From 8cca0f81d1e8b1c74308269bacdcbf0ee6c37d75 Mon Sep 17 00:00:00 2001 From: Shikhar Date: Tue, 3 Mar 2026 00:05:21 -0700 Subject: [PATCH] Autos for the morrow --- ...ore.auto => HubCenter-Score-PushLeft.auto} | 28 +---- .../autos/HubCenter-Score-PushRight.auto | 55 ++++++++ ...ter-1Score.auto => HubCenter-Score-★.auto} | 0 ...n-1Score.auto => HubRight-Score-Push.auto} | 32 +++-- ....auto => HubRight-Station-Score-Push.auto} | 67 +++++----- .../autos/HubRight-Station-Score-★.auto | 56 +++++++++ ...Score.auto => HubRight-Station-Score.auto} | 0 .../pathplanner/paths/Center-Hub-Shoot.path | 8 +- ...ToPlayerPath.path => Center-NeutralL.path} | 22 ++-- .../pathplanner/paths/Center-NeutralR.path | 54 ++++++++ .../pathplanner/paths/Center-ToDepot.path | 8 +- .../paths/HubFarLeft-NeutralZone.path | 117 ++++++++++++++++++ .../paths/HubFarRight-NeutralZone.path | 16 +-- .../paths/HubRight-PlayerStation.path | 8 +- .../pathplanner/paths/HubRight-Shoot.path | 20 +-- .../paths/PlayerStation-Shoot.path | 14 +-- .../deploy/pathplanner/paths/ReadyPush.path | 65 ++++++++++ .../pathplanner/paths/ToPlayerStation.path | 81 ------------ src/main/deploy/pathplanner/settings.json | 8 +- .../java/frc4388/robot/RobotContainer.java | 4 +- .../robot/constants/BuildConstants.java | 10 +- .../robot/subsystems/climber/Climber.java | 2 +- .../robot/subsystems/intake/Intake.java | 6 +- 23 files changed, 467 insertions(+), 214 deletions(-) rename src/main/deploy/pathplanner/autos/{HubCenter-Station-2Score.auto => HubCenter-Score-PushLeft.auto} (62%) create mode 100644 src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto rename src/main/deploy/pathplanner/autos/{HubCenter-1Score.auto => HubCenter-Score-★.auto} (100%) rename src/main/deploy/pathplanner/autos/{HubRight-Station-1Score.auto => HubRight-Score-Push.auto} (73%) rename src/main/deploy/pathplanner/autos/{HubRight-Station-2Score.auto => HubRight-Station-Score-Push.auto} (65%) create mode 100644 src/main/deploy/pathplanner/autos/HubRight-Station-Score-★.auto rename src/main/deploy/pathplanner/autos/{HubRight-1Score.auto => HubRight-Station-Score.auto} (100%) rename src/main/deploy/pathplanner/paths/{CenterToPlayerPath.path => Center-NeutralL.path} (70%) create mode 100644 src/main/deploy/pathplanner/paths/Center-NeutralR.path create mode 100644 src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path create mode 100644 src/main/deploy/pathplanner/paths/ReadyPush.path delete mode 100644 src/main/deploy/pathplanner/paths/ToPlayerStation.path diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Station-2Score.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto similarity index 62% rename from src/main/deploy/pathplanner/autos/HubCenter-Station-2Score.auto rename to src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto index c188a36..09f0a69 100644 --- a/src/main/deploy/pathplanner/autos/HubCenter-Station-2Score.auto +++ b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto @@ -31,7 +31,7 @@ { "type": "path", "data": { - "pathName": "CenterToPlayerPath" + "pathName": "Center-NeutralL" } }, { @@ -43,31 +43,7 @@ { "type": "path", "data": { - "pathName": "ToPlayerStation" - } - }, - { - "type": "wait", - "data": { - "waitTime": 8.0 - } - }, - { - "type": "named", - "data": { - "name": "Robot Rev Up" - } - }, - { - "type": "path", - "data": { - "pathName": "PlayerStation-Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Robot Shoot" + "pathName": "HubFarLeft-NeutralZone" } } ] diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto new file mode 100644 index 0000000..e2274a1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Extended" + } + }, + { + "type": "named", + "data": { + "name": "Robot Rev Up" + } + }, + { + "type": "path", + "data": { + "pathName": "Center-Hub-Shoot" + } + }, + { + "type": "named", + "data": { + "name": "Robot Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center-NeutralR" + } + }, + { + "type": "named", + "data": { + "name": "Intake Extended" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone" + } + } + ] + } + }, + "resetOdom": true, + "folder": "HubCenter", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HubCenter-1Score.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score-★.