Sequential Test

wanted to see if they work in auto revert

PathWeaver/Groups/SequentialTest

@@ -0,0 +1,2 @@
+Seq1
+Seq2

PathWeaver/Paths/BarrelStart

@@ -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,

PathWeaver/Paths/Seq1

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+1.6396523867809052,-2.313833150808477,0.6989213425239973,-0.0061851446241063535,true,
+3.1117168073181727,-2.3200182954325834,0.6494401855311471,0.0,true,

PathWeaver/Paths/Seq2

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+2.957088191715518,-2.3571291631772207,3.048,0.0,true,
+4.6270772402241835,-2.3571291631772207,0.6822312697287889,-0.01423565032532359,true,

PathWeaver/pathweaver.json

@@ -1,9 +1,9 @@
 {
   "lengthUnit": "Meter",
   "exportUnit": "Always Meters",
-  "maxVelocity": 2.6,
-  "maxAcceleration": 2.6,
+  "maxVelocity": 2.3,
+  "maxAcceleration": 2.7,
   "wheelBase": 0.648,
-  "gameName": "Bounce Path",
+  "gameName": "Barrel Racing Path",
   "outputDir": ".."
 }

src/main/deploy/paths/DriveOffLineBackward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3100868364730211,"velocity":0.806225774829855,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43852900965351455,"velocity":1.140175425099138,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.566971182834008,"velocity":0.806225774829855,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8770580193070292,"velocity":0.0,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/deploy/paths/DriveOffLineForward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3100868364730211,"velocity":0.806225774829855,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43852900965351455,"velocity":1.140175425099138,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.566971182834008,"velocity":0.806225774829855,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8770580193070292,"velocity":0.0,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/deploy/paths/Seq1.wpilib.json

@@ -0,0 +1 @@
+[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.6396523867809052,"y":-2.313833150808477},"rotation":{"radians":-0.008849326516257987}},"curvature":0.0},{"time":0.2722820970374773,"velocity":0.7351616620011887,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.739734776700425,"y":-2.3146446112802495},"rotation":{"radians":-0.007149647015655322}},"curvature":0.01725893438810635},{"time":0.35451476526736425,"velocity":0.9571898662218835,"acceleration":2.7,"pose":{"translation":{"x":1.8093165329850407,"y":-2.31510673816049},"rotation":{"radians":-0.006214537421300872}},"curvature":0.010262108695263363},{"time":0.4360203613484434,"velocity":1.1772549756407973,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.8962996475995293,"y":-2.315615003996086},"rotation":{"radians":-0.005532904856197329}},"curvature":0.005996263181397757},{"time":0.5169500582728787,"velocity":1.3957651573367724,"acceleration":2.7000000000000015,"pose":{"translation":{"x":2.000415072981678,"y":-2.3161634275928744},"rotation":{"radians":-0.005039840497117272}},"curvature":0.0037792530506272166},{"time":0.5960164852085316,"velocity":1.6092445100630355,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