Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-03-07 20:08:15 -07:00
parent 0ce384a940
commit b073fad277
11 changed files with 326 additions and 23 deletions
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src/main/deploy/pathplanner/autos/HubFarRight-Score-Push.auto
+62
View File
@@ -0,0 +1,62 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.5
}
},
{
"type": "path",
"data": {
"pathName": "Copy of HubFarRight-NeutralZone 1-2"
}
},
{
"type": "path",
"data": {
"pathName": "HubFarRight-NeutralZone 2-2"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "HubFarLeft-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": "HubRight",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto
+1 -1
View File
@@ -38,7 +38,7 @@
{
"type": "path",
"data": {
"pathName": "PlayerStation-Shoot"
"pathName": "CPlayerStation-CShoot"
}
},
{
src/main/deploy/pathplanner/paths/CPlayerStation-CShoot.path
+75
View File
@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.45,
"y": 1.0
},
"prevControl": null,
"nextControl": {
"x": 0.8305284220032643,
"y": 0.9200002390150002
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.4998005698005699,
"y": 1.140868945868947
},
"prevControl": {
"x": 1.2334625881261518,
"y": 0.9559732945163617
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.6115541,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.4,
"maxWaypointRelativePos": 1.0,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.4,
"y": 5.5
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.2749379652605452,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -137.5
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.0,
"rotation": -90.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Copy of HubFarRight-NeutralZone 1-2.path
+65
View File
@@ -0,0 +1,65 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.6162261904761905,
"y": 0.6661428571428576
},
"prevControl": null,
"nextControl": {
"x": 4.6685357142857145,
"y": 0.6015000000000011
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.663,
"y": 0.8712976190476196
},
"prevControl": {
"x": 7.713544609817508,
"y": 0.5725975891884018
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 9.0,
"y": 0.5
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.025631067961170227,
"maxWaypointRelativePos": 0.6920388349514595,
"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": 2.6,
"rotation": 90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/HubCenter-PlayerStation.path
+28 -14
View File
@@ -16,16 +16,16 @@
},
{
"anchor": {
"x": 2.5,
"y": 4.0
"x": 2.3637023809523816,
"y": 3.0632142857142854
},
"prevControl": {
"x": 2.778903133903134,
"y": 4.319245014245015
"x": 2.6426055148555156,
"y": 3.382459299959301
},
"nextControl": {
"x": 1.995141221800707,
"y": 3.422116038703489
"x": 1.8588436027530886,
"y": 2.4853303244177742
},
"isLocked": false,
"linkedName": null
@@ -48,12 +48,12 @@
},
{
"anchor": {
"x": 0.46,
"y": 1.0
"x": 0.3,
"y": 0.8999999999999999
},
"prevControl": {
"x": 0.709742135052909,
"y": 0.9886480847776856
"x": 0.5497421350529089,
"y": 0.8886480847776855
},
"nextControl": null,
"isLocked": false,
@@ -61,7 +61,21 @@
}
],
"rotationTargets": [],
"constraintZones": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 1.771712158808938,
"maxWaypointRelativePos": 3.0,
"constraints": {
"maxVelocity": 0.7,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
@@ -69,7 +83,7 @@
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.8486842105263119,
"minWaypointRelativePos": 1.0272952853597963,
"maxWaypointRelativePos": 1.95,
"name": "Point Towards Zone"
},
@@ -80,7 +94,7 @@
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.7515182186234766,
"maxWaypointRelativePos": 0.44367245657569376,
"name": "Point Towards Zone"
}
],
@@ -90,7 +104,7 @@
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path
+1 -1
View File
@@ -48,7 +48,7 @@
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"minWaypointRelativePos": 0.2679900744416821,
"maxWaypointRelativePos": 0.8992555831265578,
"constraints": {
"maxVelocity": 1.2,
src/main/deploy/pathplanner/paths/HubFarLeft-Shoot.path
+75
View File
@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 7.4
},
"prevControl": null,
"nextControl": {
"x": 2.7848095238095247,
"y": 7.393059523809524
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.514869047619049,
"y": 5.805809523809524
},
"prevControl": {
"x": 2.638903782208257,
"y": 6.0228703093406395
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.61155415,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.40595533498758746,
"maxWaypointRelativePos": 1.0,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"y": 7.4
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.32258064516129836,
"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": 139.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path
+1 -1
View File
@@ -92,7 +92,7 @@
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"velocity": 3.0,
"rotation": 180.0
},
"reversed": false,
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 = 145;
public static final String GIT_SHA = "d5ff90c1aa76a82571b723631ee8562d9f040026";
public static final String GIT_DATE = "2026-03-06 10:57:47 MST";
public static final int GIT_REVISION = 146;
public static final String GIT_SHA = "0ce384a9402300fbc7b2c1b609c507284c5caa3c";
public static final String GIT_DATE = "2026-03-06 22:52:06 MST";
public static final String GIT_BRANCH = "PikesPeak";
public static final String BUILD_DATE = "2026-03-06 16:34:51 MST";
public static final long BUILD_UNIX_TIME = 1772840091676L;
public static final String BUILD_DATE = "2026-03-07 15:12:09 MST";
public static final long BUILD_UNIX_TIME = 1772921529065L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6
View File
@@ -143,6 +143,12 @@ public class Shooter extends SubsystemBase {
badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
//revtime calculations
// double shooterAcceleration =
double shooterSpeedTargetPretend = ShooterConstants.getTargetShooterSpeed(distanceToHub).in(RotationsPerSecond);
double revTime = (Math.abs(shooterSpeed - shooterSpeedTargetPretend)/((7 - shooterSpeedTargetPretend)/ShooterConstants.T_CONSTANT));
// double revTimeExp = ShooterConstants.T_CONSTANT * Math.log(1 - Math.abs(shooterSpeed/shooterSpeedTargetPretend));
Logger.recordOutput("Time to rev", revTime);
switch (mode) {
case Shooting:
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+7 -1
View File
@@ -17,6 +17,7 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final double T_CONSTANT = 2;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42);
@@ -29,7 +30,7 @@ public class ShooterConstants {
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", -1.5);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -56,6 +57,11 @@ public class ShooterConstants {
5.6939*hubDistMeters +
22.76545 + MODEL_TRIM.get();
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
// 5.65235*hubDistMeters +
// 22.82825;
double max = SHOOTER_MAX_VELOCITY.get();
// Clamp speed to max