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This commit is contained in:
Shikhar
2026-04-09 18:19:58 -06:00
parent fa0342a672
commit aabcc8d5de
11 changed files with 654 additions and 30 deletions
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src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot-Neutral-Shoot.auto
+149
View File
@@ -0,0 +1,149 @@
{
"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": "path",
"data": {
"pathName": "LeftTrench-Neutral-Trench-Shoot"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Labubu Growl"
}
},
{
"type": "wait",
"data": {
"waitTime": 4.2
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Intake Reference"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ShotL-Neutral"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {
"name": "Labubu Growl"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto
+87
View File
@@ -0,0 +1,87 @@
{
"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": "path",
"data": {
"pathName": "LeftTrench-Neutral-Trench-Shoot"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Labubu Growl"
}
},
{
"type": "wait",
"data": {
"waitTime": 5.0
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto
+2 -2
View File
@@ -45,7 +45,7 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 11.6 "waitTime": 4.5
} }
}, },
{ {
@@ -87,7 +87,7 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 2.0 "waitTime": 1.5
} }
}, },
{ {
src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path
+173
View File
@@ -0,0 +1,173 @@
{
"version": "2025.0",
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},
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},
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"y": 7.198702380952382
},
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"y": 7.522630952380953
},
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"y": 6.922789579857368
},
"isLocked": false,
"linkedName": null
},
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},
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"y": 6.216119047619048
},
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"y": 6.4644642857142856
},
"nextControl": null,
"isLocked": false,
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}
],
"rotationTargets": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 1.275434243176181,
"maxWaypointRelativePos": 1.8709677419354975,
"constraints": {
"maxVelocity": 1.2,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 7.0,
"y": 0.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 1.3067552602436252,
"maxWaypointRelativePos": 2.0198511166253303,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 7.4
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.6910299003322272,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 7.4
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 2.5913621262458837,
"maxWaypointRelativePos": 4.28,
"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": 0.0,
"rotation": 133.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.0,
"rotation": 0.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+15 -15
View File
@@ -16,15 +16,15 @@
}, },
{ {
"anchor": { "anchor": {
"x": 7.595564102564104, "x": 7.470976190476191,
"y": 0.9884102564102579 "y": 0.9884102564102579
}, },
"prevControl": { "prevControl": {
"x": 7.392948649818514, "x": 7.2683607377306005,
"y": 0.7987129676949314 "y": 0.7987129676949314
}, },
"nextControl": { "nextControl": {
"x": 7.9699166450787695, "x": 7.845328732990856,
"y": 1.3388951842695742 "y": 1.3388951842695742
}, },
"isLocked": false, "isLocked": false,
@@ -32,31 +32,31 @@
}, },
{ {
"anchor": { "anchor": {
"x": 7.793243589743589, "x": 7.595564102564104,
"y": 3.4070769230769233 "y": 3.3979404761904766
}, },
"prevControl": { "prevControl": {
"x": 7.776404526227516, "x": 7.578725039048031,
"y": 3.6565091702702275 "y": 3.6473727233837807
}, },
"nextControl": { "nextControl": {
"x": 7.842718812250754, "x": 7.645039325071269,
"y": 2.674214557033146 "y": 2.665078110146699
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 7.4211410256410275, "x": 7.3306071428571435,
"y": 0.9884102564102579 "y": 0.9884102564102579
}, },
"prevControl": { "prevControl": {
"x": 7.693106679552213, "x": 7.602572796768329,
"y": 1.2858726903756175 "y": 1.2858726903756175
}, },
"nextControl": { "nextControl": {
"x": 7.049038461538463, "x": 6.958504578754579,
"y": 0.5814230769230777 "y": 0.5814230769230777
}, },
"isLocked": false, "isLocked": false,
@@ -96,10 +96,10 @@
"constraintZones": [ "constraintZones": [
{ {
"name": "Constraints Zone", "name": "Constraints Zone",
"minWaypointRelativePos": 0, "minWaypointRelativePos": 1.255583126550872,
"maxWaypointRelativePos": 5.0, "maxWaypointRelativePos": 1.7617866004962806,
"constraints": { "constraints": {
"maxVelocity": 1.0, "maxVelocity": 1.2,
"maxAcceleration": 3.0, "maxAcceleration": 3.0,
"maxAngularVelocity": 600.0, "maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0, "maxAngularAcceleration": 750.0,
src/main/deploy/pathplanner/paths/ShotL-Neutral.path
+215
View File
@@ -0,0 +1,215 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.612,
"y": 6.216
},
"prevControl": null,
"nextControl": {
"x": 2.958273419839204,
"y": 6.2585504440271835
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.595,
"y": 7.415
},
"prevControl": {
"x": 2.756519548465237,
"y": 7.377436791520136
},
"nextControl": {
"x": 4.203016743276786,
"y": 7.4422386310797695
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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"y": 7.285083333333334
},
"prevControl": {
"x": 5.572245332631391,
"y": 7.447981654135905
},