.1192113689257215,"y":-2.316738666286958},"rotation":{"radians":-0.0046665773718276736}},"curvature":0.0026525886672486274},{"time":0.634352557101396,"velocity":1.7127519041737693,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.18288684602207,"y":-2.317030681391432},"rotation":{"radians":-0.004508805721396696}},"curvature":0.0023250237048777172},{"time":0.6716263517870102,"velocity":1.8133911498249278,"acceleration":2.700000000000002,"pose":{"translation":{"x":2.248602565810843,"y":-2.317322139445587},"rotation":{"radians":-0.004363819082991022}},"curvature":0.0021040995089735234},{"time":0.7076518105628782,"velocity":1.9106598885197714,"acceleration":2.08330049831677,"pose":{"translation":{"x":2.315682270679263,"y":-2.31761024782456},"rotation":{"radians":-0.004227674108169131}},"curvature":0.0019683194092841986},{"time":0.7424426834355309,"velocity":1.983139731312244,"acceleration":-2.699999999999999,"pose":{"translation":{"x":2.3834160278296714,"y":-2.317892151968046},"rotation":{"radians":-0.0040968776842529794}},"curvature":0.0019052546752226036},{"time":0.7773927718968935,"velocity":1.888774492466565,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":2.4510773500054253,"y":-2.318165001739701},"rotation":{"radians":-0.0039681904771730085}},"curvature":0.001909770538576822},{"time":0.8137373594388484,"velocity":1.7906441061032867,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.517940316216782,"y":-2.318426017786541},"rotation":{"radians":-0.0038384445909229676}},"curvature":0.0019833496346190354},{"time":0.851300180838236,"velocity":1.6892244883249403,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":2.583296692466793,"y":-2.3186725578983505},"rotation":{"radians":-0.003704364009272917}},"curvature":0.002134423240000436},{"time":0.8898901860409195,"velocity":1.585031474277695,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.6464730524771953,"y":-2.318902183367081},"rotation":{"radians":-0.003562375965213496}},"curvature":0.002379784285935144},{"time":0.9693308968593537,"velocity":1.3705415550679225,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.7638687816148764,"y":-2.319302351210369},"rotation":{"radians":-0.003237626203522703}},"curvature":0.0032804752312573255},{"time":1.0503847372304065,"velocity":1.1516961860660802,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.8660868353612363,"y":-2.3196136033526837},"rotation":{"radians":-0.0028212080559704344}},"curvature":0.005135608410691401},{"time":1.1316234025131842,"velocity":0.9323517898025805,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.950739195403628,"y":-2.3198305248667666},"rotation":{"radians":-0.002252114531954038}},"curvature":0.008854161979101095},{"time":1.2129544945128348,"velocity":0.7127578414035238,"acceleration":-2.7,"pose":{"translation":{"x":3.0176383566138476,"y":-2.319957327362707},"rotation":{"radians":-0.001466708977573865}},"curvature":0.015315329026373479},{"time":1.4769388802178436,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.111716807318168,"y":-2.320018295432578},"rotation":{"radians":2.803592695601656E-14}},"curvature":1.0107951236368945E-13}]

