Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-21 15:55:29 -07:00
parent 4907e0c8a0
commit 77ca57d678
7 changed files with 143 additions and 8 deletions
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src/main/deploy/pathplanner/autos/Quick Shoot test.auto
+31
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@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Robot Intake Down"
}
},
{
"type": "path",
"data": {
"pathName": "Quick Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Quick Shoot.path
+81
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@@ -0,0 +1,81 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.48951566951567,
"y": 5.107378917378918
},
"prevControl": null,
"nextControl": {
"x": 2.908105413105413,
"y": 6.205598290598291
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.616082621082621,
"y": 5.107378917378918
},
"prevControl": {
"x": 0.44392059766331804,
"y": 6.342550994319343
},
"nextControl": {
"x": 2.234130952380953,
"y": 4.456107142857142
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.8064047619047625,
"y": 3.8622380952380952
},
"prevControl": {
"x": 2.8172023809523816,
"y": 4.132178571428572
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.612,
"y": 4.0213534
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.9140287769784197,
"maxWaypointRelativePos": 2,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -1.591140271194531
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 178.40885972880554
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/RobotContainer.java
+19
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@@ -9,6 +9,7 @@ package frc4388.robot;
import java.io.File;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
@@ -25,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
@@ -91,6 +93,20 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
private Command RobotIntakeDown = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended))
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
new WaitCommand(10),
new InstantCommand(()->m_robotShooter.setShooterNOTShoot())
);
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
@@ -126,6 +142,9 @@ public class RobotContainer {
m_robotShooter.io.updateGains();
}, true);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);
DriverStation.silenceJoystickConnectionWarning(true);
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 = 72;
public static final String GIT_SHA = "9c7159ba3b2fd669f9781f1315cb481b7a1b8d57";
public static final String GIT_DATE = "2026-02-20 21:59:06 MST";
public static final int GIT_REVISION = 75;
public static final String GIT_SHA = "4907e0c8a0fc7dade91b2075d70a2b38213f9cab";
public static final String GIT_DATE = "2026-02-21 15:08:32 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-21 13:54:02 MST";
public static final long BUILD_UNIX_TIME = 1771707242280L;
public static final String BUILD_DATE = "2026-02-21 15:52:02 MST";
public static final long BUILD_UNIX_TIME = 1771714322479L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+2 -1
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@@ -99,13 +99,14 @@ public final class Constants {
public static final class LEDConstants {
public static final int LED_SPARK_ID = 9;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_TWINKLES;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_RAINBOW;
// LED color for when the intake is out
public static final LEDPatterns INTAKE_OUT = LEDPatterns.SOLID_RED;
// LED color for when the intake is out, but the driver conditions are bad
public static final LEDPatterns INTAKE_OUT_BADPHYS = LEDPatterns.RED_STROBE;
// LED color for when the flywheel speed isn't in tolarance
public static final LEDPatterns BAD_FLYWEEL = LEDPatterns.SOLID_GOLD;
// LED color for when the flywheel speed isn't in tolarance, but the driver conditions are bad
src/main/java/frc4388/robot/subsystems/LED.java
+1 -1
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@@ -36,7 +36,7 @@ public class LED extends SubsystemBase implements Queryable {
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
update();
}
private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+4 -1
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@@ -158,7 +158,10 @@ public class Shooter extends SubsystemBase {
ShooterMode.Ready
);
}
} else {
m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
}