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New Ramp autos

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This commit is contained in:
mimigamin
2026-03-31 16:43:44 -06:00
parent a774f156c6
commit 149227892f
27 changed files with 1558 additions and 24 deletions
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src/main/deploy/pathplanner/autos/DriveShoot-Hori.auto
+1 -1
View File
@@ -39,6 +39,6 @@
}
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"folder": null,
"folder": "Spring Break Tests",
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src/main/deploy/pathplanner/autos/X HubCenter-Score-PushLeft.auto → src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto
View File
src/main/deploy/pathplanner/autos/X HubCenter-Score-PushRight.auto → src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto
View File
src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto → src/main/deploy/pathplanner/autos/HubCenter-Station-Score.auto
View File
src/main/deploy/pathplanner/autos/ShootPreloadBump.auto
+1 -1
View File
@@ -38,6 +38,6 @@
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src/main/deploy/pathplanner/autos/Test-LClimb.auto
+43
View File
@@ -0,0 +1,43 @@
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src/main/deploy/pathplanner/autos/Test-RClimb.auto
+43
View File
@@ -0,0 +1,43 @@
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src/main/deploy/pathplanner/autos/X. LeftRamp-Neutral-Shoot-Neutral-Shoot.auto
+123
View File
@@ -0,0 +1,123 @@
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src/main/deploy/pathplanner/autos/X. LeftRamp-Neutral-Shoot.auto
+68
View File
@@ -0,0 +1,68 @@
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src/main/deploy/pathplanner/autos/X. RightRamp-Neutral-Shoot-Neutral-Shoot.auto
+123
View File
@@ -0,0 +1,123 @@
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src/main/deploy/pathplanner/autos/X. RightRamp-Neutral-Shoot.auto
+68
View File
@@ -0,0 +1,68 @@
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src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path
+128
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src/main/deploy/pathplanner/paths/LeftBump.path
+59
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src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
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src/main/deploy/pathplanner/paths/LeftBump2.path
+59
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src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path
+65
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src/main/deploy/pathplanner/paths/LeftTower.path
+75
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src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+1 -1
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src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
+128
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},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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},
"prevControl": {
"x": 7.037410256410256,
"y": 1.0930641025641024
},
"nextControl": {
"x": 7.969958998382976,
"y": 0.9350049937551674
},
"isLocked": false,
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},
{
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"y": 3.4419615384615385
},
"prevControl": {
"x": 7.88564675702345,
"y": 3.690934840078465
},
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"y": 3.192988236844612
},
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},
{
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},
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},
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"x": 6.348675253532072,
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},
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},
{
"anchor": {
"x": 3.3977820512820527,
"y": 2.512
},
"prevControl": {
"x": 3.6429272202047827,
"y": 2.5610290337845467
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": -112.5
}
],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 7.0,
"y": 8.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.02657807308969639,
"maxWaypointRelativePos": 2.1705426356589252,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 7.0,
"y": 8.0
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.4983388704318887,
"maxWaypointRelativePos": 3.2956810631229274,
"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": 3.0,
"rotation": -113.07
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.3,
"rotation": 88.32335186314447
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RightBump.path
+59
View File
@@ -0,0 +1,59 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.4559230769230784,
"y": 2.5465897435897444
},
"prevControl": null,
"nextControl": {
"x": 3.7466282051282063,
"y": 2.523333333333337
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.967615384615385,
"y": 2.7089999999999996
},
"prevControl": {
"x": 4.746653846153847,
"y": 2.4299230769230773
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.5211640211640187,
"rotationDegrees": 112.5
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 3.0,
"rotation": 91.245
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 127.62823656328939
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
+142
View File
@@ -0,0 +1,142 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 6.049,
"y": 2.5119999999999996
},
"prevControl": null,
"nextControl": {
"x": 6.049027667109173,
"y": 2.2620000015309394
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.049,
"y": 4.8140897435897445
},
"prevControl": {
"x": 5.8000264938666355,
"y": 4.791458056872672
},
"nextControl": {
"x": 6.297973506133364,
"y": 4.836721430306816
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.374628205128206,
"y": 4.267564102564102
},
"prevControl": {
"x": 7.209222795856496,
"y": 4.455023566405373
},
"nextControl": {
"x": 7.549051282051284,
"y": 4.069884615384615
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.7118205128205135,
"y": 2.779153846153846
},
"prevControl": {
"x": 6.936958421911658,
"y": 2.8878411126116403
},
"nextControl": {
