diff --git a/src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto b/src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto index fae9ba2..94f3158 100644 --- a/src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto +++ b/src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto @@ -45,7 +45,7 @@ { "type": "wait", "data": { - "waitTime": 5.0 + "waitTime": 5.75 } }, { @@ -71,12 +71,6 @@ } ] } - }, - { - "type": "named", - "data": { - "name": "Intake Extended" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto index 43ba410..fa90226 100644 --- a/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto +++ b/src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto @@ -45,7 +45,7 @@ { "type": "wait", "data": { - "waitTime": 4.5 + "waitTime": 4.2 } }, { diff --git a/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path b/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path index 929a6dc..ccbf2ef 100644 --- a/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path +++ b/src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path @@ -48,16 +48,16 @@ }, { "anchor": { - "x": 6.402011904761906, - "y": 6.561642857142857 + "x": 7.460178571428572, + "y": 7.198702380952382 }, "prevControl": { - "x": 6.45205334133696, - "y": 6.141294789912411 + "x": 7.7595083586189455, + "y": 6.899372593762008 }, "nextControl": { - "x": 6.240047619047619, - "y": 7.922142857142857 + "x": 7.125452380952383, + "y": 7.533428571428571 }, "isLocked": false, "linkedName": null @@ -80,12 +80,12 @@ }, { "anchor": { - "x": 2.61204761904762, - "y": 6.216119047619048 + "x": 3.076345238095239, + "y": 6.658821428571429 }, "prevControl": { - "x": 3.0007619047619056, - "y": 6.4644642857142856 + "x": 3.346285714285715, + "y": 6.939559523809524 }, "nextControl": null, "isLocked": false, @@ -99,7 +99,20 @@ "minWaypointRelativePos": 1.275434243176181, "maxWaypointRelativePos": 1.8709677419354975, "constraints": { - "maxVelocity": 1.2, + "maxVelocity": 0.9, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 2.133693450371388, + "maxWaypointRelativePos": 5.0, + "constraints": { + "maxVelocity": 3.0, "maxAcceleration": 3.0, "maxAngularVelocity": 600.0, "maxAngularAcceleration": 750.0, @@ -116,7 +129,7 @@ }, "rotationOffset": 0.0, "minWaypointRelativePos": 1.3067552602436252, - "maxWaypointRelativePos": 2.0198511166253303, + "maxWaypointRelativePos": 2.635235732009895, "name": "Point Towards Zone" }, { @@ -161,7 +174,7 @@ }, "goalEndState": { "velocity": 0.0, - "rotation": 133.0 + "rotation": 119.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path index cd28585..5c4ed38 100644 --- a/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path +++ b/src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path @@ -96,10 +96,10 @@ "constraintZones": [ { "name": "Constraints Zone", - "minWaypointRelativePos": 1.255583126550872, + "minWaypointRelativePos": 1.1761786600496387, "maxWaypointRelativePos": 1.7617866004962806, "constraints": { - "maxVelocity": 1.2, + "maxVelocity": 1.0, "maxAcceleration": 3.0, "maxAngularVelocity": 600.0, "maxAngularAcceleration": 750.0, diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index a286a66..d7058f6 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -158,10 +158,10 @@ public class Robot extends LoggedRobot { public void teleopPeriodic() { var info = HubShiftTimer.getShiftInfo(); - double rumble = (info.remainingInShift() < 5. && info.remainingInShift() > 0.1) ? 1 : 0; + double rumble = (info.remainingInShift() < 5. && info.remainingInShift() > 3.9) ? 1 : 0; - // m_robotContainer.getDeadbandedDriverController().setRumble(RumbleType.kBothRumble, rumble); - // m_robotContainer.getDeadbandedOperatorController().setRumble(RumbleType.kBothRumble, rumble); + m_robotContainer.getDeadbandedDriverController().setRumble(RumbleType.kBothRumble, rumble); + m_robotContainer.getDeadbandedOperatorController().setRumble(RumbleType.kBothRumble, rumble); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index be41220..59fb5d9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -156,16 +156,27 @@ public class RobotContainer { private Command IntakeRetracted = new SequentialCommandGroup( new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RectractTorque), m_robotIntake) ); + + private Command RobotHalfShoot = new SequentialCommandGroup( + new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), + new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), + new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), + new WaitCommand(2.0), + new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), + new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) + ); - private Command RobotShoot = new SequentialCommandGroup( + private Command RobotFullShoot = 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_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), - new WaitCommand(2.75), + new WaitCommand(2.5), + // new WaitCommand(2.25), IntakeRetracted, - new WaitCommand(4.4), + new WaitCommand(5), + // new WaitCommand(4.25), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) ); @@ -192,7 +203,8 @@ public class RobotContainer { NamedCommands.registerCommand("Robot Rev Up", RobotRev); NamedCommands.registerCommand("Intake Retracted", IntakeRetracted); - NamedCommands.registerCommand("Robot Shoot", RobotShoot); + NamedCommands.registerCommand("Robot Shoot", RobotFullShoot); + NamedCommands.registerCommand("Robot Half Shot", RobotHalfShoot); // NamedCommands.registerCommand("Lidar Intake", LidarIntake); NamedCommands.registerCommand("Intake Extended", IntakeExtended); NamedCommands.registerCommand("Labubu Growl", LabubuGrowl); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 1ab5650..1871fb6 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 = 229; - public static final String GIT_SHA = "fa0342a67239f145f381f48ba48e506cdb03026f"; - public static final String GIT_DATE = "2026-04-09 12:40:33 MDT"; + public static final int GIT_REVISION = 230; + public static final String GIT_SHA = "aabcc8d5dec5feecce98773c55866b7b9f054b88"; + public static final String GIT_DATE = "2026-04-09 18:19:58 MDT"; public static final String GIT_BRANCH = "New-Intake"; - public static final String BUILD_DATE = "2026-04-09 17:42:53 MDT"; - public static final long BUILD_UNIX_TIME = 1775778173177L; + public static final String BUILD_DATE = "2026-04-10 10:42:35 MDT"; + public static final long BUILD_UNIX_TIME = 1775839355397L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java index 72d2c34..a2d63db 100644 --- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java @@ -26,7 +26,7 @@ public class ShooterConstants { // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0); - public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15); + public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.1); // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.); // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);