diff --git a/src/main/deploy/pathplanner/autos/Citris copy.auto b/src/main/deploy/pathplanner/autos/Citris copy.auto new file mode 100644 index 0000000..0d0f0f7 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Citris copy.auto @@ -0,0 +1,73 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "pouch to hub" + } + }, + { + "type": "path", + "data": { + "pathName": "Hub to pouch" + } + }, + { + "type": "named", + "data": { + "name": "Collect Intake" + } + }, + { + "type": "path", + "data": { + "pathName": "cubby to shot" + } + }, + { + "type": "named", + "data": { + "name": "AutonShoot" + } + }, + { + "type": "path", + "data": { + "pathName": "shot to mid" + } + }, + { + "type": "named", + "data": { + "name": "Collect Intake" + } + }, + { + "type": "path", + "data": { + "pathName": "run mid" + } + }, + { + "type": "path", + "data": { + "pathName": "mid to 2nd" + } + }, + { + "type": "named", + "data": { + "name": "AutonShoot" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Test Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HP Shoot.auto b/src/main/deploy/pathplanner/autos/HP Shoot.auto index 5ee2fa9..eeac342 100644 --- a/src/main/deploy/pathplanner/autos/HP Shoot.auto +++ b/src/main/deploy/pathplanner/autos/HP Shoot.auto @@ -35,6 +35,38 @@ "pathName": "HP to Shoot - HP SHOOT" } }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "AutonShoot" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Stow Intake" + } + } + ] + } + } + ] + } + }, { "type": "parallel", "data": { diff --git a/src/main/deploy/pathplanner/autos/Immediate HP Auto (Around Tower) - RIGHT.auto b/src/main/deploy/pathplanner/autos/Immediate HP Auto (Around Tower) - RIGHT.auto index 1b54b17..766de5e 100644 --- a/src/main/deploy/pathplanner/autos/Immediate HP Auto (Around Tower) - RIGHT.auto +++ b/src/main/deploy/pathplanner/autos/Immediate HP Auto (Around Tower) - RIGHT.auto @@ -22,12 +22,6 @@ "pathName": "HP to Right Tower - HP AUTO" } }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, { "type": "path", "data": { diff --git a/src/main/deploy/pathplanner/paths/Back To Shoot.path b/src/main/deploy/pathplanner/paths/Back To Shoot.path index c4d9d94..ee538f6 100644 --- a/src/main/deploy/pathplanner/paths/Back To Shoot.path +++ b/src/main/deploy/pathplanner/paths/Back To Shoot.path @@ -44,7 +44,12 @@ "linkedName": null } ], - "rotationTargets": [], + "rotationTargets": [ + { + "waypointRelativePos": 0.4430379746835446, + "rotationDegrees": 91.23093843575762 + } + ], "constraintZones": [], "pointTowardsZones": [], "eventMarkers": [], @@ -58,13 +63,21 @@ }, "goalEndState": { "velocity": 0, +<<<<<<< HEAD:src/main/deploy/pathplanner/paths/pouch to hub.path + "rotation": 90.65854317756363 +======= "rotation": -44.957281812565405 +>>>>>>> development:src/main/deploy/pathplanner/paths/Back To Shoot.path }, "reversed": false, "folder": "Depot AUTO", "idealStartingState": { "velocity": 0, +<<<<<<< HEAD:src/main/deploy/pathplanner/paths/pouch to hub.path + "rotation": 0.6902771978651236 +======= "rotation": -87.68518833808571 +>>>>>>> development:src/main/deploy/pathplanner/paths/Back To Shoot.path }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Back to HP Shot.path b/src/main/deploy/pathplanner/paths/Back to HP Shot.path index acd908c..df9fdeb 100644 --- a/src/main/deploy/pathplanner/paths/Back to HP Shot.path +++ b/src/main/deploy/pathplanner/paths/Back to HP Shot.path @@ -64,7 +64,11 @@ "folder": "HP AUTO", "idealStartingState": { "velocity": 0, +<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to pouch.path + "rotation": 90.70975035955198 +======= "rotation": 90.0 +>>>>>>> development:src/main/deploy/pathplanner/paths/Back to HP Shot.path }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/cubby to shot.path b/src/main/deploy/pathplanner/paths/cubby to shot.path new file mode 100644 index 0000000..b5c0188 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/cubby to shot.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.509, + "y": 7.082 + }, + "prevControl": null, + "nextControl": { + "x": 1.509, + "y": 7.082 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.0815977175463622, + "y": 4.9083594864479325 + }, + "prevControl": { + "x": 2.4734807417974314, + "y": 5.503537803138374 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -37.18470645323322 + }, + "reversed": false, + "folder": "Around the World", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/mid to 2nd.path b/src/main/deploy/pathplanner/paths/mid to 2nd.path new file mode 100644 index 0000000..7df721f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/mid to 2nd.path @@ -0,0 +1,59 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.675, + "y": 1.169 + }, + "prevControl": null, + "nextControl": { + "x": 8.675, + "y": 1.1690000000000005 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.5511126961483592, + "y": 2.721726105563481 + }, + "prevControl": { + "x": 3.6767760342368043, + "y": 2.838174037089873 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.6814345991561169, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 35.8376529542783 + }, + "reversed": false, + "folder": "Around the World", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/run mid.path b/src/main/deploy/pathplanner/paths/run mid.path new file mode 100644 index 0000000..28baa90 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/run mid.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.675, + "y": 7.329 + }, + "prevControl": null, + "nextControl": { + "x": 7.652137361528301, + "y": 6.898425905918782 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.675, + "y": 1.1690870185449365 + }, + "prevControl": { + "x": 7.685206203526455, + "y": 2.233796687236829 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.01645068964164 + }, + "reversed": false, + "folder": "Around the World", + "idealStartingState": { + "velocity": 0, + "rotation": -90.01791124422833 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/shot to mid.path b/src/main/deploy/pathplanner/paths/shot to mid.path new file mode 100644 index 0000000..0f596d9 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/shot to mid.path @@ -0,0 +1,63 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.082, + "y": 4.908 + }, + "prevControl": null, + "nextControl": { + "x": 3.7414693295364643, + "y": 6.150470756059642 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.674821683316775, + "y": 7.327888730382036 + }, + "prevControl": { + "x": 3.4568188302569487, + "y": 3.9250213979965998 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.07805907172995864, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 0.7130801687763653, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.0 + }, + "reversed": false, + "folder": "Around the World", + "idealStartingState": { + "velocity": 0, + "rotation": -42.357974387689254 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index deccbe3..326972e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -104,6 +104,10 @@ public RobotContainer() { .andThen(intake.stopRollerNoPID())); NamedCommands.registerCommand( "HP Reload", new WaitCommand(IntakePreferences.outpostReloadWait.getValue())); + NamedCommands.registerCommand( + "Mowing", + intake.collectNoPIDCommand()); // make a parameter that runs this action for a set amount of + // time when at mid-field autoChooser = AutoBuilder.buildAutoChooser("Auto Chooser"); SmartDashboard.putData("Auto Mode", autoChooser);