From e1aa43d596bdcd524a75e05c72928658debd97a0 Mon Sep 17 00:00:00 2001 From: Michael Mikovsky Date: Sat, 28 Feb 2026 12:15:57 -0800 Subject: [PATCH] New changes --- ...de).auto => HubCenter-2Score (depot).auto} | 4 +- .../autos/HubCenter-2Score (straight).auto | 79 ------------------- .../autos/HubFarRight-Push-1Score.auto | 6 ++ ...ght-Push.auto => HubFarRight-Station.auto} | 8 +- ...t).path => HubFarRight-PlayerStation.path} | 40 +++++----- .../java/frc4388/robot/RobotContainer.java | 14 +--- 6 files changed, 36 insertions(+), 115 deletions(-) rename src/main/deploy/pathplanner/autos/{HubCenter-2Score (side).auto => HubCenter-2Score (depot).auto} (100%) delete mode 100644 src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto rename src/main/deploy/pathplanner/autos/{HubFarRight-Push.auto => HubFarRight-Station.auto} (87%) rename src/main/deploy/pathplanner/paths/{Depot-Intake-Shoot (straight).path => HubFarRight-PlayerStation.path} (64%) diff --git a/src/main/deploy/pathplanner/autos/HubCenter-2Score (side).auto b/src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto similarity index 100% rename from src/main/deploy/pathplanner/autos/HubCenter-2Score (side).auto rename to src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto index 63b80c8..4c269db 100644 --- a/src/main/deploy/pathplanner/autos/HubCenter-2Score (side).auto +++ b/src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto @@ -7,13 +7,13 @@ { "type": "named", "data": { - "name": "Robot Rev Up" + "name": "Intake Retracted" } }, { "type": "named", "data": { - "name": "Intake Retracted" + "name": "Robot Rev Up" } }, { diff --git a/src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto b/src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto deleted file mode 100644 index f0941d9..0000000 --- a/src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto b/src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto index 7111298..0280899 100644 --- a/src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto +++ b/src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto @@ -16,6 +16,12 @@ "pathName": "HubFarRight-NeutralZone" } }, + { + "type": "named", + "data": { + "name": "Robot Roller Off" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/HubFarRight-Push.auto b/src/main/deploy/pathplanner/autos/HubFarRight-Station.auto similarity index 87% rename from src/main/deploy/pathplanner/autos/HubFarRight-Push.auto rename to src/main/deploy/pathplanner/autos/HubFarRight-Station.auto index f6d2adb..5e83f14 100644 --- a/src/main/deploy/pathplanner/autos/HubFarRight-Push.auto +++ b/src/main/deploy/pathplanner/autos/HubFarRight-Station.auto @@ -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" } } ] diff --git a/src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (straight).path b/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path similarity index 64% rename from src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (straight).path rename to src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path index 3044e8a..a08bac6 100644 --- a/src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (straight).path +++ b/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path @@ -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 } \ 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 fc4ec85..eb7f263 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -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);