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+1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B1-5 R3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B 2-4 R3.auto b/src/main/deploy/pathplanner/autos/B 2-4 R3.auto new file mode 100644 index 0000000..2ac1c91 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B 2-4 R3.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-4 R3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B 4-6 B2.auto b/src/main/deploy/pathplanner/autos/B 4-6 B2.auto new file mode 100644 index 0000000..55d58ed --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B 4-6 B2.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B4-6 B2.0" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B1-5 B1.auto b/src/main/deploy/pathplanner/autos/B1-5 B1.auto new file mode 100644 index 0000000..990a78b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B1-5 B1.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B1-5 B1 " + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B1-5 M.auto b/src/main/deploy/pathplanner/autos/B1-5 M.auto new file mode 100644 index 0000000..c5dfebd --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B1-5 M.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B1-5 M" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B1-5 R1.auto b/src/main/deploy/pathplanner/autos/B1-5 R1.auto new file mode 100644 index 0000000..c82554b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B1-5 R1.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B1-5 R1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B1-5 R2.auto b/src/main/deploy/pathplanner/autos/B1-5 R2.auto new file mode 100644 index 0000000..dc9dfff --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B1-5 R2.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B1-5 R2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B2-4 R1.auto b/src/main/deploy/pathplanner/autos/B2-4 R1.auto new file mode 100644 index 0000000..527d75c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B2-4 R1.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-4 R1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B2-4 R2.auto b/src/main/deploy/pathplanner/autos/B2-4 R2.auto new file mode 100644 index 0000000..7279f58 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B2-4 R2.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-4 R2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B2-4 R3.auto b/src/main/deploy/pathplanner/autos/B2-4 R3.auto new file mode 100644 index 0000000..2ac1c91 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B2-4 R3.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-4 R3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B2-6 B2.auto b/src/main/deploy/pathplanner/autos/B2-6 B2.auto new file mode 100644 index 0000000..7e24593 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B2-6 B2.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-6 B2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B2-6 B3.auto b/src/main/deploy/pathplanner/autos/B2-6 B3.auto new file mode 100644 index 0000000..dbf16fd --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B2-6 B3.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B2-6 B3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B4-6 B1.auto b/src/main/deploy/pathplanner/autos/B4-6 B1.auto new file mode 100644 index 0000000..b348ab5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B4-6 B1.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B4-6 B1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B4-6 B2.auto b/src/main/deploy/pathplanner/autos/B4-6 B2.auto new file mode 100644 index 0000000..56a9406 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B4-6 B2.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B4-6 B2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B4-6 B3.auto b/src/main/deploy/pathplanner/autos/B4-6 B3.auto new file mode 100644 index 0000000..c47ea6b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B4-6 B3.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "B4-6 B3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/B4-6 M.auto b/src/main/deploy/pathplanner/autos/B4-6 M.auto new file mode 100644 index 0000000..e2fa04c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B4-6 M.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [] + } + }, + { + "type": "path", + "data": { + "pathName": "B4-6 M" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue.auto b/src/main/deploy/pathplanner/autos/Blue.auto new file mode 100644 index 0000000..e53eced --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Blue.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "GC1" + } + }, + { + "type": "path", + "data": { + "pathName": "PC1" + } + }, + { + "type": "path", + "data": { + "pathName": "GC2" + } + }, + { + "type": "path", + "data": { + "pathName": "PC2" + } + }, + { + "type": "path", + "data": { + "pathName": "GC3" + } + }, + { + "type": "path", + "data": { + "pathName": "PC3" + } + }, + { + "type": "path", + "data": { + "pathName": "GC4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Old", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Red.auto b/src/main/deploy/pathplanner/autos/Red.auto new file mode 100644 index 0000000..56b057d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Red.