Team4388/2026KPopRobotHunters
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Autos testing

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This commit is contained in:
Shikhar
2026-02-28 12:57:00 -07:00
parent 86387f5f08
commit 2b178fae28
12 changed files with 52 additions and 45 deletions
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src/main/deploy/pathplanner/autos/HubCenter-2Score (side).auto
-6
View File
@@ -46,12 +46,6 @@
"pathName": "Depot-Intake-Shoot (side)"
}
},
{
"type": "named",
"data": {
"name": "Intake Retracted"
}
},
{
"type": "named",
"data": {
src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto
+9 -3
View File
@@ -7,13 +7,19 @@
{
"type": "named",
"data": {
"name": "Robot Rev Up"
"name": "Intake Retracted"
}
},
{
"type": "named",
"data": {
"name": "Intake Retracted"
"name": "Robot Roller Off"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
@@ -49,7 +55,7 @@
{
"type": "named",
"data": {
"name": "Intake Retracted"
"name": "Robot Roller Off"
}
},
{
src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path
+2 -2
View File
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
src/main/deploy/pathplanner/paths/Center-ToDepot.path
+2 -2
View File
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (side).path
+9 -9
View File
@@ -16,15 +16,15 @@
},
{
"anchor": {
"x": 0.485,
"x": 0.52,
"y": 6.972
},
"prevControl": {
"x": 0.4543797151601425,
"x": 0.48937971516014256,
"y": 7.437592646883011
},
"nextControl": {
"x": 0.5156202848398574,
"x": 0.5506202848398575,
"y": 6.50640735311699
},
"isLocked": false,
@@ -36,8 +36,8 @@
"y": 4.985190476190476
},
"prevControl": {
"x": 0.5545595169162219,
"y": 4.745062440329646
"x": 0.554559516916223,
"y": 4.745062440329642
},
"nextControl": {
"x": 0.36614285714285816,
@@ -76,11 +76,11 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 0.4,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
@@ -93,5 +93,5 @@
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (straight).path
+8 -8
View File
@@ -8,7 +8,7 @@
},
"prevControl": null,
"nextControl": {
"x": 1.8650000000000004,
"x": 1.8650000000000002,
"y": 6.0
},
"isLocked": false,
@@ -16,15 +16,15 @@
},
{
"anchor": {
"x": 0.7,
"x": 0.4,
"y": 5.95697619047619
},
"prevControl": {
"x": 0.9480694691784167,
"x": 0.648069469178417,
"y": 5.987984874123494
},
"nextControl": {
"x": 0.4519305308215832,
"x": 0.1519305308215833,
"y": 5.925967506828887
},
"isLocked": false,
@@ -60,11 +60,11 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 0.4,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
@@ -77,5 +77,5 @@
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/HubFarLeft-Shoot.path
+2 -2
View File
@@ -33,8 +33,8 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path
+2 -2
View File
@@ -96,8 +96,8 @@
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.7,
"maxAcceleration": 2.0,
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
src/main/deploy/pathplanner/settings.json
+2 -2
View File
@@ -6,8 +6,8 @@
"New Folder"
],
"autoFolders": [],
"defaultMaxVel": 1.7,
"defaultMaxAccel": 2.0,
"defaultMaxVel": 1.0,
"defaultMaxAccel": 1.0,
"defaultMaxAngVel": 500.0,
"defaultMaxAngAccel": 700.0,
"defaultNominalVoltage": 10.0,
src/main/java/frc4388/robot/RobotContainer.java
+8 -1
View File
@@ -129,12 +129,18 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
);
private Command RobotRollerOff = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0)), false),
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(5),
new WaitCommand(3),
RobotIntakeRetracted,
new WaitCommand(2),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -161,6 +167,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotRev);
NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Roller Off", RobotRollerOff);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
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 = 122;
public static final String GIT_SHA = "249751108410352b9e80c7a12316efaca273ae7a";
public static final String GIT_DATE = "2026-02-28 10:45:49 MST";
public static final int GIT_REVISION = 125;
public static final String GIT_SHA = "86387f5f088f59fbb43dc22ef0253b87c70ff574";
public static final String GIT_DATE = "2026-02-28 12:07:15 MST";
public static final String GIT_BRANCH = "shikhar-op-controls";
public static final String BUILD_DATE = "2026-02-28 11:14:49 MST";
public static final long BUILD_UNIX_TIME = 1772302489449L;
public static final String BUILD_DATE = "2026-02-28 12:48:24 MST";
public static final long BUILD_UNIX_TIME = 1772308104087L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -3
View File
@@ -45,15 +45,15 @@ public class IntakeConstants {
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(0.03)
.withKP(0.08)
.withKI(0.0)
.withKD(0.0);
.withKD(0.06);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.1);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.06);