"x": 6.374602564102564,
"y": 2.6163589743589735
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.3977820512820527,
"y": 2.5119999999999996
},
"prevControl": {
"x": 3.6429272202047827,
"y": 2.5610290337845445
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.18947368421052632,
"rotationDegrees": 90.0
},
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": -112.5
}
],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 6.0,
"y": 8.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.23034330011073328,
"maxWaypointRelativePos": 0.868217054263568,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 8.0,
"y": 2.5
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 1.2846068660022045,
"maxWaypointRelativePos": 1.7718715393134012,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 5.0,
"y": 0.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.1085271317829366,
"maxWaypointRelativePos": 3.1893687707641063,
"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": 3.0,
"rotation": -113.07
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 3.0,
"rotation": -90.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RightBump2.path
+59
View File
@@ -0,0 +1,59 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.5256923076923092,
"y": 2.6159999999999997
},
"prevControl": null,
"nextControl": {
"x": 3.8279615384615413,
"y": 1.9764871794871786
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.049,
"y": 2.6159999999999997
},
"prevControl": {
"x": 5.002474358974361,
"y": 2.488448717948718
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.5211640211640187,
"rotationDegrees": -112.5
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 3.0,
"rotation": -91.245
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 3.0,
"rotation": -108.98741511036879
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RightRamp-Shoot.path
+65
View File
@@ -0,0 +1,65 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.398,
"y": 2.5119999999999996
},
"prevControl": null,
"nextControl": {
"x": 3.160642585150445,
"y": 2.590494952805491
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.398,
"y": 2.5119999999999996
},
"prevControl": {
"x": 3.595338054344081,
"y": 2.3585148466212686
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.612,
"y": 4.021
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 1,
"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": 0.0,
"rotation": -129.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 3.0,
"rotation": -113.07
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RightTower.path
+65
View File
@@ -0,0 +1,65 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.0522864367238562,
"y": 2.4768205128205136
},
"prevControl": null,
"nextControl": {
"x": 1.0771623664791057,
"y": 2.725579810373011
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.0522864367238562,
"y": 2.8
},
"prevControl": {
"x": 1.0473432640619955,
"y": 2.5500488746894003
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 0.0,
"y": 2.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.3999999999999999,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.1,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0.0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/RobotContainer.java
+26 -13
View File
@@ -195,17 +195,17 @@ public class RobotContainer {
NamedCommands.registerCommand("BumpOffsetForward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_FRONT);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_FRONT);
}
}));
NamedCommands.registerCommand("BumpOffsetReverse", new InstantCommand(() -> {
if (!TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
NamedCommands.registerCommand("BumpOffsetBackward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_BACK);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_BACK);
}
}));
@@ -304,8 +304,8 @@ public class RobotContainer {
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
@@ -383,6 +383,18 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.whileTrue(
new PathPlannerAuto("Right_AutoClimb")
)
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.whileTrue(
new PathPlannerAuto("Left_AutoClimb")
)
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotClimber.toggleDeployed();
@@ -395,11 +407,11 @@ public class RobotContainer {
private void configureSINGLEBindings() {
//Driver controls
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -556,7 +568,8 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
if (auto.startsWith("X. "))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}
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 = 182;
public static final String GIT_SHA = "75cab187e2225e51259336e5569f15c41f9169d5";
public static final String GIT_DATE = "2026-03-21 13:38:34 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-21 15:45:59 MDT";
public static final long BUILD_UNIX_TIME = 1774129559544L;
public static final int GIT_REVISION = 186;
public static final String GIT_SHA = "a774f156c681df6426dc5d344b84692080bb8a06";
public static final String GIT_DATE = "2026-03-26 18:40:37 MDT";
public static final String GIT_BRANCH = "DenverAutos";
public static final String BUILD_DATE = "2026-03-30 19:07:09 MDT";
public static final long BUILD_UNIX_TIME = 1774919229417L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/FieldConstants.java
+13 -2
View File
@@ -11,17 +11,28 @@ public final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final double BUMP_OFFSET = 0.4;
public static final Transform2d BUMP_OFFSET_RED = new Transform2d(
public static final Transform2d BUMP_OFFSET_RED_FRONT = new Transform2d(
Meters.of(BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_BLUE = new Transform2d(
public static final Transform2d BUMP_OFFSET_BLUE_FRONT = new Transform2d(
Meters.of(-BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_RED_BACK = new Transform2d(
Meters.of(-BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_BLUE_BACK = new Transform2d(
Meters.of(BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
// Test april tag field layout
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
// Arrays.asList(new AprilTag[] {