Day 1 Auto tuning

* Translation Tuning * modify paths to work properly
Prospect-Robotics · Nov 8, 2024 · 24442b0 · 24442b0
1 parent a86ffbe
commit 24442b0
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Showing 12 changed files with 38 additions and 38 deletions.
diff --git a/SharpShooter/.pathplanner/settings.json b/SharpShooter/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.83,
+  "robotLength": 0.91,
   "holonomicMode": true,
   "pathFolders": [
     "Test Translation"

diff --git a/SharpShooter/src/main/deploy/pathplanner/autos/SA-P-1C.auto b/SharpShooter/src/main/deploy/pathplanner/autos/SA-P-1C.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.7230373512225978,
-      "y": 6.665838871353511
+      "x": 1.4452293886100858,
+      "y": 7.292473692598125
     },
-    "rotation": 60.0
+    "rotation": 90.0
   },
   "command": {
     "type": "sequential",
@@ -23,6 +23,12 @@
             "name": "Amp"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Amp"
+          }
+        },
         {
           "type": "path",
           "data": {

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/Amp-Top Center.path b/SharpShooter/src/main/deploy/pathplanner/paths/Amp-Top Center.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.8081907114518456,
-        "y": 7.597472135965399
+        "x": 1.8082733044021266,
+        "y": 7.70528086633534
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.540989169435677,
-        "y": 7.564517736401799
+        "x": 4.5410717623859576,
+        "y": 7.6723264667717395
       },
       "isLocked": false,
       "linkedName": "amp"

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/Rotation.path b/SharpShooter/src/main/deploy/pathplanner/paths/Rotation.path
@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/SA-Amp.path b/SharpShooter/src/main/deploy/pathplanner/paths/SA-Amp.path
@@ -3,42 +3,36 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.7230373512225978,
-        "y": 6.665838871353511
+        "x": 1.4452293886100858,
+        "y": 7.292473692598125
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6101023392319824,
-        "y": 7.087687227848859
+        "x": 1.588675471150715,
+        "y": 7.48211801386629
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8081907114518456,
-        "y": 7.597472135965399
+        "x": 1.8082733044021266,
+        "y": 7.70528086633534
       },
       "prevControl": {
-        "x": 1.5329064813059206,
-        "y": 7.196627584276295
+        "x": 1.7035646471748007,
+        "y": 7.597815750950046
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "amp"
     }
   ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.1,
-      "rotationDegrees": 60.0,
-      "rotateFast": true
-    }
-  ],
+  "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
@@ -51,7 +45,7 @@
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 60.0,
+    "rotation": 90.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/SSO-leave.path b/SharpShooter/src/main/deploy/pathplanner/paths/SSO-leave.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/TT-1.path b/SharpShooter/src/main/deploy/pathplanner/paths/TT-1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/TT-2.path b/SharpShooter/src/main/deploy/pathplanner/paths/TT-2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/TT-3.path b/SharpShooter/src/main/deploy/pathplanner/paths/TT-3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/deploy/pathplanner/paths/Test Translation - Full.path b/SharpShooter/src/main/deploy/pathplanner/paths/Test Translation - Full.path
@@ -64,7 +64,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/SharpShooter/src/main/java/com/team2813/RobotContainer.java b/SharpShooter/src/main/java/com/team2813/RobotContainer.java
@@ -28,7 +28,7 @@ public class RobotContainer {
     private final Intake intake = new Intake();
     private final Elevator elevator = new Elevator();
     private final Drive drive = new Drive();
-    SendableChooser<Command> autoChooser = AutoBuilder.buildAutoChooser();
+    private final SendableChooser<Command> autoChooser;
 
     public RobotContainer() {
         elevator.setDefaultCommand(
@@ -49,24 +49,25 @@ public RobotContainer() {
                                         -modifyAxis(DRIVER_CONTROLLER.getRightX())
                                                 * Drive.MAX_ROTATION)));
 
-        SmartDashboard.putData(autoChooser);
-
         NamedCommands.registerCommand(
                 "Amp",
                 new SequentialCommandGroup(
                         new ParallelRaceGroup(
-                                new WaitCommand(0.5),
+                                new WaitCommand(1),
                                 new LockFunctionCommand(elevator::atPosition, () -> elevator.setSetpoint(Elevator.Position.TOP), elevator)
                         ),
                         new InstantCommand(amp::shootAmp, amp),
-                        new WaitCommand(0.5),
+                        new WaitCommand(0.75),
                         new ParallelCommandGroup(
                                 new InstantCommand(amp::stop, amp),
                                 new InstantCommand(() -> elevator.setSetpoint(Elevator.Position.BOTTOM), elevator)
                         )
                 )
         );
 
+        autoChooser = AutoBuilder.buildAutoChooser();
+        SmartDashboard.putData(autoChooser);
+
         configureBindings();
     }
 

diff --git a/SharpShooter/src/main/java/com/team2813/subsystems/Drive.java b/SharpShooter/src/main/java/com/team2813/subsystems/Drive.java
@@ -177,7 +177,6 @@ public void drive(ChassisSpeeds demand) {
     drivetrain.setControl(chassisSpeedsRequest.withSpeeds(demand));
   }
   public void drive(double x, double y, double rotation) {
-    DriverStation.reportWarning(String.format("x: %f, y: %f, Ø: %f", x, y, rotation), false);
     drivetrain.setControl(
         xyrRequest
             .withVelocityX(x * multiplier)