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/HubCenter-1Score.auto rename to src/main/deploy/pathplanner/autos/HubCenter-Score-★.auto diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-1Score.auto b/src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto similarity index 73% rename from src/main/deploy/pathplanner/autos/HubRight-Station-1Score.auto rename to src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto index 5c458f6..8663bd4 100644 --- a/src/main/deploy/pathplanner/autos/HubRight-Station-1Score.auto +++ b/src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto @@ -4,24 +4,12 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "HubRight-PlayerStation" - } - }, { "type": "named", "data": { "name": "Intake Extended" } }, - { - "type": "wait", - "data": { - "waitTime": 8.0 - } - }, { "type": "named", "data": { @@ -31,7 +19,7 @@ { "type": "path", "data": { - "pathName": "PlayerStation-Shoot" + "pathName": "HubRight-Shoot" } }, { @@ -39,6 +27,24 @@ "data": { "name": "Robot Shoot" } + }, + { + "type": "path", + "data": { + "pathName": "ReadyPush" + } + }, + { + "type": "named", + "data": { + "name": "Intake Extended" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-2Score.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/HubRight-Station-2Score.auto rename to src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto index e7d6936..c236f8c 100644 --- a/src/main/deploy/pathplanner/autos/HubRight-Station-2Score.auto +++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto @@ -5,45 +5,28 @@ "data": { "commands": [ { - "type": "named", + "type": "parallel", "data": { - "name": "Intake Extended" - } - }, - { - "type": "named", - "data": { - "name": "Robot Rev Up" - } - }, - { - "type": "path", - "data": { - "pathName": "HubRight-Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Robot Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Intake Extended" - } - }, - { - "type": "path", - "data": { - "pathName": "ToPlayerStation" + "commands": [ + { + "type": "path", + "data": { + "pathName": "HubRight-PlayerStation" + } + }, + { + "type": "named", + "data": { + "name": "Intake Extended" + } + } + ] } }, { "type": "wait", "data": { - "waitTime": 8.0 + "waitTime": 2.0 } }, { @@ -63,6 +46,24 @@ "data": { "name": "Robot Shoot" } + }, + { + "type": "path", + "data": { + "pathName": "ReadyPush" + } + }, + { + "type": "named", + "data": { + "name": "Intake Extended" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-★.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-★.auto new file mode 100644 index 0000000..81652ba --- /dev/null +++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-★.auto @@ -0,0 +1,56 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "HubRight-PlayerStation" + } + }, + { + "type": "named", + "data": { + "name": "Intake Extended" + } + } + ] + } + }, + { + "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": "HubRight", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HubRight-1Score.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/HubRight-1Score.auto rename to src/main/deploy/pathplanner/autos/HubRight-Station-Score.auto diff --git a/src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path b/src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path index 109ecd1..c4eca2a 100644 --- a/src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path +++ b/src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, "nominalVoltage": 10.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/CenterToPlayerPath.path b/src/main/deploy/pathplanner/paths/Center-NeutralL.path similarity index 70% rename from src/main/deploy/pathplanner/paths/CenterToPlayerPath.path rename to src/main/deploy/pathplanner/paths/Center-NeutralL.path index 58e1755..3cb5237 100644 --- a/src/main/deploy/pathplanner/paths/CenterToPlayerPath.path +++ b/src/main/deploy/pathplanner/paths/Center-NeutralL.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.4608809523809536, - "y": 3.6786785714285717 + "x": 3.5298452380952394, + "y": 4.83402380952381 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.375, - "y": 1.789 + "x": 4.0, + "y": 7.4 }, "prevControl": { - "x": 2.406892857142858, - "y": 2.4477499999999996 + "x": 2.013238095238095, + "y": 7.648345238095238 }, "nextControl": null, "isLocked": false, @@ -33,16 +33,16 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, "nominalVoltage": 10.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -132.0 + "rotation": 0.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Center-NeutralR.path b/src/main/deploy/pathplanner/paths/Center-NeutralR.path new file mode 100644 index 0000000..efd08f8 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Center-NeutralR.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.5, + "y": 4.0 + }, + "prevControl": null, + "nextControl": { + "x": 4.177702380952382, + "y": 3.2791666666666672 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 0.666 + }, + "prevControl": { + "x": 1.9210000000000012, + "y": 0.590559523809524 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, + "nominalVoltage": 10.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center-ToDepot.path b/src/main/deploy/pathplanner/paths/Center-ToDepot.path index 56ba7ae..fd5764d 100644 --- a/src/main/deploy/pathplanner/paths/Center-ToDepot.path +++ b/src/main/deploy/pathplanner/paths/Center-ToDepot.