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RGC1" + } + }, + { + "type": "path", + "data": { + "pathName": "RPC1" + } + }, + { + "type": "path", + "data": { + "pathName": "RGC2" + } + }, + { + "type": "path", + "data": { + "pathName": "RPC2" + } + }, + { + "type": "path", + "data": { + "pathName": "RGC3" + } + }, + { + "type": "path", + "data": { + "pathName": "RPC3" + } + }, + { + "type": "path", + "data": { + "pathName": "RGC4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Old", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/5L to Station.path b/src/main/deploy/pathplanner/paths/5L to Station.path index 3eb4405..2f8ad86 100644 --- a/src/main/deploy/pathplanner/paths/5L to Station.path +++ b/src/main/deploy/pathplanner/paths/5L to Station.path @@ -45,7 +45,7 @@ "rotation": -53.7461622625553 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -62.67610869865344 diff --git a/src/main/deploy/pathplanner/paths/5R to Station.path b/src/main/deploy/pathplanner/paths/5R to Station.path index b6788df..b47f6c5 100644 --- a/src/main/deploy/pathplanner/paths/5R to Station.path +++ b/src/main/deploy/pathplanner/paths/5R to Station.path @@ -45,7 +45,7 @@ "rotation": -52.765166018425276 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -60.25511870305777 diff --git a/src/main/deploy/pathplanner/paths/6L to Station.path b/src/main/deploy/pathplanner/paths/6L to Station.path index 62e8d8c..8f6992e 100644 --- a/src/main/deploy/pathplanner/paths/6L to Station.path +++ b/src/main/deploy/pathplanner/paths/6L to Station.path @@ -45,7 +45,7 @@ "rotation": -52.765166018425276 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -119.5778386812613 diff --git a/src/main/deploy/pathplanner/paths/6R to Station.path b/src/main/deploy/pathplanner/paths/6R to Station.path index 0844c6f..d1a0cd7 100644 --- a/src/main/deploy/pathplanner/paths/6R to Station.path +++ b/src/main/deploy/pathplanner/paths/6R to Station.path @@ -45,7 +45,7 @@ "rotation": -52.765166018425276 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -116.56505117707792 diff --git a/src/main/deploy/pathplanner/paths/GC1.path b/src/main/deploy/pathplanner/paths/GC1.path new file mode 100644 index 0000000..68a343f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/GC1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.5855, + "y": 4.2395 + }, + "prevControl": null, + "nextControl": { + "x": 8.277899172991727, + "y": 3.933410166204901 + }, + "isLocked": false, + "linkedName": "L1E" + }, + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": { + "x": 4.718999999999999, + "y": 6.3845 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L2E" + } + ], + "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": 127.3493490446406 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 177.79740183773376 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/GC2.path b/src/main/deploy/pathplanner/paths/GC2.path new file mode 100644 index 0000000..06ed524 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/GC2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.512397540983606, + "y": 5.529456967213114 + }, + "prevControl": null, + "nextControl": { + "x": 3.7208035135685096, + "y": 5.667540096490156 + }, + "isLocked": false, + "linkedName": "L3E" + }, + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": { + "x": 1.9127581967213114, + "y": 4.844 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L2E" + } + ], + "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": 124.75591255354134 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": -59.03624346792652 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/GC3.path b/src/main/deploy/pathplanner/paths/GC3.path new file mode 100644 index 0000000..5c60c4f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/GC3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.8470000000000004, + "y": 4.0835 + }, + "prevControl": null, + "nextControl": { + "x": 2.90586736625052, + "y": 3.840529563134263 + }, + "isLocked": false, + "linkedName": "L4E" + }, + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": { + "x": 2.4546025437814256, + "y": 5.372673604887181 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L2E" + } + ], + "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": 121.26373169437746 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/GC4.path b/src/main/deploy/pathplanner/paths/GC4.path new file mode 100644 index 0000000..21afe9b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/GC4.