From 0ce384a9402300fbc7b2c1b609c507284c5caa3c Mon Sep 17 00:00:00 2001 From: Shikhar Date: Fri, 6 Mar 2026 22:52:06 -0700 Subject: [PATCH] autos --- ...ubCenter-Score.auto => HubCenter-Score.auto} | 0 ...e-Push.auto => HubFarLeft-Score-Push.auto} | 59 +++++++-------- ...★HubLeft-Score.auto => HubLeft-Score.auto} | 0 .../autos/HubRight-Station-Score-Push.auto | 6 -- ...n-Score.auto => HubRight-Station-Score.auto} | 0 ...t.auto => X HubCenter-Score-PushLeft.auto} | 0 ....auto => X HubCenter-Score-PushRight.auto} | 0 ...core.auto => X HubCenter-Station-Score.auto} | 0 .../paths/HubFarLeft-NeutralZone 1-2.path | 10 +-- .../paths/HubFarLeft-NeutralZone 2-2.path | 18 ++++- .../paths/HubFarRight-NeutralZone 2-2.path | 18 ++++- .../pathplanner/paths/HubFarRight-Shoot.path | 75 +++++++++++++++++++ .../paths/HubRight-PlayerStation.path | 8 +- .../deploy/pathplanner/paths/LShoot-Nu.path | 54 ------------- .../paths/PlayerStation-Shoot.path | 38 +++------- .../deploy/pathplanner/paths/ReadyPush.path | 10 +-- .../robot/constants/BuildConstants.java | 12 +-- .../subsystems/intake/IntakeConstants.java | 2 +- .../subsystems/shooter/ShooterConstants.java | 5 +- 19 files changed, 169 insertions(+), 146 deletions(-) rename src/main/deploy/pathplanner/autos/{★HubCenter-Score.auto => HubCenter-Score.auto} (100%) rename src/main/deploy/pathplanner/autos/{HubLeft-Score-Push.auto => HubFarLeft-Score-Push.auto} (62%) rename src/main/deploy/pathplanner/autos/{★HubLeft-Score.auto => HubLeft-Score.auto} (100%) rename src/main/deploy/pathplanner/autos/{★HubRight-Station-Score.auto => HubRight-Station-Score.auto} (100%) rename src/main/deploy/pathplanner/autos/{HubCenter-Score-PushLeft.auto => X HubCenter-Score-PushLeft.auto} (100%) rename src/main/deploy/pathplanner/autos/{HubCenter-Score-PushRight.auto => X HubCenter-Score-PushRight.auto} (100%) rename src/main/deploy/pathplanner/autos/{★HubCenter-Station-Score.auto => X HubCenter-Station-Score.auto} (100%) create mode 100644 src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path delete mode 100644 src/main/deploy/pathplanner/paths/LShoot-Nu.path diff --git a/src/main/deploy/pathplanner/autos/★HubCenter-Score.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/★HubCenter-Score.auto rename to src/main/deploy/pathplanner/autos/HubCenter-Score.auto diff --git a/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubFarLeft-Score-Push.auto similarity index 62% rename from src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto rename to src/main/deploy/pathplanner/autos/HubFarLeft-Score-Push.auto index ea1c204..550b29a 100644 --- a/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubFarLeft-Score-Push.auto @@ -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" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/★HubLeft-Score.auto b/src/main/deploy/pathplanner/autos/HubLeft-Score.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/★HubLeft-Score.auto rename to src/main/deploy/pathplanner/autos/HubLeft-Score.auto diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto index 57286ed..8de5e97 100644 --- a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto @@ -65,12 +65,6 @@ "pathName": "HubFarRight-NeutralZone 1-2" } }, - { - "type": "named", - "data": { - "name": "Intake Retracted" - } - }, { "type": "path", "data": { diff --git a/src/main/deploy/pathplanner/autos/★HubRight-Station-Score.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/★HubRight-Station-Score.auto rename to src/main/deploy/pathplanner/autos/HubRight-Station-Score.auto diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto b/src/main/deploy/pathplanner/autos/X HubCenter-Score-PushLeft.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto rename to src/main/deploy/pathplanner/autos/X HubCenter-Score-PushLeft.auto diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto b/src/main/deploy/pathplanner/autos/X HubCenter-Score-PushRight.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto rename to src/main/deploy/pathplanner/autos/X HubCenter-Score-PushRight.auto diff --git a/src/main/deploy/pathplanner/autos/★HubCenter-Station-Score.auto b/src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/★HubCenter-Station-Score.auto rename to src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto diff --git a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path index d9aa446..cf8bda0 100644 --- a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path +++ b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path @@ -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, diff --git a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path index e02447f..811f3d8 100644 --- a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path +++ b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path @@ -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, diff --git a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path index 833dd67..e2f9531 100644 --- a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path +++ b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path @@ -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": { diff --git a/src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path b/src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path new file mode 100644 index 0000000..a3834d8 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/HubFarRight-Shoot.path @@ -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 +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path index 8166269..0d931a0 100644 --- a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path +++ b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path @@ -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, diff --git a/src/main/deploy/pathplanner/paths/LShoot-Nu.path b/src/main/deploy/pathplanner/paths/LShoot-Nu.path deleted file mode 100644 index d56ea91..0000000 --- a/src/main/deploy/pathplanner/paths/LShoot-Nu.path +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path index 488bf73..61b8049 100644 --- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path +++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path @@ -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 diff --git a/src/main/deploy/pathplanner/paths/ReadyPush.path b/src/main/deploy/pathplanner/paths/ReadyPush.path index 124858d..3c8bced 100644 --- a/src/main/deploy/pathplanner/paths/ReadyPush.path +++ b/src/main/deploy/pathplanner/paths/ReadyPush.path @@ -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, diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index bf2abc4..d32cb2f 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/src/main/java/frc4388/robot/constants/BuildConstants.java @@ -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(){} diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index 86d3a23..d2b4768 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -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); diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java index a70b923..8c7960d 100644 --- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java @@ -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();