Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-23 17:33:25 -07:00
parent ff0cff819c
commit 168b6f9643
8 changed files with 70 additions and 133 deletions
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src/main/deploy/pathplanner/autos/Auto Test Slow.auto
-19
View File
@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "TurnNinety"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Quick Shoot.path
+20 -31
View File
@@ -3,41 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 3.48951566951567,
"x": 3.605428571428572,
"y": 5.107378917378918
},
"prevControl": null,
"nextControl": {
"x": 2.908105413105413,
"y": 6.205598290598291
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.616082621082621,
"x": 2.6073542083177803,
"y": 5.107378917378918
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.2557261904761914,
"y": 4.801630952380952
},
"prevControl": {
"x": 0.44392059766331804,
"y": 6.342550994319343
"x": 2.5688571428571443,
"y": 5.4170952380952375
},
"nextControl": {
"x": 2.234130952380953,
"y": 4.456107142857142
"x": 1.848588583599833,
"y": 4.00139496645156
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.8064047619047625,
"y": 3.8622380952380952
"x": 2.2557261904761914,
"y": 4.035
},
"prevControl": {
"x": 2.8172023809523816,
"y": 4.132178571428572
"x": 2.2665238095238105,
"y": 4.304940476190477
},
"nextControl": null,
"isLocked": false,
@@ -46,18 +46,7 @@
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.612,
"y": 4.0213534
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.9140287769784197,
"maxWaypointRelativePos": 2,
"name": "Point Towards Zone"
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.5,
@@ -69,7 +58,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -1.591140271194531
"rotation": 180.0
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/Taxi.path
+11 -11
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
"x": 3.62702380952381,
"y": 6.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
"x": 4.627023809523808,
"y": 6.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.9612559241706156,
"y": 7.0
"x": 2.180142857142858,
"y": 6.0
},
"prevControl": {
"x": 1.9612559241706156,
"y": 7.0
"x": 1.180142857142858,
"y": 6.0
},
"nextControl": null,
"isLocked": false,
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.2,
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
"rotation": 178.89829388479367
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
"rotation": 179.95980050207663
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/TurnNinety.path
-54
View File
@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.0,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 4.0,
"y": 4.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.0,
"y": 4.0
},
"prevControl": {
"x": 2.0,
"y": 4.0
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.1,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/RobotContainer.java
+9 -2
View File
@@ -100,6 +100,14 @@ public class RobotContainer {
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
@@ -262,8 +270,7 @@ public class RobotContainer {
m_robotShooter.setShooterReadyFeeder();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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 = 75;
public static final String GIT_SHA = "4907e0c8a0fc7dade91b2075d70a2b38213f9cab";
public static final String GIT_DATE = "2026-02-21 15:08:32 MST";
public static final int GIT_REVISION = 79;
public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b";
public static final String GIT_DATE = "2026-02-23 16:58:14 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-21 15:52:02 MST";
public static final long BUILD_UNIX_TIME = 1771714322479L;
public static final String BUILD_DATE = "2026-02-23 17:28:16 MST";
public static final long BUILD_UNIX_TIME = 1771892896573L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
View File
@@ -119,7 +119,7 @@ public final class Constants {
public static final LEDPatterns OPREADY_FEED = LEDPatterns.SOLID_BLUE;
public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
// public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
}
public static final class OIConstants {
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+24 -10
View File
@@ -126,8 +126,11 @@ public class Shooter extends SubsystemBase {
boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
boolean feedMdoe = this.mode == ShooterMode.ReadyFeeder |
this.mode == ShooterMode.ShootingFeeder;
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (this.mode == ShooterMode.ReadyFeeder ? 4 : 0);
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (
(feedMdoe) ? 4 : 0);
switch (bitmask) {
case 0b000: // No Errors
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
@@ -147,19 +150,30 @@ public class Shooter extends SubsystemBase {
break;
case 0b100:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b101:
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED_BADPHYS);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
}
// // We set the shooter mode to ready if there are no errors
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
if (!feedMdoe) {
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
} else {
if(bitmask == 0b100 |
bitmask == 0b101) {
mode = ShooterMode.ShootingFeeder;
} else {
mode = ShooterMode.ReadyFeeder;
}
}
} else {
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
@@ -196,7 +210,7 @@ public class Shooter extends SubsystemBase {
break;
case ReadyFeeder:
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;