From cbe1d095bc7caa423301ed8a26b6fb4e97beb264 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 1 Mar 2021 17:51:57 -0700 Subject: [PATCH] Added BarrelStart boilerplate (NOT WORKING) Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/BarrelStart | 14 ++++++++++ PathWeaver/Paths/Unnamed.path | 3 -- PathWeaver/pathweaver.json | 4 +-- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 1 + .../paths/DriveOffLineBackward.wpilib.json | 2 +- .../paths/DriveOffLineForward.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- .../paths/SequentialTesting0.wpilib.json | 1 + src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- .../java/frc4388/robot/RobotContainer.java | 12 +++++++- .../robot/commands/auto/BarrelStart.java | 28 +++++++++++++++++++ 21 files changed, 71 insertions(+), 20 deletions(-) create mode 100644 PathWeaver/Paths/BarrelStart delete mode 100644 PathWeaver/Paths/Unnamed.path create mode 100644 src/main/deploy/paths/BarrelStart.wpilib.json create mode 100644 src/main/deploy/paths/SequentialTesting0.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/BarrelStart.java diff --git a/PathWeaver/Paths/BarrelStart b/PathWeaver/Paths/BarrelStart new file mode 100644 index 0000000..85dd553 --- /dev/null +++ b/PathWeaver/Paths/BarrelStart @@ -0,0 +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, +4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true, +3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true, +3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true, +6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, +6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true, +6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true, +5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true, +6.760952135540809,-3.3405671584101007,1.7689513624943638,-0.7174767763963148,true, +8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true, +8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true, +5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true, diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path deleted file mode 100644 index bf73a40..0000000 --- a/PathWeaver/Paths/Unnamed.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.3489505894479157,-2.3385737293049025,3.048,0.0,true, -3.934341042324292,-2.456091477162919,1.0100439348064159,0.07854151903626949,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index a61f1e9..8ec74da 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -1,8 +1,8 @@ { "lengthUnit": "Meter", "exportUnit": "Always Meters", - "maxVelocity": 2.3, - "maxAcceleration": 2.7, + "maxVelocity": 2.4, + "maxAcceleration": 2.6, "wheelBase": 0.648, "gameName": "Barrel Racing Path", "outputDir": ".." diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 3affd5e..31f8790 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +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 4995c77..6a14690 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -46,6 +46,7 @@ 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.BarrelStart; import frc4388.robot.commands.auto.Wait; import frc4388.robot.commands.climber.DisengageRachet; import frc4388.robot.commands.climber.RunClimberWithTriggers; @@ -131,6 +132,8 @@ public class RobotContainer { Barrel m_barrel; + BarrelStart m_barrelStart; + BarrelMany m_barrelMany; SequentialTesting m_sequentialTesting; @@ -317,6 +320,12 @@ public class RobotContainer { }; m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); + + String[] barrelStart = new String[]{ + "BarrelStart" + }; + + m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); String[] barrelMany = new String[]{ "BarrelManyWaypoints" @@ -384,7 +393,8 @@ 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 m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sequentialTesting.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java new file mode 100644 index 0000000..cc5c948 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -0,0 +1,28 @@ +/*----------------------------------------------------------------------------*/ +/* 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 BarrelStart extends SequentialCommandGroup { + /** + * Creates a new BarrelStart. + */ + public BarrelStart(Drive drive, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + addCommands( + paths[0] + ); + } +}