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.452459016393442, + "y": 2.604456967213115 + }, + "prevControl": null, + "nextControl": { + "x": 5.04075, + "y": 0.85625 + }, + "isLocked": false, + "linkedName": "L5E" + }, + { + "anchor": { + "x": 7.5855, + "y": 4.2395 + }, + "prevControl": { + "x": 5.933594262295083, + "y": 3.0742151639344257 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L1E" + } + ], + "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": -1.0609116902642688 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 53.746162262555146 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/MIddle to 6L.path b/src/main/deploy/pathplanner/paths/MIddle to 6L.path index 307b8ff..b6a2daf 100644 --- a/src/main/deploy/pathplanner/paths/MIddle to 6L.path +++ b/src/main/deploy/pathplanner/paths/MIddle to 6L.path @@ -45,7 +45,7 @@ "rotation": -119.5778386812613 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -178.56790381583536 diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 0000000..cbb696d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.9, + "y": 2.3382499999999995 + }, + "prevControl": null, + "nextControl": { + "x": 4.501920280598162, + "y": 2.3363021596310274 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.99075, + "y": 2.3382499999999995 + }, + "prevControl": { + "x": 5.606175620173201, + "y": 2.520403387870001 + }, + "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": 25.0, + "rotation": 2.911 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 20.0, + "rotation": 90.02300000000001 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PC1.path b/src/main/deploy/pathplanner/paths/PC1.path new file mode 100644 index 0000000..594f707 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/PC1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": null, + "nextControl": { + "x": 2.1361567948137656, + "y": 4.999319456210944 + }, + "isLocked": false, + "linkedName": "L2E" + }, + { + "anchor": { + "x": 3.512397540983606, + "y": 5.529456967213114 + }, + "prevControl": { + "x": 2.8856934819969644, + "y": 6.26756397131288 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L3E" + } + ], + "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": -59.21585347367362 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 128.4678633120493 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PC2.path b/src/main/deploy/pathplanner/paths/PC2.path new file mode 100644 index 0000000..64ea1a3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/PC2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": null, + "nextControl": { + "x": 1.625105695372925, + "y": 6.877464653966835 + }, + "isLocked": false, + "linkedName": "L2E" + }, + { + "anchor": { + "x": 2.8470000000000004, + "y": 4.0835 + }, + "prevControl": { + "x": 2.82262801426063, + "y": 4.35762763826995 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L4E" + } + ], + "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": -1.1934894239820815 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 124.21570213243744 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PC3.path b/src/main/deploy/pathplanner/paths/PC3.path new file mode 100644 index 0000000..eb9b007 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/PC3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.43325, + "y": 7.03775 + }, + "prevControl": null, + "nextControl": { + "x": 2.113472317689834, + "y": 5.7668775072117535 + }, + "isLocked": false, + "linkedName": "L2E" + }, + { + "anchor": { + "x": 3.452459016393442, + "y": 2.604456967213115 + }, + "prevControl": { + "x": 3.2127049180327862, + "y": 1.4896004098360651 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "L5E" + } + ], + "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": 53.695502877424794 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 123.2317110679794 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RGC1.path b/src/main/deploy/pathplanner/paths/RGC1.path new file mode 100644 index 0000000..76866c0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RGC1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 10.081659836065572, + "y": 4.102920081967213 + }, + "prevControl": null, + "nextControl": { + "x": 10.364896156472557, + "y": 4.256282109330214 + }, + "isLocked": false, + "linkedName": "R1" + }, + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": { + "x": 12.402000000000001, + "y": 6.521 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "R2" + } + ], + "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": 53.42696902148072 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": -2.121096396661454 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RGC2.path b/src/main/deploy/pathplanner/paths/RGC2.path new file mode 100644 index 0000000..77c0d68 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RGC2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 13.89375, + "y": 5.38025 + }, + "prevControl": null, + "nextControl": { + "x": 14.94733569090019, + "y": 5.998558152435978 + }, + "isLocked": false, + "linkedName": "r3" + }, + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": { + "x": 14.664000000000001, + "y": 5.214500000000001 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "R2" + } + ], + "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": 50.19442890773457 