Team4388/2026KPopRobotHunters
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This commit is contained in:
mimigamin
2026-03-21 15:49:44 -06:00
parent 75cab187e2
commit d639b3076d
7 changed files with 234 additions and 13 deletions
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src/main/deploy/pathplanner/autos/ShootPreloadBump.auto
+43
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@@ -0,0 +1,43 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "Bump test"
}
},
{
"type": "named",
"data": {
"name": "BumpOffsetForward"
}
},
{
"type": "path",
"data": {
"pathName": "BumpToCenter"
}
},
{
"type": "path",
"data": {
"pathName": "HubFarLeft-NeutralZone 2-2"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Bump test.path
+75
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@@ -0,0 +1,75 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.4908076923076936,
"y": 6.633345195729537
},
"prevControl": null,
"nextControl": {
"x": 2.3977564102564113,
"y": 6.0868195547038955
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.4908076923076936,
"y": 5.6745769230769225
},
"prevControl": {
"x": 2.6330609248104158,
"y": 5.743196664476699
},
"nextControl": {
"x": 3.7815128205128214,
"y": 5.651320512820514
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.967615384615385,
"y": 5.709461538461539
},
"prevControl": {
"x": 4.746653846153847,
"y": 5.430384615384616
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.5211640211640187,
"rotationDegrees": -112.5
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -91.24536426676825
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 179.59775645089275
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/BumpToCenter.path
+54
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.935255041518388,
"y": 5.6650177935943065
},
"prevControl": null,
"nextControl": {
"x": 6.073930090574693,
"y": 5.873030367178768
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.559893238434164,
"y": 7.547876631079477
},
"prevControl": {
"x": 7.1940806642941855,
"y": 7.182064056939502
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.98776039963968
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -91.19348942398209
},
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/RobotContainer.java
+28 -2
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@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.Swerve.StayInPosition;
import frc4388.robot.commands.alignment.AutoAlign;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.FieldConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.subsystems.intake.Intake;
@@ -155,7 +156,7 @@ public class RobotContainer {
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(5),
IntakeRetracted,
new WaitCommand(5),
new WaitCommand(10),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -185,7 +186,29 @@ public class RobotContainer {
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
NamedCommands.registerCommand("AllowShooting", new InstantCommand(() -> m_robotShooter.allowShooting(), m_robotShooter));
NamedCommands.registerCommand("DenyShooting", new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter));
NamedCommands.registerCommand("SpinUpShooting", new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter));
NamedCommands.registerCommand("SpinUpIdle", new InstantCommand(() -> m_robotShooter.spinUpIdle(), m_robotShooter));
NamedCommands.registerCommand("BumpOffsetForward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
}
}));
NamedCommands.registerCommand("BumpOffsetReverse", new InstantCommand(() -> {
if (!TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
}
}));
DriverStation.silenceJoystickConnectionWarning(true);
@@ -372,8 +395,11 @@ public class RobotContainer {
private void configureSINGLEBindings() {
//Driver controls
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -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 = 181;
public static final String GIT_SHA = "3c1b94a2d86a624a9320493a0240ee552491beca";
public static final String GIT_DATE = "2026-03-21 13:04:40 MDT";
public static final int GIT_REVISION = 182;
public static final String GIT_SHA = "75cab187e2225e51259336e5569f15c41f9169d5";
public static final String GIT_DATE = "2026-03-21 13:38:34 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-21 13:30:10 MDT";
public static final long BUILD_UNIX_TIME = 1774121410165L;
public static final String BUILD_DATE = "2026-03-21 15:45:59 MDT";
public static final long BUILD_UNIX_TIME = 1774129559544L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/FieldConstants.java
+15 -6
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@@ -1,18 +1,27 @@
package frc4388.robot.constants;
import java.util.Arrays;
import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
public final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final double BUMP_OFFSET = 0.4;
public static final Transform2d BUMP_OFFSET_RED = new Transform2d(
Meters.of(BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_BLUE = new Transform2d(
Meters.of(-BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
// Test april tag field layout
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
// Arrays.asList(new AprilTag[] {
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+14
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@@ -24,6 +24,7 @@ import com.pathplanner.lib.util.PathPlannerLogging;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.units.measure.AngularVelocity;
@@ -433,6 +434,19 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
driveFieldAngle(leftStick, ang);
}
public void offsetOdoPosition(Transform2d offset) {
// Manually performing an addittion on the pose
// WHY doesn't WPILIB have the ability to not transform poses
Pose2d new_pose = new Pose2d(
new Translation2d(
state.currentPose.getX() + offset.getX(),
state.currentPose.getY() + offset.getY()
),
state.currentPose.getRotation()
);
this.io.resetPose(new_pose);
}
public void defenseXPosition(){
io.setControl(new SwerveRequest.SwerveDriveBrake());
}