Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

New changes

Browse Source
This commit is contained in:
Michael Mikovsky
2026-02-28 12:15:57 -08:00
parent 2b178fae28
commit e1aa43d596
6 changed files with 36 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/deploy/pathplanner/autos/HubCenter-2Score (side).auto → src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto
+2 -2
View File
@@ -7,13 +7,13 @@
{
"type": "named",
"data": {
"name": "Robot Rev Up"
"name": "Intake Retracted"
}
},
{
"type": "named",
"data": {
"name": "Intake Retracted"
"name": "Robot Rev Up"
}
},
{
src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto
-79
View File
@@ -1,79 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Retracted"
}
},
{
"type": "named",
"data": {
"name": "Robot Roller Off"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "Center-Hub-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "Center-ToDepot"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "Depot-Intake-Shoot (straight)"
}
},
{
"type": "named",
"data": {
"name": "Robot Roller Off"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto
+6
View File
@@ -16,6 +16,12 @@
"pathName": "HubFarRight-NeutralZone"
}
},
{
"type": "named",
"data": {
"name": "Robot Roller Off"
}
},
{
"type": "named",
"data": {
src/main/deploy/pathplanner/autos/HubFarRight-Push.auto → src/main/deploy/pathplanner/autos/HubFarRight-Station.auto
+4 -4
View File
@@ -5,15 +5,15 @@
"data": {
"commands": [
{
"type": "named",
"type": "path",
"data": {
"name": "Intake Extended"
"pathName": "HubFarRight-PlayerStation"
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "HubFarRight-NeutralZone"
"name": "Intake Extended"
}
}
]
src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (straight).path → src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path
+20 -20
View File
@@ -3,41 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 2.115,
"y": 6.0
"x": 3.636650602416003,
"y": 0.7129759036212555
},
"prevControl": null,
"nextControl": {
"x": 1.8650000000000002,
"y": 6.0
"x": 3.3894165141989285,
"y": 0.7500610168538175
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.4,
"y": 5.95697619047619
"x": 1.593168674698795,
"y": 0.8768915662650603
},
"prevControl": {
"x": 0.648069469178417,
"y": 5.987984874123494
"x": 2.244948841688057,
"y": 0.8496302325934687
},
"nextControl": {
"x": 0.1519305308215833,
"y": 5.925967506828887
"x": 0.941388507709533,
"y": 0.9041528999366517
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.5256666666666674,
"y": 5.093166666666666
"x": 0.533,
"y": 1.0
},
"prevControl": {
"x": 2.2773032851162216,
"y": 5.064607417642443
"x": 0.7827421350529089,
"y": 0.9886480847776856
},
"nextControl": null,
"isLocked": false,
@@ -49,12 +49,12 @@
"pointTowardsZones": [
{
"fieldPosition": {
"x": -0.1,
"y": 6.0
"x": 8.0,
"y": 1.0
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.08778625954198889,
"maxWaypointRelativePos": 0.8328244274809142,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 1.0956834532374118,
"name": "Point Towards Zone"
}
],
@@ -69,13 +69,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 154.59228189105156
"rotation": -90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
"rotation": 0.0
},
"useDefaultConstraints": false
}
src/main/java/frc4388/robot/RobotContainer.java
+4 -10
View File
@@ -120,27 +120,22 @@ public class RobotContainer {
// );
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake),
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
);
private Command RobotIntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
);
private Command RobotRollerOff = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0)), false),
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(3),
RobotIntakeRetracted,
new WaitCommand(2),
RobotIntakeRetracted,
new WaitCommand(4),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -167,7 +162,6 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotRev);
NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Roller Off", RobotRollerOff);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);