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": -121.03705745066907 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RGC3.path b/src/main/deploy/pathplanner/paths/RGC3.path new file mode 100644 index 0000000..eb8dab5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RGC3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 14.92469262295082, + "y": 4.126895491803278 + }, + "prevControl": null, + "nextControl": { + "x": 15.00845526999042, + "y": 3.8411800384139116 + }, + "isLocked": false, + "linkedName": "r4" + }, + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": { + "x": 15.366, + "y": 7.408249999999999 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "R2" + } + ], + "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": 52.00126755749504 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": -178.66778014613035 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RGC4.path b/src/main/deploy/pathplanner/paths/RGC4.path new file mode 100644 index 0000000..e3b824b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RGC4.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 14.085553278688524, + "y": 2.520543032786885 + }, + "prevControl": null, + "nextControl": { + "x": 13.377, + "y": 1.0317499999999995 + }, + "isLocked": false, + "linkedName": "r5" + }, + { + "anchor": { + "x": 10.081659836065572, + "y": 4.102920081967213 + }, + "prevControl": { + "x": 10.656749999999999, + "y": 2.66 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "R1" + } + ], + "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": 177.27368900609378 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 125.78897345918327 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RPC1.path b/src/main/deploy/pathplanner/paths/RPC1.path new file mode 100644 index 0000000..2e968cf --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RPC1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": null, + "nextControl": { + "x": 15.21, + "y": 6.00425 + }, + "isLocked": false, + "linkedName": "R2" + }, + { + "anchor": { + "x": 13.89375, + "y": 5.38025 + }, + "prevControl": { + "x": 14.913983606557382, + "y": 5.638784836065574 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "r3" + } + ], + "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": -125.65532809790014 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 50.75759340418447 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RPC2.path b/src/main/deploy/pathplanner/paths/RPC2.path new file mode 100644 index 0000000..79f72da --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RPC2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": null, + "nextControl": { + "x": 16.104386464342376, + "y": 6.721602579302906 + }, + "isLocked": false, + "linkedName": "R2" + }, + { + "anchor": { + "x": 14.92469262295082, + "y": 4.126895491803278 + }, + "prevControl": { + "x": 15.156764197943874, + "y": 6.01053921574882 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "r4" + } + ], + "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": 180.0 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 49.50020352962614 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RPC3.path b/src/main/deploy/pathplanner/paths/RPC3.path new file mode 100644 index 0000000..450dbfd --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RPC3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 16.231352459016392, + "y": 6.979969262295082 + }, + "prevControl": null, + "nextControl": { + "x": 16.47881099141915, + "y": 7.015525903602628 + }, + "isLocked": false, + "linkedName": "R2" + }, + { + "anchor": { + "x": 14.085553278688524, + "y": 2.520543032786885 + }, + "prevControl": { + "x": 13.910333077121546, + "y": 2.3422234293697963 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "r5" + } + ], + "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": 121.60750224624897 + }, + "reversed": false, + "folder": "Old", + "idealStartingState": { + "velocity": 0, + "rotation": 49.94741855090292 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Station to 4L.path b/src/main/deploy/pathplanner/paths/Station to 4L.path index 083f9bf..51ffc53 100644 --- a/src/main/deploy/pathplanner/paths/Station to 4L.path +++ b/src/main/deploy/pathplanner/paths/Station to 4L.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -52.765166018425276 diff --git a/src/main/deploy/pathplanner/paths/Station to 5L.path b/src/main/deploy/pathplanner/paths/Station to 5L.path index 2d6ed27..eab1387 100644 --- a/src/main/deploy/pathplanner/paths/Station to 5L.path +++ b/src/main/deploy/pathplanner/paths/Station to 5L.path @@ -45,7 +45,7 @@ "rotation": -55.43747535111814 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -52.765166018425276 diff --git a/src/main/deploy/pathplanner/paths/Station to 5R.path b/src/main/deploy/pathplanner/paths/Station to 5R.path index f85dbad..220bea8 100644 --- a/src/main/deploy/pathplanner/paths/Station to 5R.path +++ b/src/main/deploy/pathplanner/paths/Station to 5R.path @@ -45,7 +45,7 @@ "rotation": -60.25511870305777 