Finished all auto-related code

Prospect-Robotics · Mar 15, 2024 · 6b99c52 · 6b99c52
1 parent 5230437
commit 6b99c52
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Showing 23 changed files with 244 additions and 138 deletions.
diff --git a/Robot2024/.pathplanner/settings.json b/Robot2024/.pathplanner/settings.json
@@ -11,7 +11,7 @@
     "B3 Stuff"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 1.0,
+  "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,

diff --git a/Robot2024/src/main/deploy/pathplanner/autos/Command Test.auto b/Robot2024/src/main/deploy/pathplanner/autos/Command Test.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3464015540130732,
+      "y": 5.52155524239874
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot-side"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/Robot2024/src/main/deploy/pathplanner/autos/Rotation Test.auto b/Robot2024/src/main/deploy/pathplanner/autos/Rotation Test.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/Robot2024/src/main/deploy/pathplanner/autos/Translation Test.auto b/Robot2024/src/main/deploy/pathplanner/autos/Translation Test.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 1.34,
+      "y": 5.52155524239874
+    },
+    "rotation": 0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/B1 Score Intake.path b/Robot2024/src/main/deploy/pathplanner/paths/B1 Score Intake.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3883881694216544,
-        "y": 7.177047995851627
+        "x": 2.3104826280826942,
+        "y": 7.595790280548532
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 6.7972584818242
       },
       "prevControl": {
-        "x": 2.6513193714406413,
-        "y": 7.001760527838968
+        "x": 2.5149846740974624,
+        "y": 7.6055284732159025
       },
       "nextControl": {
-        "x": 3.5277461266883083,
-        "y": 6.367106670590658
+        "x": 3.2710988604838738,
+        "y": 6.146052252981667
       },
       "isLocked": false,
       "linkedName": null
@@ -44,37 +44,55 @@
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.45,
+      "rotationDegrees": -42.51088582857621,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.25,
+      "maxWaypointRelativePos": 1.4,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [
     {
-      "name": "start intake",
-      "waypointRelativePos": 0.15,
+      "name": "stop intake",
+      "waypointRelativePos": 1.35,
       "command": {
         "type": "parallel",
         "data": {
           "commands": [
             {
               "type": "named",
               "data": {
-                "name": "start-intake"
+                "name": "stop-intake"
               }
             }
           ]
         }
       }
     },
     {
-      "name": "New Event Marker",
-      "waypointRelativePos": 1.5,
+      "name": "start intake",
+      "waypointRelativePos": 0.15,
       "command": {
         "type": "parallel",
         "data": {
           "commands": [
             {
               "type": "named",
               "data": {
-                "name": "stop-intake"
+                "name": "start-intake"
               }
             }
           ]
@@ -83,7 +101,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/B1-Leave.path b/Robot2024/src/main/deploy/pathplanner/paths/B1-Leave.path
@@ -67,7 +67,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/B2 Score Intake.path b/Robot2024/src/main/deploy/pathplanner/paths/B2 Score Intake.path
@@ -53,7 +53,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/B3-Leave.path b/Robot2024/src/main/deploy/pathplanner/paths/B3-Leave.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/Rotation Test.path b/Robot2024/src/main/deploy/pathplanner/paths/Rotation Test.path
@@ -32,15 +32,15 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0.0,
     "rotation": 180.0,
-    "rotateFast": false
+    "rotateFast": true
   },
   "reversed": false,
   "folder": null,

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/Translation Test.path b/Robot2024/src/main/deploy/pathplanner/paths/Translation Test.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/finalstretch B2 Score Intake.path b/Robot2024/src/main/deploy/pathplanner/paths/finalstretch B2 Score Intake.path
@@ -43,7 +43,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/outforfront B2 Score Intake.path b/Robot2024/src/main/deploy/pathplanner/paths/outforfront B2 Score Intake.path
@@ -53,7 +53,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/deploy/pathplanner/paths/runback B2 Score Intake.path b/Robot2024/src/main/deploy/pathplanner/paths/runback B2 Score Intake.path
@@ -53,7 +53,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/Robot2024/src/main/java/com/team2813/AutoCommands.java b/Robot2024/src/main/java/com/team2813/AutoCommands.java
@@ -77,7 +77,7 @@ public Command stopIntake() {
 
 	private Command createShootFront() {
 		// TODO: get correct angle and speed
-		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.SUBWOOFER_FRONT, 26.5);
+		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.SUBWOOFER_FRONT, 75);
 	}
 
 	public Command shootFront() {
@@ -95,7 +95,7 @@ public Command shootFront() {
 
 	private Command createShootSide() {
 		// TODO: get correct angle and speed
-		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.SUBWOOFER_SIDE, 25);
+		return new ShootFromPosCommand(magazine, shooter, shooterPivot, Position.SUBWOOFER_SIDE, 80);
 	}
 
 	public Command shootSide() {
@@ -131,7 +131,7 @@ public Command shootAuto() {
 
 	private Command createShootAmp() {
 		return new SequentialCommandGroup(
-			new InstantCommand(() -> shooter.run(10), shooter),
+			new InstantCommand(() -> shooter.run(22.5), shooter),
 			new WaitCommand(0.2),
 			new InstantCommand(magazine::runMagKicker, magazine),
 			new WaitCommand(1),

diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java
@@ -35,8 +35,8 @@ public static class OperatorConstants {
 		// public static final Trigger spoolAutoAimButton = operatorController.options();
 		public static final Trigger spoolPodiumButton = operatorController.cross(); // actually maps to circle
 		public static final Trigger climbButton = operatorController.share();
-		public static final Trigger climbManualUpButton = operatorController.povUp();
-		public static final Trigger climbDownUpButton = operatorController.povDown();
+		public static final Trigger climbUpButton = operatorController.povUp();
+		public static final Trigger climbDownButton = operatorController.povDown();
 		public static final Trigger altOuttakeButton = new Trigger(() -> operatorXboxController.getLeftTriggerAxis() >= 0.5).and(() -> false);
 
 	}