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Intake roller model

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This commit is contained in:
mimigamin
2026-04-06 19:50:34 -06:00
parent f9b9a7dd30
commit 9564554c07
24 changed files with 489 additions and 328 deletions
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src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Ramp-Shoot-PlayerStation-Shoot.auto
+156
View File
@@ -0,0 +1,156 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Intake Reference"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RightTrench-Neutral-Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "RightRamp-Shoot"
}
},
{
"type": "named",
"data": {
"name": "BumpOffsetBackward"
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 4.35
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Robot Shoot Driving"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Labubu Growl"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "ShotRightR-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"
}
}
]
}
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"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Shoot-PlayerStation-Shoot.auto
-79
View File
@@ -1,79 +0,0 @@
{
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{
"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",
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},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
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{
"type": "path",
"data": {
"pathName": "PlayerStation-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
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"resetOdom": true,
"folder": null,
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}
src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto
+137
View File
@@ -0,0 +1,137 @@
{
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"commands": [
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"type": "named",
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"name": "Intake Extended"
}
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{
"type": "named",
"data": {
"name": "Intake Reference"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RightTrench-Neutral-Trench-Shoot"
}
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{
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{
"type": "wait",
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}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "wait",
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},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Robot Shoot Driving"
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},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
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},
{
"type": "named",
"data": {
"name": "Labubu Growl"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "ShotRightT-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/LeftBump-Neutral-Shoot.path
+2 -2
View File
@@ -115,13 +115,13 @@
"unlimited": false
},
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"reversed": false,
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"rotation": -90.0
},
"useDefaultConstraints": true
src/main/deploy/pathplanner/paths/LeftBump.path
+1 -1
View File
@@ -46,7 +46,7 @@
"unlimited": false
},
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"rotation": -91.24536426676825
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"reversed": false,
src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path
+2 -2
View File
@@ -135,13 +135,13 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/LeftBump2.path
+2 -2
View File
@@ -46,13 +46,13 @@
"unlimited": false
},
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"velocity": 0.0,
"rotation": 91.245
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"velocity": 0.0,
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src/main/deploy/pathplanner/paths/LeftRamp-Shoot.path
+1 -1
View File
@@ -58,7 +58,7 @@
"reversed": false,
"folder": null,
"idealStartingState": {
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"velocity": 0.0,
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src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Shoot.path
+2 -2
View File
@@ -139,13 +139,13 @@
"unlimited": true
},
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"velocity": 0.0,
"rotation": 11.706999999999994
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"useDefaultConstraints": false
src/main/deploy/pathplanner/paths/New Path.path
-155
View File
@@ -1,155 +0,0 @@
{
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src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+1 -1
View File
@@ -62,7 +62,7 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path
+2 -2
View File
@@ -115,13 +115,13 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/RightBump.path
+1 -1
View File
@@ -46,7 +46,7 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path
+2 -2
View File
@@ -129,13 +129,13 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/RightBump2.path
+2 -2
View File
@@ -46,13 +46,13 @@
"unlimited": false
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src/main/deploy/pathplanner/paths/RightRamp-Shoot.path
+8 -8
View File
@@ -44,11 +44,11 @@
],
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@@ -58,8 +58,8 @@
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"velocity": 0.0,
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src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
+2 -2
View File
@@ -102,7 +102,7 @@
"rotationDegrees": 0.0
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@@ -110,7 +110,7 @@
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src/main/deploy/pathplanner/paths/RightTrench-Neutral-Shoot.path
+4 -17
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@@ -68,8 +68,8 @@
"y": 2.512
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@@ -95,19 +95,6 @@
"nominalVoltage": 10.0,
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@@ -152,13 +139,13 @@
"unlimited": true
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src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+20 -20
View File
@@ -64,16 +64,16 @@
},
{
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@@ -84,12 +84,12 @@
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"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
"linkedName": "END-RightTrnech-Neutral-Trench-Shoot"
}
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@@ -99,7 +99,7 @@
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@@ -121,22 +121,22 @@
},
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{
@@ -145,7 +145,7 @@
"y": 4.021
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@@ -157,16 +157,16 @@
"maxAngularVelocity": 600.0,
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"unlimited": true
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src/main/deploy/pathplanner/paths/ShotRightR-PlayerStation.path
+95
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@@ -0,0 +1,95 @@
{
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src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path → src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
+37 -10
View File
@@ -8,11 +8,27 @@
},
"prevControl": null,
"nextControl": {
"x": 1.7698333333333336,
"y": 1.1628333333333343
"x": 2.29707212427672,
"y": 1.0999282012743195
},
"isLocked": false,
"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
"linkedName": "END-RightTrnech-Neutral-Trench-Shoot"
},
{
"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": {
@@ -25,7 +41,7 @@
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "Playerstation"
}
],
"rotationTargets": [],
@@ -33,9 +49,9 @@
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 1.0,
"maxWaypointRelativePos": 2.0,
"constraints": {
"maxVelocity": 1.5,
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -44,7 +60,18 @@
}
}
],
"pointTowardsZones": [],
"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,
@@ -56,13 +83,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -90.16147282505071
"rotation": -95.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.0,
"rotation": -136.00851404351897
"velocity": 0,
"rotation": -130.0
},
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/RobotContainer.java
+6 -1
View File
@@ -112,6 +112,10 @@ public class RobotContainer {
private Command IntakeExtended = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendingRolling), m_robotIntake)
);
private Command LabubuGrowl = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.LabubuGrowl), m_robotIntake)
);
// private Command LidarIntake = new SequentialCommandGroup(
// // Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball
@@ -189,6 +193,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Labubu Growl", LabubuGrowl);
NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
NamedCommands.registerCommand("Intake Reference", WaitIntakeReference);
NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
@@ -615,7 +620,7 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
if (auto.startsWith("X. "))
if (auto.startsWith("X. ")) // Mira!
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
View File
@@ -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 = 218;
public static final String GIT_SHA = "74009b86bbde67d814d16020ce4cec00b8267411";
public static final String GIT_DATE = "2026-04-04 16:17:27 MDT";
public static final int GIT_REVISION = 219;
public static final String GIT_SHA = "f9b9a7dd30b53213e360f67c5b7bcd4567fa30f3";
public static final String GIT_DATE = "2026-04-04 20:41:00 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-04-04 19:50:19 MDT";
public static final long BUILD_UNIX_TIME = 1775353819651L;
public static final String BUILD_DATE = "2026-04-06 19:43:24 MDT";
public static final long BUILD_UNIX_TIME = 1775526204113L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1 -13
View File
@@ -31,9 +31,6 @@ public class Intake extends SubsystemBase {
}
public enum IntakeMode {
ExtendedREMOVEME,
RetractedREMOVEME,
ExtendingIdle,
ExtendingRolling,
@@ -120,15 +117,6 @@ public class Intake extends SubsystemBase {
// getCurrentTime
switch (mode) {
case ExtendedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case RetractedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
break;
case ExtendingIdle:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
@@ -198,7 +186,7 @@ public class Intake extends SubsystemBase {
io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
break;
case LabubuGrowl:
io.armOutput(0);
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
break;
}