Paths

Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>

PathWeaver/Paths/BarrelStart

@@ -1,14 +1,14 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
 1.1943219738452617,-2.286,1.0,0.0,true,
 3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true,
-4.602336661727758,-2.9818287702119433,0.15462861560265395,-1.1071408877150035,true,
+4.961075049925916,-2.9447179024673065,0.15462861560265395,-1.1071408877150035,true,
-3.656009534239515,-3.810638149842169,-1.2555843586935511,0.21029491721960936,true,
+3.4147888938993747,-3.754971848225213,-0.8597351027507569,0.8226242350061197,true,
-3.3714928815306315,-2.5241280680280873,1.2184734909489143,0.8226242350061197,true,
+3.3405671584101007,-2.4251657540423888,1.2184734909489143,0.8226242350061197,true,
 6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true,
-7.144431102235392,-1.4231723249371897,0.08040688011338037,0.6679956194034656,true,
+7.286689428589834,-1.287099143206854,-0.3216275204535206,1.7070999162533012,true,
-6.17954854087483,-0.6376589576757069,-0.7793282226373774,-0.17318404947497257,true,
+6.154807962378405,-0.6933252592926624,-0.7793282226373774,-0.17318404947497257,true,
-5.295072859627648,-1.6829483991496488,0.42058983443921694,-0.9030311151194992,true,
+5.523923210719577,-1.4602831926818267,0.42058983443921694,-0.9030311151194992,true,
-6.575397796817625,-3.4766403401404364,1.7689513624943638,-0.7174767763963148,true,
+6.612508664562261,-3.303456290665464,1.7689513624943638,-0.7174767763963148,true,
-8.22683141145397,-3.557047220253817,0.6061441731624058,0.4824412806802809,true,
+8.239201700702182,-3.4766403401404364,0.9648825613605609,0.8968459704953937,true,
-8.301053146943245,-2.2396114153192035,-0.5999590285382981,0.3587383881981576,true,
+8.381460027056624,-2.2334262706950976,-0.5442927269213422,0.2474057849642466,true,
-5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true,
+5.598144946208851,-2.12,-5.115114604135798,0.06803659086516767,true,

PathWeaver/Paths/Bounce1

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+1.2190625523416865,-2.295277716936159,2.158615473813051,-0.2968869419570952,true,
+2.295277716936159,-0.6685846807962377,-0.061851446241061314,0.5442927269213425,true,

PathWeaver/Paths/Bounce2

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+2.295,-0.7613618501578302,-0.2474057849642466,-2.133874895316627,true,
+3.804453005218064,-3.7920827159698507,1.6328781807640258,0.25359092958835294,true,
+4.521929781614379,-2.9447179024673065,-0.04948115699285083,0.7422173548927398,true,
+4.521929781614379,-0.68095497004445,-0.04329601236874314,0.377293822070476,true,

PathWeaver/Paths/Bounce3

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+4.589966372479545,-0.68095497004445,0.03711086774463812,-0.8349945242543321,true,
+5.622885524705275,-3.68075011273594,2.770944791599561,0.15462861560265395,true,
+6.692915544675642,-2.882866456226244,0.12988803710623031,0.9339568382400305,true,
+6.8537293049024015,-0.6933252592926624,-0.06803659086516767,0.5937738839141918,true,

PathWeaver/Paths/Bounce4

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+6.884655028022934,-0.8912498872640597,0.2721463634606698,-2.752389357727243,true,
+8.344349159311989,-2.369499452425433,0.7236619210204207,-0.18555433872318483,true,

PathWeaver/Paths/Galactic Search ABLUE

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.0,0.0,10.0,0.0,true,
+10.0,-10.0,0.0,-10.0,true,

src/main/java/frc4388/robot/RobotContainer.java

@@ -182,7 +182,7 @@ public class RobotContainer {
         // runs the storage not
         m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
         //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
-        //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
+        m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
     }
 
     /**
@@ -329,7 +329,10 @@ public class RobotContainer {
         m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
 
         String[] bounce = new String[]{
-            "Bounce"
+            "Bounce1",
+            "Bounce2",
+            "Bounce3",
+            "Bounce4"
         };
 
         m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce));
@@ -401,14 +404,7 @@ public class RobotContainer {
             //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 new SequentialCommandGroup(m_driveOffLineForward, 
+            return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
-            //                                  new InstantCommand(() -> resetOdometry(new Pose2d())), 
-            //                                  new TankDriveVelocity(m_robotDrive, 1000, 1000, 1));
-
-            //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
-            return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(1, 1));
-            //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1));
-            //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
 
         } catch (Exception e) {
             System.err.println("ERROR");

src/main/java/frc4388/robot/commands/auto/BarrelStart.java

@@ -10,6 +10,7 @@ package frc4388.robot.commands.auto;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.RobotContainer;
 import frc4388.robot.subsystems.Drive;
 
@@ -25,7 +26,9 @@ public class BarrelStart extends SequentialCommandGroup {
     // super(new FooCommand(), new BarCommand());
     addCommands(
       paths[0],
-      new InstantCommand(() -> drive.tankDriveVelocity(1, 1))
+      new Wait(drive, 0.01, 1),
+      new TankDriveVelocity(drive, 3, 3, 1)
+      //new InstantCommand(() -> drive.tankDriveVelocity(7, 7)).withTimeout(7) //my life be like oooooo aaaaaa ooooo aaaa
     );
     
   }

src/main/java/frc4388/robot/commands/auto/Bounce.java

@@ -29,7 +29,15 @@ public class Bounce extends SequentialCommandGroup {
       paths[0],
       new InstantCommand(() -> drive.switchReversed(true)),
       new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
-      paths[1]
+      paths[1],
+      new InstantCommand(() -> drive.switchReversed(false)),
+      new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
+      paths[2],
+      new InstantCommand(() -> drive.switchReversed(true)),
+      new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
+      paths[3],
+      new InstantCommand(() -> drive.switchReversed(false)),
+      new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d()))
     );
   }
 }