"nextControl": {
"x": 6.56590740520863,
"y": 6.692665946707327
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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"y": 3.959416666666667
},
"prevControl": {
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"y": 4.228987726737335
},
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},
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},
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},
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],
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"constraintZones": [
{
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"minWaypointRelativePos": 2.650124069478908,
"maxWaypointRelativePos": 2.8709677419354973,
"constraints": {
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"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
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"y": 0.0
},
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"minWaypointRelativePos": 2.306755260243625,
"maxWaypointRelativePos": 3.3975186104218427,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
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"y": 7.4
},
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"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 1.4,
"name": "Point Towards Zone"
},
{
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},
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"maxWaypointRelativePos": 6.28,
"name": "Point Towards Zone"
},
{
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"x": 4.612,
"y": 4.021
},
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"minWaypointRelativePos": 6.529346622369888,
"maxWaypointRelativePos": 7.0,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 6.0,
"y": 0.0
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 3.7,
"maxWaypointRelativePos": 4.5786600496277865,
"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": 0.0,
"rotation": 133.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.0,
"rotation": 133.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/ShotRightT-PlayerStation.path
+1 -1
View File
@@ -49,7 +49,7 @@
{ {
"name": "Constraints Zone", "name": "Constraints Zone",
"minWaypointRelativePos": 0, "minWaypointRelativePos": 0,
"maxWaypointRelativePos": 2.0, "maxWaypointRelativePos": 0.0,
"constraints": { "constraints": {
"maxVelocity": 1.0, "maxVelocity": 1.0,
"maxAcceleration": 3.0, "maxAcceleration": 3.0,
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
View File
@@ -163,9 +163,9 @@ public class RobotContainer {
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(3), new WaitCommand(2.75),
IntakeRetracted, IntakeRetracted,
new WaitCommand(4.5), new WaitCommand(4.4),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
); );
@@ -184,9 +184,9 @@ public class RobotContainer {
DeferredBlock.addBlock(() -> { DeferredBlock.addBlock(() -> {
// m_robotIntake.setMode(IntakeMode.Idle); // m_robotIntake.setMode(IntakeMode.Idle);
// m_robotShooter.spinUpIdle(); // m_robotShooter.spinUpIdle();
m_robotIntake.io.updateGains();
TimesNegativeOne.update(); TimesNegativeOne.update();
FieldPositions.update(); FieldPositions.update();
m_robotIntake.io.updateGains();
m_robotShooter.io.updateGains(); m_robotShooter.io.updateGains();
}, true); }, true);
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_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 226; public static final int GIT_REVISION = 229;
public static final String GIT_SHA = "3be9938956b4cd7615cbba424e25342aa67b7e38"; public static final String GIT_SHA = "fa0342a67239f145f381f48ba48e506cdb03026f";
public static final String GIT_DATE = "2026-04-09 09:28:35 MDT"; public static final String GIT_DATE = "2026-04-09 12:40:33 MDT";
public static final String GIT_BRANCH = "New-Intake"; public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-04-09 11:40:18 MDT"; public static final String BUILD_DATE = "2026-04-09 17:42:53 MDT";
public static final long BUILD_UNIX_TIME = 1775756418116L; public static final long BUILD_UNIX_TIME = 1775778173177L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2 -2
View File
@@ -57,14 +57,14 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4); public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2); public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07); public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17); public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50); public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
public static final ConfigurableDouble ROLLER_LABUBU_GROWL_PERCENT_OUTPUT = new ConfigurableDouble("Roller Labubu Growl Percent Output", .75); public static final ConfigurableDouble ROLLER_LABUBU_GROWL_PERCENT_OUTPUT = new ConfigurableDouble("Roller Labubu Growl Percent Output", .7);
public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20); public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20);
public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20); public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40); public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+1 -1
View File
@@ -26,7 +26,7 @@ public class ShooterConstants {
// public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0); // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", 0.0);//-0.15); public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
// public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.); // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
// public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10); // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);