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, "nominalVoltage": 10.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path new file mode 100644 index 0000000..7971bc9 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path @@ -0,0 +1,117 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 7.4 + }, + "prevControl": null, + "nextControl": { + "x": 5.0954999999999995, + "y": 7.479440476190477 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.535761904761905, + "y": 7.54422619047619 + }, + "prevControl": { + "x": 7.654535714285714, + "y": 7.187904761904762 + }, + "nextControl": { + "x": 7.374699934066787, + "y": 8.027412102561545 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.535761904761905, + "y": 0.666 + }, + "prevControl": { + "x": 7.809145597850186, + "y": 0.6686447716595759 + }, + "nextControl": { + "x": 6.434404761904762, + "y": 0.6553452380952387 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 0.666 + }, + "prevControl": { + "x": 4.246995139395343, + "y": 0.7046445483228254 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 6.75, + "y": 0.0 + }, + "rotationOffset": 0.0, + "minWaypointRelativePos": 0.9056310679611663, + "maxWaypointRelativePos": 1.9091262135922324, + "name": "Point Towards Zone" + }, + { + "fieldPosition": { + "x": 0.4, + "y": 0.5 + }, + "rotationOffset": 0.0, + "minWaypointRelativePos": 1.9728155339805904, + "maxWaypointRelativePos": 2.55, + "name": "Point Towards Zone" + }, + { + "fieldPosition": { + "x": 9.0, + "y": 7.5 + }, + "rotationOffset": 0.0, + "minWaypointRelativePos": 0.025631067961170227, + "maxWaypointRelativePos": 0.6920388349514595, + "name": "Point Towards Zone" + } + ], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, + "nominalVoltage": 10.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path index e47dc82..a4f6aef 100644 --- a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path +++ b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path @@ -4,12 +4,12 @@ { "anchor": { "x": 4.0, - "y": 0.6661428571428576 + "y": 0.666 }, "prevControl": null, "nextControl": { - "x": 4.999999999999995, - "y": 0.6661428571428576 + "x": 5.052309523809524, + "y": 0.6013571428571436 }, "isLocked": false, "linkedName": null @@ -86,7 +86,7 @@ { "fieldPosition": { "x": 9.0, - "y": 1.0 + "y": 0.5 }, "rotationOffset": 0.0, "minWaypointRelativePos": 0.025631067961170227, @@ -96,10 +96,10 @@ ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, "nominalVoltage": 10.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path index 0379b35..3c07cfe 100644 --- a/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path +++ b/src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path @@ -60,16 +60,16 @@ ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 1.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.0, "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 750.0, + "maxAngularAcceleration": 700.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -90.0 + "rotation": -95.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/HubRight-Shoot.path b/src/main/deploy/pathplanner/paths/HubRight-Shoot.path index 4137c0f..88c4f46 100644 --- a/src/main/deploy/pathplanner/paths/HubRight-Shoot.path +++ b/src/main/deploy/pathplanner/paths/HubRight-Shoot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.375, - "y": 1.789 + "x": 2.299, + "y": 2.599 }, "prevControl": { - "x": 2.698928571428572, - "y": 1.7242142857142848 + "x": 2.5364642857142865, + "y": 2.3181785714285708 }, "nextControl": null, "isLocked": false, @@ -44,22 +44,22 @@ ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, + "maxVelocity": 2.8, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 750.0, "nominalVoltage": 10.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -132.0 + "rotation": -148.82 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -90.95484125387215 + "rotation": -90.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path index 1d8108c..31713a8 100644 --- a/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path +++ b/src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path @@ -20,7 +20,7 @@ "y": 1.497559523809524 }, "prevControl": { - "x": 0.7849906411045419, + "x": 0.7849906411045418, "y": 1.097011457533851 }, "nextControl": { @@ -36,8 +36,8 @@ "y": 2.5989166666666677 }, "prevControl": { - "x": 2.1382197642450333, - "y": 2.4074055558869234 + "x": 2.138219764245033, + "y": 2.407405555886923 }, "nextControl": null, "isLocked": false, @@ -70,10 +70,10 @@ ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 750.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 770.