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autos

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This commit is contained in:
Shikhar
2026-03-06 22:52:06 -07:00
parent d5ff90c1aa
commit 0ce384a940
19 changed files with 169 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/deploy/pathplanner/autos/★HubCenter-Score.auto → src/main/deploy/pathplanner/autos/HubCenter-Score.auto
View File
src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto → src/main/deploy/pathplanner/autos/HubFarLeft-Score-Push.auto
+27 -32
View File
@@ -11,33 +11,9 @@
}
},
{
"type": "named",
"type": "wait",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "HubLeft-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "LShoot-Nu"
"waitTime": 0.15
}
},
{
@@ -46,17 +22,36 @@
"pathName": "HubFarLeft-NeutralZone 1-2"
}
},
{
"type": "named",
"data": {
"name": "Intake Retracted"
}
},
{
"type": "path",
"data": {
"pathName": "HubFarLeft-NeutralZone 2-2"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "HubFarRight-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
src/main/deploy/pathplanner/autos/★HubLeft-Score.auto → src/main/deploy/pathplanner/autos/HubLeft-Score.auto
View File
src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto
-6
View File
@@ -65,12 +65,6 @@
"pathName": "HubFarRight-NeutralZone 1-2"
}
},
{
"type": "named",
"data": {
"name": "Intake Retracted"
}
},
{
"type": "path",
"data": {
src/main/deploy/pathplanner/autos/★HubRight-Station-Score.auto → src/main/deploy/pathplanner/autos/HubRight-Station-Score.auto
View File
src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto → src/main/deploy/pathplanner/autos/X HubCenter-Score-PushLeft.auto
View File
src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto → src/main/deploy/pathplanner/autos/X HubCenter-Score-PushRight.auto
View File
src/main/deploy/pathplanner/autos/★HubCenter-Station-Score.auto → src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto
View File
src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path
+5 -5
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 7.4
"x": 3.594630952380953,
"y": 7.425452380952382
},
"prevControl": null,
"nextControl": {
"x": 5.0954999999999995,
"y": 7.479440476190477
"x": 4.690130952380953,
"y": 7.504892857142858
},
"isLocked": false,
"linkedName": null
@@ -52,7 +52,7 @@
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"velocity": 1.5,
"rotation": -90.0
},
"reversed": false,
src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path
+16 -2
View File
@@ -45,7 +45,21 @@
}
],
"rotationTargets": [],
"constraintZones": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 0.8992555831265578,
"constraints": {
"maxVelocity": 1.2,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
@@ -78,7 +92,7 @@
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"velocity": 3.0,
"rotation": 180.0
},
"reversed": false,
src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path
+16 -2
View File
@@ -45,7 +45,21 @@
}
],
"rotationTargets": [],
"constraintZones": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 0.95483870967742,
"constraints": {
"maxVelocity": 1.2,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
@@ -74,7 +88,7 @@
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path
+75
View File
@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 0.666
},
"prevControl": null,
"nextControl": {
"x": 3.17352380952381,
"y": 0.5905595238095237
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.61204761904762,
"y": 1.7351071428571436
},
"prevControl": {
"x": 2.8495119047619064,
"y": 1.4542857142857142
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.61155415,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.40595533498758746,
"maxWaypointRelativePos": 1.0,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 0.5
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.32258064516129836,
"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": -129.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
+4 -4
View File
@@ -32,12 +32,12 @@
},
{
"anchor": {
"x": 0.45,
"y": 1.0
"x": 0.325,
"y": 0.95
},
"prevControl": {
"x": 0.6997421350529089,
"y": 0.9886480847776856
"x": 0.5747421350529089,
"y": 0.9386480847776856
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/LShoot-Nu.path
-54
View File
@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.029843081312411,
"y": 5.412967189728959
},
"prevControl": null,
"nextControl": {
"x": 2.439285714285715,
"y": 5.363107142857143
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.0,
"y": 7.4
},
"prevControl": {
"x": 1.7698333333333336,
"y": 7.036738095238095
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 139.399
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+11 -27
View File
@@ -8,36 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 0.7,
"y": 1.0
"x": 0.8305284220032643,
"y": 0.9200002390150002
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2623452380952391,
"y": 1.497559523809524
"x": 1.435,
"y": 1.6487261904761907
},
"prevControl": {
"x": 0.7849906411045418,
"y": 1.097011457533851
},
"nextControl": {
"x": 1.7396998350859363,
"y": 1.8981075900851971
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.298916666666668,
"y": 2.599
},
"prevControl": {
"x": 2.138219764245033,
"y": 2.4074888892202555
"x": 1.168662018325582,
"y": 1.4638305391236057
},
"nextControl": null,
"isLocked": false,
@@ -53,8 +37,8 @@
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.9702290076335914,
"maxWaypointRelativePos": 2.0,
"minWaypointRelativePos": 0.4,
"maxWaypointRelativePos": 1.0,
"name": "Point Towards Zone"
},
{
@@ -64,7 +48,7 @@
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.8725190839694592,
"maxWaypointRelativePos": 0.2749379652605452,
"name": "Point Towards Zone"
}
],
@@ -79,12 +63,12 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -148.81502534126165
"rotation": -142.9
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"velocity": 0.0,
"rotation": -90.0
},
"useDefaultConstraints": true
src/main/deploy/pathplanner/paths/ReadyPush.path
+5 -5
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.299,
"y": 2.599
"x": 1.435,
"y": 1.649
},
"prevControl": null,
"nextControl": {
"x": 2.471678571428572,
"y": 2.3397738095238094
"x": 1.607678571428572,
"y": 1.3897738095238092
},
"isLocked": false,
"linkedName": null
@@ -52,7 +52,7 @@
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"velocity": 2.5,
"rotation": 0.0
},
"reversed": false,
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 = 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 GIT_REVISION = 145;
public static final String GIT_SHA = "d5ff90c1aa76a82571b723631ee8562d9f040026";
public static final String GIT_DATE = "2026-03-06 10:57:47 MST";
public static final String GIT_BRANCH = "PikesPeak";
public static final String BUILD_DATE = "2026-03-06 16:34:51 MST";
public static final long BUILD_UNIX_TIME = 1772840091676L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1 -1
View File
@@ -37,7 +37,7 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.3);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .60);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
// public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+3 -2
View File
@@ -19,7 +19,7 @@ public class ShooterConstants {
public static final double INDEXER_GEAR_RATIO = 1.;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -40.25);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42);
// public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
// public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
@@ -29,6 +29,7 @@ public class ShooterConstants {
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0.0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -53,7 +54,7 @@ public class ShooterConstants {
// 30.6293;
double speed =
5.6939*hubDistMeters +
22.76545;
22.76545 + MODEL_TRIM.get();
double max = SHOOTER_MAX_VELOCITY.get();