Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-04-10 11:12:51 -06:00
parent aabcc8d5de
commit 3d28ae4798
8 changed files with 55 additions and 36 deletions
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src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto
+1 -7
View File
@@ -45,7 +45,7 @@
{
"type": "wait",
"data": {
"waitTime": 5.0
"waitTime": 5.75
}
},
{
@@ -71,12 +71,6 @@
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
}
]
}
src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto
+1 -1
View File
@@ -45,7 +45,7 @@
{
"type": "wait",
"data": {
"waitTime": 4.5
"waitTime": 4.2
}
},
{
src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path
+26 -13
View File
@@ -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,
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+2 -2
View File
@@ -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,
src/main/java/frc4388/robot/Robot.java
+3 -3
View File
@@ -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);
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+16 -4
View File
@@ -157,15 +157,26 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RectractTorque), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
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 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);
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_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(){}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+1 -1
View File
@@ -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);