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Fix defense drive

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This commit is contained in:
mimigamin
2026-04-04 16:17:27 -06:00
parent 6ced6c1ab7
commit 74009b86bb
18 changed files with 415 additions and 57 deletions
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src/main/deploy/pathplanner/autos/DriveShoot-Hori.auto
+1 -1
View File
@@ -39,6 +39,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "Spring Break Tests",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubCenter-Score.auto → src/main/deploy/pathplanner/autos/LeftTrench-Neutral-Shoot.auto
+21 -3
View File
@@ -13,13 +13,31 @@
{
"type": "named",
"data": {
"name": "Robot Rev Up"
"name": "Intake Reference"
}
},
{
"type": "path",
"data": {
"pathName": "Center-Hub-Shoot"
"pathName": "LeftTrench-Neutral-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "named",
"data": {
"name": "BumpOffsetBackward"
}
},
{
"type": "path",
"data": {
"pathName": "LeftRamp-Shoot"
}
},
{
@@ -32,6 +50,6 @@
}
},
"resetOdom": true,
"folder": "Pikes Peak Autos",
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/ShootPreloadBump.auto
+1 -1
View File
@@ -38,6 +38,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "Spring Break Tests",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Test-LClimb.auto
+1 -1
View File
@@ -38,6 +38,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "Spring Break Tests",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Test-RClimb.auto
+1 -1
View File
@@ -38,6 +38,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "Spring Break Tests",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Shoot.auto
+2 -20
View File
@@ -10,34 +10,16 @@
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Intake Reference"
}
},
{
"type": "path",
"data": {
"pathName": "LeftTrench-Neutral-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "named",
"data": {
"name": "BumpOffsetBackward"
}
},
{
"type": "path",
"data": {
"pathName": "LeftRamp-Shoot"
"pathName": "Center-Hub-Shoot"
}
},
{
@@ -50,6 +32,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "Pikes Peak Autos",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Shoot-PlayerStation-Shoot.auto
+79
View File
@@ -0,0 +1,79 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Intake Reference"
}
},
{
"type": "path",
"data": {
"pathName": "RightTrench-Neutral-Trench-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "ShotRight-PlayerStation"
}
},
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "PlayerStation-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/HubLeft-Shoot.path
+1 -1
View File
@@ -33,7 +33,7 @@
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.61155415,
"x": 4.612,
"y": 4.0213534
},
"rotationOffset": 180.0,
src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path
+3 -3
View File
@@ -79,7 +79,7 @@
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": 112.5
"rotationDegrees": 22.5
}
],
"constraintZones": [],
@@ -99,7 +99,7 @@
"x": 7.0,
"y": 0.0
},
"rotationOffset": 180.0,
"rotationOffset": 100.0,
"minWaypointRelativePos": 2.4983388704318887,
"maxWaypointRelativePos": 3.2956810631229274,
"name": "Point Towards Zone"
@@ -116,7 +116,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": 113.07
"rotation": 23.07
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
+16 -6
View File
@@ -36,8 +36,8 @@
"y": 4.128025641025641
},
"prevControl": {
"x": 7.182601673147601,
"y": 3.9168984964132223
"x": 7.1826016731476,
"y": 3.9168984964132205
},
"nextControl": {
"x": 7.618820512820513,
@@ -79,7 +79,7 @@
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": 112.5
"rotationDegrees": 22.5
}
],
"constraintZones": [],
@@ -110,8 +110,18 @@
"y": 8.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.1085271317829366,
"maxWaypointRelativePos": 3.1893687707641063,
"minWaypointRelativePos": 1.8870431893687745,
"maxWaypointRelativePos": 2.2768549280177193,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 12.0,
"y": 8.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.5603543743078774,
"maxWaypointRelativePos": 3.0121816168327573,
"name": "Point Towards Zone"
}
],
@@ -126,7 +136,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": 113.07
"rotation": 23.069999999999993
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path
+5 -5
View File
@@ -79,7 +79,7 @@
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": 112.5
"rotationDegrees": 22.5
}
],
"constraintZones": [
@@ -110,10 +110,10 @@
},
{
"fieldPosition": {
"x": 7.0,
"y": 0.0
"x": 8.0,
"y": 7.0
},
"rotationOffset": 180.0,
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.4983388704318887,
"maxWaypointRelativePos": 3.2956810631229274,
"name": "Point Towards Zone"
@@ -140,7 +140,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": 101.70667085951649
"rotation": 11.706999999999994
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
+3 -3
View File
@@ -79,7 +79,7 @@
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": -112.5
"rotationDegrees": -22.5
}
],
"constraintZones": [],
@@ -99,7 +99,7 @@
"x": 7.0,
"y": 8.0
},
"rotationOffset": 180.0,
"rotationOffset": -100.0,
"minWaypointRelativePos": 2.4983388704318887,
"maxWaypointRelativePos": 3.2956810631229274,
"name": "Point Towards Zone"
@@ -116,7 +116,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": -113.07
