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