src/main/deploy/paths/Seq2.wpilib.json

@@ -0,0 +1 @@
+[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999997,"pose":{"translation":{"x":2.957088191715518,"y":-2.3571291631772207},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.26544461524158175,"velocity":0.7167004611522707,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.0522103307783257,"y":-2.3571275191873893},"rotation":{"radians":5.101157578230443E-5}},"curvature":0.001038792914185728},{"time":0.3746678834467968,"velocity":1.0116032853063515,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.146595821982689,"y":-2.357116740977926},"rotation":{"radians":1.9099520049927404E-4}},"curvature":0.0019054639517066963},{"time":0.4574501551922932,"velocity":1.2351154190191918,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2395900571900658,"y":-2.357089632328051},"rotation":{"radians":4.035864972296716E-4}},"curvature":0.002652082514494386},{"time":0.5260164380469629,"velocity":1.4202443827267999,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.3306241198087982,"y":-2.357040972350315},"rotation":{"radians":6.754485548111559E-4}},"curvature":0.0033104753166963616},{"time":0.5850751482498664,"velocity":1.5797029002746394,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.419210597831801,"y":-2.3569673627586405},"rotation":{"radians":9.950959992412528E-4}},"curvature":0.0038981243771801294},{"time":0.6370367231616594,"velocity":1.7199991525364804,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.5049393968742493,"y":-2.356867075136363},"rotation":{"radians":0.0013520244174984744}},"curvature":0.0044210302444997965},{"time":0.6833390603048902,"velocity":1.8450154628232036,"acceleration":2.7,"pose":{"translation":{"x":3.587473553211266,"y":-2.3567398982042733},"rotation":{"radians":0.0017360184754233884}},"curvature":0.004874609692377478},{"time":0.7249302432685079,"velocity":1.957311656824971,"acceleration":2.6999999999999926,"pose":{"translation":{"x":3.6665450468156116,"y":-2.3565869850886587},"rotation":{"radians":0.002136559645089136}},"curvature":0.005243133825564394},{"time":0.7624827776596516,"velocity":2.0587034996810587,"acceleration":1.0819585313430768,"pose":{"translation":{"x":3.7419506143953716,"y":-2.3564107005893433},"rotation":{"radians":0.0025422828689825997}},"curvature":0.0054979122679133},{"time":0.7969484484947217,"velocity":2.095993926279525,"acceleration":-2.699999999999992,"pose":{"translation":{"x":3.813547562431645,"y":-2.3562144684477317},"rotation":{"radians":0.0029404502277413256}},"curvature":0.005594270462982216},{"time":0.8299507902622387,"velocity":2.0068876035072294,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.881249580216232,"y":-2.3560026186148484},"rotation":{"radians":0.003316424361517827}},"curvature":0.005467307107409776},{"time":0.8624379985890592,"velocity":1.919172141024814,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.9450225528893235,"y":-2.3557802345193797},"rotation":{"radians":0.00365313891813889}},"curvature":0.005026461101145579},{"time":0.9256149162430781,"velocity":1.748594463358963,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.06088076092986,"y":-2.355327048251995},"rotation":{"radians":0.004125323787162938}},"curvature":0.0026737820186648843},{"time":0.9861184332845145,"velocity":1.5852349673470847,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.161734080074728,"y":-2.354904842813889},"rotation":{"radians":0.004154108750296397}},"curvature":-0.0029414739347258},{"time":1.0438566564483853,"velocity":1.4293417648046338,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.24876157183169,"y":-2.3545658321706227},"rotation":{"radians":0.0034781161359367808}},"curvature":-0.01397812424405661},{"time":1.099078553226315,"velocity":1.2802426435042238,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.323575482900814,"y":-2.35435962366233},"rotation":{"radians":0.0018016415428211323}},"curvature":-0.032741911322928474},{"time":1.2053412709015958,"velocity":0.9933333057809655,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.444373578973541,"y":-2.354501684748035},"rotation":{"radians":-0.005323585518118219}},"curvature":-0.0899279066882791},{"time":1.3201225946749353,"velocity":0.6834237315929491,"acceleration":-2.7,"pose":{"translation":{"x":4.5405986995686,"y":-2.3554900302219766},"rotation":{"radians":-0.015505320196648706}},"curvature":-0.10506063032999254},{"time":1.5732424952649164,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":4.627077240224189,"y":-2.3571291631772207},"rotation":{"radians":-0.02086328407244092}},"curvature":2.0691998138625314E-15}]

src/main/java/frc4388/robot/Robot.java

@@ -82,7 +82,6 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void autonomousInit() {
-    
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);

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

@@ -38,6 +38,7 @@ import frc4388.robot.commands.auto.DriveOffLineBackward;
 import frc4388.robot.commands.auto.DriveOffLineForward;
 import frc4388.robot.commands.auto.EightBallAutoMiddle;
 import frc4388.robot.commands.auto.FiveBallAutoMiddle;
+import frc4388.robot.commands.auto.SequentialTest;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
 import frc4388.robot.commands.auto.Slalom;
 import frc4388.robot.commands.auto.TenBallAutoMiddle;
@@ -135,6 +136,8 @@ public class RobotContainer {
 
     Bounce m_bounce;
 
+    SequentialTest m_sequentialTest;
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -356,6 +359,13 @@ public class RobotContainer {
         };
 
         m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
+    
+        String[] sequentialTestPaths = new String[]{
+            "Seq1",
+            "Seq2"
+        };
+
+        m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths));
     }
 
     /**
@@ -381,9 +391,10 @@ 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_barrelMany.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 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/SequentialTest.java

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* 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.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.RobotContainer;
+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 SequentialTest extends SequentialCommandGroup {
+  /**
+   * Creates a new SequentialTest.
+   */
+  public SequentialTest(RobotContainer m_robotContainer, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      paths[0],
+      new InstantCommand(() -> m_robotContainer.resetOdometry(new Pose2d())),
+      paths[1]
+    );
+  }
+}