diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto index 09f0a69..66154d3 100644 --- a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto +++ b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto @@ -28,12 +28,6 @@ "name": "Robot Shoot" } }, - { - "type": "path", - "data": { - "pathName": "Center-NeutralL" - } - }, { "type": "named", "data": { @@ -43,7 +37,25 @@ { "type": "path", "data": { - "pathName": "HubFarLeft-NeutralZone" + "pathName": "Center-NeutralL" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarLeft-NeutralZone 1-2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Retracted" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarLeft-NeutralZone 2-2" } } ] diff --git a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto index e2274a1..30743c8 100644 --- a/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto +++ b/src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto @@ -28,12 +28,6 @@ "name": "Robot Shoot" } }, - { - "type": "path", - "data": { - "pathName": "Center-NeutralR" - } - }, { "type": "named", "data": { @@ -43,7 +37,25 @@ { "type": "path", "data": { - "pathName": "HubFarRight-NeutralZone" + "pathName": "Center-NeutralR" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone 1-2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Retracted" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone 2-2" } } ] diff --git a/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto index 2a68b64..ea1c204 100644 --- a/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto @@ -43,7 +43,19 @@ { "type": "path", "data": { - "pathName": "HubFarLeft-NeutralZone" + "pathName": "HubFarLeft-NeutralZone 1-2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Retracted" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarLeft-NeutralZone 2-2" } } ] diff --git a/src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubRight-Score.auto similarity index 64% rename from src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto rename to src/main/deploy/pathplanner/autos/HubRight-Score.auto index 519dd4a..b698490 100644 --- a/src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubRight-Score.auto @@ -27,24 +27,6 @@ "data": { "name": "Robot Shoot" } - }, - { - "type": "named", - "data": { - "name": "Intake Extended" - } - }, - { - "type": "path", - "data": { - "pathName": "ReadyPush" - } - }, - { - "type": "path", - "data": { - "pathName": "HubFarRight-NeutralZone" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto index c236f8c..57286ed 100644 --- a/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto @@ -47,12 +47,6 @@ "name": "Robot Shoot" } }, - { - "type": "path", - "data": { - "pathName": "ReadyPush" - } - }, { "type": "named", "data": { @@ -62,7 +56,25 @@ { "type": "path", "data": { - "pathName": "HubFarRight-NeutralZone" + "pathName": "ReadyPush" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone 1-2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Retracted" + } + }, + { + "type": "path", + "data": { + "pathName": "HubFarRight-NeutralZone 2-2" } } ] diff --git a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path new file mode 100644 index 0000000..d9aa446 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path @@ -0,0 +1,65 @@ +{ + "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": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 9.0, + "y": 7.5 + }, + "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": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.0 + }, + "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/HubFarLeft-NeutralZone.path b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path similarity index 68% rename from src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path rename to src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path index 55a2f3a..e02447f 100644 --- a/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path +++ b/src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path @@ -1,28 +1,12 @@ { "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 - }, + "prevControl": null, "nextControl": { "x": 7.374699934066787, "y": 8.027412102561545 @@ -69,8 +53,8 @@ "y": 0.0 }, "rotationOffset": 0.0, - "minWaypointRelativePos": 0.9056310679611663, - "maxWaypointRelativePos": 1.9091262135922324, + "minWaypointRelativePos": 0.0, + "maxWaypointRelativePos": 0.9091262135922324, "name": "Point Towards Zone" }, { @@ -79,18 +63,8 @@ "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, + "minWaypointRelativePos": 0.9728155339805904, + "maxWaypointRelativePos": 1.5499999999999998, "name": "Point Towards Zone" } ], @@ -111,7 +85,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": -90.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 1-2.path b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 1-2.path new file mode 100644 index 0000000..5252aec --- /dev/null +++ b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 1-2.path @@ -0,0 +1,65 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 0.666 + }, + "prevControl": null, + "nextControl": { + "x": 5.052309523809524, + "y": 0.6013571428571436 + }, + "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": 0, + "rotation": 90.0 + }, + "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 2-2.path similarity index 67% rename from src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path rename to src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path index f5dfe28..833dd67 100644 --- a/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path +++ b/src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path @@ -1,28 +1,12 @@ { "version": "2025.0", "waypoints": [ - { - "anchor": { - "x": 4.0, - "y": 0.666 - }, - "prevControl": null, - "nextControl": { - "x": 5.052309523809524, - "y": 0.6013571428571436 - }, - "isLocked": false, - "linkedName": null - }, { "anchor": { "x": 7.663, "y": 0.8712976190476196 }, - "prevControl": { - "x": 7.713544609817508, - "y": 0.5725975891884018 - }, + "prevControl": null, "nextControl": { "x": 7.578952380952382, "y": 1.367988095238095 @@ -69,8 +53,8 @@ "y": 8.0 }, "rotationOffset": 0.0, - "minWaypointRelativePos": 0.9056310679611663, - "maxWaypointRelativePos": 1.9091262135922324, + "minWaypointRelativePos": 0.0, + "maxWaypointRelativePos": 0.9091262135922324, "name": "Point Towards Zone" }, { @@ -79,18 +63,8 @@ "y": 7.4 }, "rotationOffset": 0.0, - "minWaypointRelativePos": 1.9728155339805904, - "maxWaypointRelativePos": 2.55, - "name": "Point Towards Zone" - }, - { - "fieldPosition": { - "x": 9.0, - "y": 0.5 - }, - "rotationOffset": 0.0, - "minWaypointRelativePos": 0.025631067961170227, - "maxWaypointRelativePos": 0.6920388349514595, + "minWaypointRelativePos": 0.9728155339805904, + "maxWaypointRelativePos": 1.5499999999999998, "name": "Point Towards Zone" } ], @@ -111,7 +85,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": 90.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 98f3f0a..dd47223 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -126,7 +126,7 @@ public class RobotContainer { new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake) ); - private Command RobotIntakeRetracted = new SequentialCommandGroup( + private Command IntakeRetracted = new SequentialCommandGroup( new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake) ); @@ -136,7 +136,7 @@ public class RobotContainer { new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed), new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter), new WaitCommand(2), - RobotIntakeRetracted, + IntakeRetracted, new WaitCommand(5), new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter), new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter) @@ -162,7 +162,7 @@ public class RobotContainer { }, true); NamedCommands.registerCommand("Robot Rev Up", RobotRev); - NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted); + NamedCommands.registerCommand("Intake Retracted", IntakeRetracted); NamedCommands.registerCommand("Robot Shoot", RobotShoot); // NamedCommands.registerCommand("Lidar Intake", LidarIntake); NamedCommands.registerCommand("Intake Extended", IntakeExtended);