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -52.765166018425276 diff --git a/src/main/deploy/pathplanner/paths/Station to 6R.path b/src/main/deploy/pathplanner/paths/Station to 6R.path index 49e16d1..5cb88bb 100644 --- a/src/main/deploy/pathplanner/paths/Station to 6R.path +++ b/src/main/deploy/pathplanner/paths/Station to 6R.path @@ -45,7 +45,7 @@ "rotation": -116.56505117707792 }, "reversed": false, - "folder": null, + "folder": "Old", "idealStartingState": { "velocity": 0, "rotation": -52.765166018425276 diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index f25a5a2..7463221 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -2,10 +2,23 @@ "robotWidth": 0.9398, "robotLength": 0.9398, "holonomicMode": true, +<<<<<<< HEAD + "pathFolders": [ + "New Folder", + "Old" + ], + "autoFolders": [ + "2025 Beta Autos", + "Old" + ], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, +======= "pathFolders": [], "autoFolders": [], "defaultMaxVel": 4.572, "defaultMaxAccel": 9.144, +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 2160.0, "defaultNominalVoltage": 12.0, diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index daa1730..6ae0fe0 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,32 +9,25 @@ import static edu.wpi.first.units.Units.Seconds; import com.ctre.phoenix6.configs.FeedbackConfigs; -import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.MotionMagicConfigs; -import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.GravityTypeValue; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.StaticFeedforwardSignValue; import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.path.PathConstraints; + +import au.grapplerobotics.interfaces.LaserCanInterface.Measurement; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.AngularAcceleration; import edu.wpi.first.units.measure.AngularVelocity; @@ -61,6 +54,8 @@ public static class SwerveConstants { maxTranslationalSpeed.div(translationZeroToFull); public static final AngularAcceleration maxAngularAcceleration = maxRotationalSpeed.div(rotationZeroToFull); +<<<<<<< HEAD +======= public static final double TRACK_WIDTH = Units.inchesToMeters(30.0); public static final double WHEEL_BASE = Units.inchesToMeters(30.0); @@ -86,6 +81,7 @@ public static class SwerveConstants { SwerveConstants.maxTransationalAcceleration.in(MetersPerSecondPerSecond), SwerveConstants.maxRotationalSpeed.in(RadiansPerSecond), SwerveConstants.maxAngularAcceleration.in(RadiansPerSecondPerSecond)); +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 } public static class AutoConstants { @@ -100,13 +96,15 @@ public static class VisionConstants { public static final String kCameraName = "YOUR CAMERA NAME"; public static final AprilTagFieldLayout kTagLayout = - AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape); + AprilTagFieldLayout.loadField(AprilTagFields.k2024Crescendo); public static final Transform3d kRobotToCam = new Transform3d(new Translation3d(0.5, 0.0, 0.5), new Rotation3d(0, 0, 0)); public static final Matrix kSingleTagStdDevs = VecBuilder.fill(4, 4, 8); public static final Matrix kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1); +<<<<<<< HEAD +======= public static final String limelightName = "limelight"; public static final String arducamLeftName = "Arducam_Left"; @@ -147,12 +145,18 @@ public static class VisionConstants { public static Transform3d rightArducamTransform; public static Transform3d leftArducamTransform; + + public class limelightTransform2d { + } +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 } // .890 7.415 public static class FieldConstants { public static AprilTagFieldLayout aprilTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape); +<<<<<<< HEAD +======= public static final Pose2d redStationLeft = new Pose2d(16.638, 0.645, Rotation2d.fromDegrees(0)); @@ -302,29 +306,49 @@ public static class ReefDefinitePoses { new Pose2d(11.755, 4.175, Rotation2d.fromDegrees(0)), new Pose2d(12.557, 5.243, Rotation2d.fromDegrees(-60)), new Pose2d(13.861, 5.079, Rotation2d.fromDegrees(-120))); + + public class blueReefDefiniteLeftPoses { + } + } + + public class redStationLeft { } } public static class GyroConstants { public static final int pigeonID = 35; +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 } public static class IntakeConstants { - public static final int groundIntakeMotorID = 23; + public static final int groundIntakeMotorID = 25; public static final int armIntakeMotorID = 21; public static final int indexerMotorID = 16; +<<<<<<< HEAD + public static final int intakeLaserCanID = 14; + public static final int outakeLaserCanID = 15; + + public static final double indexerMotorSpeed = .5; +======= public static final double indexerMotorSpeed = .85; +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 public static final double groundIntakeMotorSpeed = .9; - public static final double outtakeSpeed = -0.9; + public static final double outakeSpeed = -0.9; public static final int indexerCurrentLimit = 30; public static final double indexerShutOffLimit = 45; public static final