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/ReadyPush.path b/src/main/deploy/pathplanner/paths/ReadyPush.path new file mode 100644 index 0000000..21b4ef2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/ReadyPush.path @@ -0,0 +1,65 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.299, + "y": 2.599 + }, + "prevControl": null, + "nextControl": { + "x": 2.471678571428572, + "y": 2.3397738095238094 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 0.666 + }, + "prevControl": { + "x": 2.871190476190477, + "y": 0.5689642857142869 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 0.0, + "y": 1.0 + }, + "rotationOffset": 180.0, + "minWaypointRelativePos": 0.5, + "maxWaypointRelativePos": 1.0, + "name": "Point Towards Zone" + } + ], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 600.0, + "maxAngularAcceleration": 770.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -148.82 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToPlayerStation.path b/src/main/deploy/pathplanner/paths/ToPlayerStation.path deleted file mode 100644 index 4304da9..0000000 --- a/src/main/deploy/pathplanner/paths/ToPlayerStation.path +++ /dev/null @@ -1,81 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.375, - "y": 1.789 - }, - "prevControl": null, - "nextControl": { - "x": 1.375, - "y": 1.789 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.554, - "y": 1.1952261904717056 - }, - "prevControl": { - "x": 1.559598546310211, - "y": 1.4759171571591563 - }, - "nextControl": { - "x": 1.548401453689789, - "y": 0.914535223784255 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.45, - "y": 1.0 - }, - "prevControl": { - "x": 1.4348077530122076, - "y": 1.1736481776669303 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [ - { - "fieldPosition": { - "x": 0.0, - "y": 0.7 - }, - "rotationOffset": 180.0, - "minWaypointRelativePos": 0.25, - "maxWaypointRelativePos": 0.75, - "name": "Point Towards Zone" - } - ], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 500.0, - "maxAngularAcceleration": 700.0, - "nominalVoltage": 10.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -90.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -132.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 9fb1891..307aabf 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -8,10 +8,10 @@ "HubRight", "HubLeft" ], - "defaultMaxVel": 1.0, - "defaultMaxAccel": 1.0, - "defaultMaxAngVel": 500.0, - "defaultMaxAngAccel": 700.0, + "defaultMaxVel": 2.8, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 600.0, + "defaultMaxAngAccel": 750.0, "defaultNominalVoltage": 10.0, "robotMass": 74.088, "robotMOI": 6.883, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 0c96150..b753161 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -120,7 +120,7 @@ public class RobotContainer { // ); private Command RobotRev = new SequentialCommandGroup( - new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake), + new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake), new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter) ); @@ -135,7 +135,7 @@ public class RobotContainer { new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), new WaitCommand(2), RobotIntakeRetracted, - new WaitCommand(4), + new WaitCommand(5), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) ); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 6f181c1..52ec61e 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 = 128; - public static final String GIT_SHA = "a769953c22bf4140820cc5a6e6457a2c0f57774a"; - public static final String GIT_DATE = "2026-02-28 13:36:49 MST"; + public static final int GIT_REVISION = 130; + public static final String GIT_SHA = "7064364dc8a8efab27ad1991e4af6ce06a523de3"; + public static final String GIT_DATE = "2026-03-02 18:01:46 MST"; public static final String GIT_BRANCH = "shikhar-op-controls"; - public static final String BUILD_DATE = "2026-02-28 13:52:47 MST"; - public static final long BUILD_UNIX_TIME = 1772311967522L; + public static final String BUILD_DATE = "2026-03-02 19:33:31 MST"; + public static final long BUILD_UNIX_TIME = 1772505211993L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/climber/Climber.java b/src/main/java/frc4388/robot/subsystems/climber/Climber.java index 2e3ff14..55e58c8 100644 --- a/src/main/java/frc4388/robot/subsystems/climber/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/climber/Climber.java @@ -20,7 +20,7 @@ public class Climber extends SubsystemBase { public enum ClimberMode { Extended, - Retracting, + Retracting } public void deploy() { diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java index c1a90ad..8425c54 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java @@ -27,7 +27,8 @@ public class Intake extends SubsystemBase { Retracted, Extending, Retracting, - Idle + Idle, + RollerStop } private IntakeMode mode = IntakeMode.Idle; @@ -90,6 +91,9 @@ public class Intake extends SubsystemBase { case Idle: io.stopArm(); break; + case RollerStop: + io.setRollerOutput(state, 0); + break; } // if (state.retractedLimit){ // this.mode = IntakeMode.Retracted;