Team4388/2026KPopRobotHunters
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highlanders changes

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This commit is contained in:
Shikhar
2026-04-04 20:41:00 -06:00
parent 74009b86bb
commit f9b9a7dd30
9 changed files with 138 additions and 74 deletions
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src/main/deploy/pathplanner/autos/X. Stupid.auto
+19
View File
@@ -0,0 +1,19 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Stupidauto"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+19 -19
View File
@@ -64,16 +64,16 @@
},
{
"anchor": {
"x": 3.711743589743591,
"y": 0.6046794871794885
"x": 3.3990740740740737,
"y": 0.7403418803418822
},
"prevControl": {
"x": 3.995405188035349,
"y": 0.5680757693806849
"x": 3.7877883597883595,
"y": 0.6506385836385846
},
"nextControl": {
"x": 3.4637993695130525,
"y": 0.6366742313458394
"x": 2.947066329127951,
"y": 0.8446513599448344
},
"isLocked": false,
"linkedName": null
@@ -89,7 +89,7 @@
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
}
],
"rotationTargets": [],
@@ -99,7 +99,7 @@
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 5.0,
"constraints": {
"maxVelocity": 1.0,
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -121,22 +121,22 @@
},
{
"fieldPosition": {
"x": 0.0,
"x": 180.0,
"y": 0.6
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.15384615384614939,
"maxWaypointRelativePos": 0.6910299003322272,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"x": 180.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.5913621262458837,
"maxWaypointRelativePos": 4.352159468438559,
"minWaypointRelativePos": 2.952853598014871,
"maxWaypointRelativePos": 4.105334233625949,
"name": "Point Towards Zone"
},
{
@@ -145,7 +145,7 @@
"y": 4.021
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 4.529346622369888,
"minWaypointRelativePos": 4.280891289669132,
"maxWaypointRelativePos": 5.0,
"name": "Point Towards Zone"
}
@@ -157,16 +157,16 @@
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": true
"unlimited": false
},
"goalEndState": {
"velocity": 3.0,
"rotation": -145.9260531715447
"velocity": 0.0,
"rotation": -136.00851404351897
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.3,
"velocity": 0.6,
"rotation": 0.0
},
"useDefaultConstraints": false
src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path
+10 -37
View File
@@ -3,32 +3,16 @@
"waypoints": [
{
"anchor": {
"x": 2.444,
"x": 2.4442692307692324,
"y": 1.302
},
"prevControl": null,
"nextControl": {
"x": 2.2968028935074876,
"y": 1.0999282012743195
"x": 1.7698333333333336,
"y": 1.1628333333333343
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.5754761904761914,
"y": 1.0
},
"prevControl": {
"x": 2.2272563574654534,
"y": 0.9727386663284083
},
"nextControl": {
"x": 0.9236960234869294,
"y": 1.0272613336715914
},
"isLocked": false,
"linkedName": null
"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
},
{
"anchor": {
@@ -49,9 +33,9 @@
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 2.0,
"maxWaypointRelativePos": 1.0,
"constraints": {
"maxVelocity": 1.0,
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -60,18 +44,7 @@
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 0.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 1.0956834532374118,
"name": "Point Towards Zone"
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
@@ -83,13 +56,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -95.0
"rotation": -90.16147282505071
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -149.42767342080234
"velocity": 0.0,
"rotation": -136.00851404351897
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupidauto.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 0.5365714285714285
},
"prevControl": null,
"nextControl": {
"x": 3.119535714285715,
"y": 0.7633214285714292
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.547261904761905,
"y": 3.160392857142857
},
"prevControl": {
"x": 2.320511904761905,
"y": 2.696095238095238
},
"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": -159.67686317033716
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 177.94339863785623
},
"useDefaultConstraints": true
}
src/main/java/frc4388/robot/RobotContainer.java
+9 -3
View File
@@ -158,9 +158,9 @@ public class RobotContainer {
//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(5),
new WaitCommand(4),
IntakeRetracted,
new WaitCommand(10),
new WaitCommand(7),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -375,7 +375,13 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.LabubuGrowl);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
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 = 216;
public static final String GIT_SHA = "8fb8d8d43669f24867bc94d6e4175a7325ec72c8";
public static final String GIT_DATE = "2026-04-04 13:03:52 MDT";
public static final int GIT_REVISION = 218;
public static final String GIT_SHA = "74009b86bbde67d814d16020ce4cec00b8267411";
public static final String GIT_DATE = "2026-04-04 16:17:27 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-04-04 15:23:52 MDT";
public static final long BUILD_UNIX_TIME = 1775337832371L;
public static final String BUILD_DATE = "2026-04-04 19:50:19 MDT";
public static final long BUILD_UNIX_TIME = 1775353819651L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+12 -7
View File
@@ -42,7 +42,8 @@ public class Intake extends SubsystemBase {
Idle,
RectractTorque,
Bouncing,
ExpelBalls
ExpelBalls,
LabubuGrowl
}
private boolean overCompressed = false;
@@ -101,20 +102,20 @@ public class Intake extends SubsystemBase {
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
// System.out.println(m_armLimitSwitch.get());
ChassisSpeeds chassisSpeeds = m_SwerveDrive.chassisSpeeds;
// ChassisSpeeds chassisSpeeds = m_SwerveDrive.chassisSpeeds;
double ChassisOverallSpeed = Math.hypot(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond);
// double ChassisOverallSpeed = Math.hypot(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond);
Logger.processInputs("Intake", state);
Logger.recordOutput("Intake/IntakeState", this.mode);
io.updateInputs(state);
overCompressed =
Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
// Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
// overCompressed =
// Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
// // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
Logger.recordOutput("overCompressed", overCompressed);
// Logger.recordOutput("overCompressed", overCompressed);
// getCurrentTime
@@ -196,6 +197,10 @@ public class Intake extends SubsystemBase {
io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
break;
case LabubuGrowl:
io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
break;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1
View File
@@ -63,6 +63,7 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
public static final ConfigurableDouble ROLLER_LABUBU_GROWL_PERCENT_OUTPUT = new ConfigurableDouble("Roller Labubu Growl Percent Output", .75);
public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20);
public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+9 -3
View File
@@ -7,6 +7,8 @@ import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkLimitSwitch;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.units.measure.Angle;
@@ -15,6 +17,8 @@ import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
RelativeEncoder arm_encoder;
SparkLimitSwitch reverse_limit;
TalonFX m_rollerMotor;
JankCoder m_encoder;
@@ -26,6 +30,8 @@ public class IntakeReal implements IntakeIO {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
arm_encoder = m_armMotor.getEncoder();
reverse_limit = m_armMotor.getReverseLimitSwitch();
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
@@ -96,8 +102,8 @@ public class IntakeReal implements IntakeIO {
m_encoder.update();
state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armAngle = Rotations.of(arm_encoder.getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(arm_encoder.getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge);
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
@@ -110,7 +116,7 @@ public class IntakeReal implements IntakeIO {
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
state.retractedLimitSwitch = reverse_limit.isPressed();
if(state.retractedLimitSwitch) {
m_encoder.resetRotations();