int groundIntakeCurrentLimit = 30; public static final double groundIntakeShutOffLimit = 45; +<<<<<<< HEAD +======= public static final int intakeCurrentLimit = 30; public static final double algaeIntakeShutoffCurrentLimit = 45.0; + public static Measurement getMeasurement() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'getMeasurement'"); + } } public static class OuttakeConstants { @@ -339,12 +363,24 @@ public static class OuttakeConstants { public static class AlgaeIntakeConstants { public static final int algaeIntakeMotorID = 20; public static final double algaeIntakeSpeed = .2; +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 } public static class ElevatorConstants { public static final double elevatorGearRatio = 1.0 / 6.0; - public static final double sprocketDiameter = Units.inchesToMeters(1.75); + public static final double L4Height = 2; // meters + public static final double elevatorWheelRadius = Units.inchesToMeters(1.75); // meters + +<<<<<<< HEAD + public static final int elevatorMainMotorID = 15; + public static final int elevatorFollowerMotorID = 26; + public static final int buttonSwitchID = 23; + + public static final double maxHeight = 1.447800; + public static final double minHeight = 0.0; + public static final double L4Position_inRotations = 1.523; +======= public static final int elevatorMainMotorID = 48; public static final int elevatorFollowerMotorID = 49; public static final int buttonSwitchID = 0; @@ -356,14 +392,10 @@ public static class ElevatorConstants { public static final double L3Height = Units.inchesToMeters(20); public static final double L2Height = Units.inchesToMeters(10); public static final double downHeight = Units.inchesToMeters(0); +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 - public static final double sensorToMechanismRatio = - elevatorGearRatio * Math.PI * sprocketDiameter; - - public static final double bottomSpeed = .1; - - public static final LinearVelocity maxVelocity = MetersPerSecond.of(2.26 * .9); // 2.26*.9 - public static final LinearAcceleration maxAcceleration = maxVelocity.div(Seconds.of(.5)); // .25 + public static final LinearVelocity maxVelocity = MetersPerSecond.of(2.26); + public static final LinearAcceleration maxAcceleration = MetersPerSecondPerSecond.of(5); public static final MotionMagicConfigs motionMagicConfigs = new MotionMagicConfigs() @@ -372,6 +404,15 @@ public static class ElevatorConstants { public static final Slot0Configs slot0Configs = new Slot0Configs() +<<<<<<< HEAD + .withKS(0.35) + .withKV(0.12) + .withKA(0.01) + .withKG(0.2) + .withKP(4.8) + .withKI(0) + .withKD(0.1) +======= .withKS(0.01) .withKV(5.16) // 5.14 .withKA(0.03) // .04 @@ -379,10 +420,14 @@ public static class ElevatorConstants { .withKP(13) .withKI(0.0) .withKD(.25) // 1 +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 .withGravityType(GravityTypeValue.Elevator_Static) .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseVelocitySign); public static final FeedbackConfigs feedbackConfigs = +<<<<<<< HEAD + new FeedbackConfigs().withSensorToMechanismRatio(elevatorGearRatio * elevatorWheelRadius); +======= new FeedbackConfigs().withSensorToMechanismRatio(1 / sensorToMechanismRatio); public static final MotorOutputConfigs motorOutputConfigs = @@ -402,17 +447,33 @@ public static class ElevatorConstants { .withReverseLimitAutosetPositionEnable(true) .withReverseLimitAutosetPositionValue(0) .withReverseLimitRemoteSensorID(ElevatorConstants.buttonSwitchID); +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 public static final TalonFXConfiguration elevatorConfigs = new TalonFXConfiguration() .withSlot0(slot0Configs) .withMotionMagic(motionMagicConfigs) .withFeedback(feedbackConfigs) +<<<<<<< HEAD + .withSoftwareLimitSwitch( + new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(maxHeight) + .withForwardSoftLimitEnable(true)); +======= .withMotorOutput(motorOutputConfigs) .withSoftwareLimitSwitch(softwareLimitSwitchConfigs); // .withHardwareLimitSwitch(hardwareLimitSwitchConfigs); } +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 +<<<<<<< HEAD + public static final SoftwareLimitSwitchConfigs limitSwitchConfigs = + new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(maxHeight) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(minHeight) + .withReverseSoftLimitEnable(true); +======= public static class ArmConstants { public static final int armMotorID = 47; public static final int armMaxVelocity = 0; @@ -422,35 +483,15 @@ public static class ArmConstants { public static final TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(armMaxVelocity, armMaxAcceleration); +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 } public static class OperatorConstants { - public static final int indexerButton = 13; - public static final int outtakeIndexerButton = 4; - - public static final int groundIntakeButton = 13; - public static final int armManualOuttakeButton = 12; - - public static final int armPickupHeightButton = 5; - public static final int armL1HeightButton = 