"rotation": -23.069999999999993
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
+7 -7
View File
@@ -9,7 +9,7 @@
"prevControl": null,
"nextControl": {
"x": 6.049027667109173,
"y": 2.2620000015309394
"y": 2.2620000015309376
},
"isLocked": false,
"linkedName": null
@@ -36,8 +36,8 @@
"y": 4.267564102564102
},
"prevControl": {
"x": 7.209222795856496,
"y": 4.455023566405373
"x": 7.209222795856494,
"y": 4.455023566405375
},
"nextControl": {
"x": 7.549051282051284,
@@ -68,7 +68,7 @@
"y": 2.5119999999999996
},
"prevControl": {
"x": 3.6429272202047827,
"x": 3.642927220204783,
"y": 2.5610290337845445
},
"nextControl": null,
@@ -83,7 +83,7 @@
},
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": -112.5
"rotationDegrees": -22.5
}
],
"constraintZones": [],
@@ -115,7 +115,7 @@
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.1085271317829366,
"maxWaypointRelativePos": 3.1893687707641063,
"maxWaypointRelativePos": 3.1539313399778472,
"name": "Point Towards Zone"
}
],
@@ -130,7 +130,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": -113.07
"rotation": -23.069999999999993
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path
+4 -4
View File
@@ -79,7 +79,7 @@
"rotationTargets": [
{
"waypointRelativePos": 3.4736842105263164,
"rotationDegrees": -112.5
"rotationDegrees": -22.5
}
],
"constraintZones": [
@@ -123,8 +123,8 @@
},
{
"fieldPosition": {
"x": 7.0,
"y": 8.0
"x": 0.0,
"y": 5.0
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.4983388704318887,
@@ -153,7 +153,7 @@
},
"goalEndState": {
"velocity": 3.0,
"rotation": -113.07
"rotation": -23.07
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+173
View File
@@ -0,0 +1,173 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.6070897435897447,
"y": 0.6046794871794885
},
"prevControl": null,
"nextControl": {
"x": 4.115752584653353,
"y": 0.5635297641960387
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.595564102564104,
"y": 0.9884102564102579
},
"prevControl": {
"x": 7.392948649818514,
"y": 0.7987129676949314
},
"nextControl": {
"x": 7.9699166450787695,
"y": 1.3388951842695742
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.793243589743589,
"y": 3.4070769230769233
},
"prevControl": {
"x": 7.776404526227516,
"y": 3.6565091702702275
},
"nextControl": {
"x": 7.842718812250754,
"y": 2.674214557033146
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.4211410256410275,
"y": 0.9884102564102579
},
"prevControl": {
"x": 7.693106679552213,
"y": 1.2858726903756175
},
"nextControl": {
"x": 7.049038461538463,
"y": 0.5814230769230777
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.711743589743591,
"y": 0.6046794871794885
},
"prevControl": {
"x": 3.995405188035349,
"y": 0.5680757693806849
},
"nextControl": {
"x": 3.4637993695130525,
"y": 0.6366742313458394
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.4442692307692324,
"y": 1.302
},
"prevControl": {
"x": 2.7301802034615954,
"y": 1.1693945129031929
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 5.0,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 7.0,
"y": 8.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 1.3067552602436252,
"maxWaypointRelativePos": 2.015503875969026,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 0.6
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.6910299003322272,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.5913621262458837,
"maxWaypointRelativePos": 4.352159468438559,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 4.612,
"y": 4.021
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 4.529346622369888,
"maxWaypointRelativePos": 5.0,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": true
},
"goalEndState": {
"velocity": 3.0,
"rotation": -145.9260531715447
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.3,
"rotation": 0.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path
+95
View File
@@ -0,0 +1,95 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.444,
"y": 1.302
},
"prevControl": null,
"nextControl": {
"x": 2.2968028935074876,
"y": 1.0999282012743195
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.5754761904761914,
"y": 1.0
},
"prevControl": {
"x": 2.2272563574654534,
"y": 0.9727386663284083
},
"nextControl": {
"x": 0.9236960234869294,
"y": 1.0272613336715914
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.325,
"y": 0.95
},
"prevControl": {
"x": 0.5747421350529089,
"y": 0.9386480847776856
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 2.0,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 0.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 1.0956834532374118,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -95.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -149.42767342080234
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+1
View File
@@ -4,6 +4,7 @@
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [
"Spring Break Tests",
"Pikes Peak Autos"
],
"defaultMaxVel": 3.0,
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
View File
@@ -265,7 +265,7 @@ public class RobotContainer {
// TEST-> the driver is holding the left trigger, drive slow and rotation up
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setPercentOutput(0.1);
m_robotSwerveDrive.setPercentOutput(0.10);
m_robotSwerveDrive.shiftUpRot();
}))
.onFalse(new InstantCommand(() -> {