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Hopeful Tuesday Auto Test

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This commit is contained in:
Michael Mikovsky
2026-02-23 18:09:28 -08:00
parent bd91fc5141
commit 40b2292963
7 changed files with 161 additions and 56 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/autos/Monday Test.auto
+31
View File
@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Quick Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "named",
"data": {
"name": "Lidar Intake"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Shoot and Lidar test.auto
+49
View File
@@ -0,0 +1,49 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Quick Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "DriveDepot"
}
},
{
"type": "named",
"data": {
"name": "Lidar Intake"
}
},
{
"type": "path",
"data": {
"pathName": "Depot Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/TurnNinety.path → src/main/deploy/pathplanner/paths/Depot Shoot.path
+9 -9
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 3.0,
"y": 4.0
"x": 1.4401807228915664,
"y": 5.608590361445783
},
"prevControl": null,
"nextControl": {
"x": 4.0,
"y": 4.0
"x": 1.4401807228915664,
"y": 4.710738110733342
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.0,
"x": 2.5,
"y": 4.0
},
"prevControl": {
"x": 2.0,
"y": 4.0
"x": 2.5,
"y": 4.270156342259512
},
"nextControl": null,
"isLocked": false,
@@ -33,7 +33,7 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.1,
"maxVelocity": 0.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
@@ -42,7 +42,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0
"rotation": 180.0
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/DriveDepot.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.5,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 2.5000000000000004,
"y": 7.854276578779859
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.47854216867347843,
"y": 6.9745542168703265
},
"prevControl": {
"x": 0.34740963855421675,
"y": 7.44444578313253
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"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": 180.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/Quick Shoot.path
+17 -28
View File
@@ -3,41 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 3.48951566951567,
"y": 5.107378917378918
"x": 3.636650602409638,
"y": 5.051277108433735
},
"prevControl": null,
"nextControl": {
"x": 2.908105413105413,
"y": 6.205598290598291
"x": 2.871710843373494,
"y": 5.215192771084337
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.616082621082621,
"y": 5.107378917378918
"x": 2.0958433734939756,
"y": 4.87643373493976
},
"prevControl": {
"x": 0.44392059766331804,
"y": 6.342550994319343
"x": 2.2160481927710847,
"y": 5.357253012048193
},
"nextControl": {
"x": 2.234130952380953,
"y": 4.456107142857142
"x": 1.8780822166771538,
"y": 4.00538910767248
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.8064047619047625,
"y": 3.8622380952380952
"x": 2.5,
"y": 4.0
},
"prevControl": {
"x": 2.8172023809523816,
"y": 4.132178571428572
"x": 2.5,
"y": 4.270156342259512
},
"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,
@@ -69,13 +58,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -1.591140271194531
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 178.40885972880554
"rotation": 180.0
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/RobotContainer.java
+1
View File
@@ -101,6 +101,7 @@ public class RobotContainer {
);
private Command LidarIntake = new SequentialCommandGroup(
RobotIntakeDown,
new RunCommand(
() -> m_robotSwerveDrive.driveWithInputRotation(
m_lidar.getClosestBall(),