos/HubLeft-Score-Tower ❌.auto
-43
View File
@@ -1,43 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "HubLeft-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "LShoot-Tower"
}
}
]
}
},
"resetOdom": true,
"folder": "HubLeft",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto
+6 -6
View File
@@ -28,18 +28,18 @@
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "ReadyPush"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "ReadyPush"
}
},
{
"type": "path",
"data": {
src/main/deploy/pathplanner/autos/HubRight-Station-Score-Tower ❌.auto → src/main/deploy/pathplanner/autos/★HubCenter-Station-Score.auto
+2 -8
View File
@@ -11,7 +11,7 @@
{
"type": "path",
"data": {
"pathName": "HubRight-PlayerStation"
"pathName": "HubCenter-PlayerStation"
}
},
{
@@ -46,17 +46,11 @@
"data": {
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "RShoot-Tower"
}
}
]
}
},
"resetOdom": true,
"folder": "HubRight",
"folder": "HubCenter",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubLeft-Score.auto → src/main/deploy/pathplanner/autos/★HubLeft-Score.auto
View File
src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path
+3 -3
View File
@@ -33,11 +33,11 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
@@ -50,5 +50,5 @@
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/Center-NeutralL.path
+1 -1
View File
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/Center-NeutralR.path
+1 -1
View File
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/Center-ToDepot.path
+1 -1
View File
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/HubCenter-PlayerStation.path
+107
View File
@@ -0,0 +1,107 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.5541168091168096,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 2.8047435897435893,
"y": 3.957478632478633
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.5,
"y": 4.0
},
"prevControl": {
"x": 2.778903133903134,
"y": 4.319245014245015
},
"nextControl": {
"x": 1.995141221800707,
"y": 3.422116038703489
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.5754761904761914,
"y": 1.0
},
"prevControl": {
"x": 2.2272563574654534,
"y": 0.9727386663284083
},
"nextControl": {
"x": 0.9236960234869294,
"y": 1.0272613336715914
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.46,
"y": 1.0
},
"prevControl": {
"x": 0.709742135052909,
"y": 0.9886480847776856
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 0.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.8486842105263119,
"maxWaypointRelativePos": 1.95,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 4.0
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.7515182186234766,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -95.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path
+2 -2
View File
@@ -96,11 +96,11 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path
+1 -1
View File
@@ -96,7 +96,7 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/HubLeft-Shoot.path
+1 -1
View File
@@ -44,7 +44,7 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/HubRight-Shoot.path
+1 -1
View File
@@ -44,7 +44,7 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.8,
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/LShoot-Nu.path
+3 -3
View File
@@ -20,8 +20,8 @@
"y": 7.4
},
"prevControl": {
"x": 2.460880952380954,
"y": 7.55502380952381
"x": 1.7698333333333336,
"y": 7.036738095238095
},
"nextControl": null,
"isLocked": false,
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxVelocity": 2.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/ReadyPush.path
+2 -2
View File
@@ -47,7 +47,7 @@
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 770.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
@@ -61,5 +61,5 @@
"velocity": 0,
"rotation": -148.82
},
"useDefaultConstraints": false
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+1 -1
View File
@@ -8,7 +8,7 @@
"HubRight",
"HubLeft"
],
"defaultMaxVel": 2.8,
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 600.0,
"defaultMaxAngAccel": 750.0,
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
View File
@@ -121,9 +121,9 @@ public class RobotContainer {
// );
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
);
private Command RobotIntakeRetracted = new SequentialCommandGroup(
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 141;
public static final String GIT_SHA = "5b467df2cab912af2e96e94d2d51490e7da2f0bb";
public static final String GIT_DATE = "2026-03-04 19:33:17 MST";
public static final String GIT_BRANCH = "Autos-for-pike";
public static final String BUILD_DATE = "2026-03-04 20:10:01 MST";
public static final long BUILD_UNIX_TIME = 1772680201068L;
public static final int GIT_REVISION = 142;
public static final String GIT_SHA = "183caaa9700e236fb017be9702c4acc285fc6b98";
public static final String GIT_DATE = "2026-03-05 17:22:50 MST";
public static final String GIT_BRANCH = "master";
public static final String BUILD_DATE = "2026-03-05 18:03:37 MST";
public static final long BUILD_UNIX_TIME = 1772759017911L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+5 -1
View File
@@ -27,7 +27,8 @@ public class Intake extends SubsystemBase {
Retracted,
Extending,
Retracting,
Idle
Idle,
RollerStop
}
private IntakeMode mode = IntakeMode.Idle;
@@ -90,6 +91,9 @@ public class Intake extends SubsystemBase {
case Idle:
io.stopArm();
break;
case RollerStop:
io.setRollerOutput(state, 0);
break;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;