From 709630533a3883821cc791123c2f2a0384f4289c Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 25 Feb 2021 17:15:10 -0700 Subject: [PATCH] Added bounce path Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/Bounce | 11 ++++++++ PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 13 ++++++++- .../frc4388/robot/commands/auto/Bounce.java | 27 +++++++++++++++++++ 5 files changed, 52 insertions(+), 2 deletions(-) create mode 100644 PathWeaver/Paths/Bounce create mode 100644 src/main/deploy/paths/Bounce.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/Bounce.java diff --git a/PathWeaver/Paths/Bounce b/PathWeaver/Paths/Bounce new file mode 100644 index 0000000..b5dbf5f --- /dev/null +++ b/PathWeaver/Paths/Bounce @@ -0,0 +1,11 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.2685437093345355,-2.2829074276879466,3.048,0.0,true, +2.258166849191522,-0.6129183791792823,0.11133260323391081,-0.38347896669458226,true, +2.9818287702119433,-3.1735682535592344,0.5566630161695545,-1.4473238420408423,true, +4.385856599884042,-3.3405671584101007,0.6556253301552539,1.3731021065515683,true, +4.596151517103652,-0.8726944533917412,0.20415183442002244,0.00717066557576255,false, +4.998185917670552,-3.3158265799136757,0.8164390903820147,-1.4163981189203128,true, +6.408398891966757,-3.4766403401404364,0.9958082844810932,0.8288093796302256,true, +6.87228473877472,-0.829398441022998,0.12370289248212352,-0.40821954519100667,true, +7.311430007086258,-1.8561324486246213,0.4858385107411982,-0.5239684308130039,false, +8.3567194485602,-2.375684597049539,0.6246996070347217,-0.25359092958835294,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index e6a5738..1e8293c 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 2.3, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Slalom Path", + "gameName": "Bounce Path", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce.wpilib.json b/src/main/deploy/paths/Bounce.wpilib.json new file mode 100644 index 0000000..ac0e8c9 --- /dev/null +++ b/src/main/deploy/paths/Bounce.wpilib.json @@ -0,0 +1 @@ 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\ 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 f7cfa58..271dc61 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -45,6 +45,7 @@ import frc4388.robot.commands.InterruptSubystem; import frc4388.robot.commands.auto.AutoPath1FromCenter; import frc4388.robot.commands.auto.Barrel; import frc4388.robot.commands.auto.BarrelMany; +import frc4388.robot.commands.auto.Bounce; import frc4388.robot.commands.auto.Wait; import frc4388.robot.commands.climber.DisengageRachet; import frc4388.robot.commands.climber.RunClimberWithTriggers; @@ -132,6 +133,8 @@ public class RobotContainer { BarrelMany m_barrelMany; + Bounce m_bounce; + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -311,6 +314,12 @@ public class RobotContainer { }; m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); + + String[] bounce = new String[]{ + "Bounce" + }; + + m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); String[] barrelMany = new String[]{ "BarrelManyWaypoints" @@ -371,9 +380,11 @@ public class RobotContainer { //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0,0)); + } catch (Exception e) { System.err.println("ERROR"); } diff --git a/src/main/java/frc4388/robot/commands/auto/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java new file mode 100644 index 0000000..905e3fc --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -0,0 +1,27 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.commands.auto; + +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.subsystems.Drive; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class Bounce extends SequentialCommandGroup { + /** + * Creates a new Bounce. + */ + public Bounce(Drive drive, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + addCommands(paths[0] + ); + } +}