6; - public static final int armManualUp = 10; - public static final int armManualDown = 9; - + public static final int indexerButton = 10; + public static final int groundIntakeButton = 9; public static final int L4HeightButton = 8; - public static final int L3HeightButton = 7; - public static final int L2HeightButton = 6; - public static final int elevatorDownButton = 5; - public static final int elevatorManualUp = 10; - public static final int elevatorManualDown = 9; - public static final int homeElevatorButon = 2; - - public static final int outtakeButton = 12; - - public static final int algaeIntakeDown = 14; - public static final int algaeIntakeUp = 15; - - public static final int armModeButton = 16; - - public static final int startingConfigButton = 11; + public static final int homeElevatorButon = 7; + public static final int manualOutakeButton = 6; + public static final int manualFeedButton = 5; } } diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java index fe215d7..0207a83 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/frc/robot/Main.java @@ -12,4 +12,5 @@ private Main() {} public static void main(String... args) { RobotBase.startRobot(Robot::new); } + } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5c9ede8..6b1b21d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -33,6 +33,7 @@ import frc.robot.subsystems.Outtake; import frc.robot.subsystems.Swerve; import frc.robot.util.LogUtil; +import com.pathplanner.lib.auto.NamedCommands; import frc.robot.util.PersistentSendableChooser; public class RobotContainer { @@ -56,8 +57,17 @@ public class RobotContainer { private final PowerDistribution powerDistribution = new PowerDistribution(); +<<<<<<< HEAD +<<<<<<< HEAD + private Trigger intakeLaserBroken = new Trigger(groundIntake::intakeLaserBroken()); + private Trigger outakeLaserBroken = new Trigger(indexer::outakeLaserBroken); +======= + private Trigger intakeLaserBroken = new Trigger(groundIntake::intakeLaserBroken); +======= +>>>>>>> bae50d8cd504db551bb672f071f787e27348d379 private Trigger outtakeLaserBroken = new Trigger(outtake::outtakeLaserBroken); +>>>>>>> 0a1b3a605242d37e56815bafa1fe854ccd591f77 private Trigger buttonTrigger = new Trigger(elevator::buttonPressed); private Trigger armMode = operatorStick.button(OperatorConstants.armModeButton); @@ -77,6 +87,17 @@ public RobotContainer() { configureAutoChooser(); configureBatteryChooser(); + NamedCommands.registerCommand("Stop ground Intake", groundIntake.runIntake().asProxy()); + NamedCommands.registerCommand("Stop ground Intake", groundIntake.intakeLaserBroken().asProxy()); + NamedCommands.registerCommand("Stop ground Intake", groundIntake.stopGroundIntake().asProxy()); + + NamedCommands.registerCommand("Start elevator", elevator.().asProxy()); + NamedCommands.registerCommand("Start elevator", elevator.outakeLaserBroken().asProxy()); + + NamedCommands.registerCommand("indexer", indexer.buttonTrigger().asProxy()); + NamedCommands.registerCommand("indexer", indexer.stopIndexer().asProxy()); + + SmartDashboard.putData("Power Distribution", powerDistribution); SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); @@ -104,7 +125,7 @@ public RobotContainer() { Commands.runOnce( () -> driverController.getHID().setRumble(RumbleType.kBothRumble, 0.0)))); } - + private void configureDriverBindings() { Trigger slowMode = driverController.leftTrigger(); diff --git a/src/main/java/frc/robot/commands/TeleopSwerve.java b/src/main/java/frc/robot/commands/TeleopSwerve.java index c8a7121..1c88afb 100644 --- a/src/main/java/frc/robot/commands/TeleopSwerve.java +++ b/src/main/java/frc/robot/commands/TeleopSwerve.java @@ -17,13 +17,13 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.SwerveConstants; -import frc.robot.subsystems.Swerve; +import frc.robot.subsystems.CommandSwerveDrivetrain; import java.util.function.DoubleSupplier; import java.util.function.Supplier; public class TeleopSwerve extends Command { /** Creates a new TeleopSwerve. */ - private final Swerve swerve; + private final CommandSwerveDrivetrain swerve; private SwerveRequest.FieldCentric fieldOriented = new SwerveRequest.FieldCentric() @@ -48,7 +48,7 @@ public TeleopSwerve( DoubleSupplier strafeSupplier, DoubleSupplier rotationSupplier, Supplier maxTranslationalSpeed, - Swerve swerve) { + CommandSwerveDrivetrain swerve) { this.forwardSupplier = forwardSupplier; this.strafeSupplier = strafeSupplier; diff --git a/src/main/java/frc/robot/commands/leds/AdressableLedTest.java b/src/main/java/frc/robot/commands/leds/AdressableLedTest.java new file mode 100644 index 0000000..4b006dd --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/AdressableLedTest.java @@ -0,0 +1,26 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.leds; + +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.AddressableLEDBufferView; + +/** Add your docs here. */ +public class AdressableLedTest { + m_led = new AddressableLED(9); + + m_ledBuffer = new AddressableLEDBuffer(60); + m_led.setLength(m_ledBuffer.getLength()); + + m_led.setData(m_ledBuffer); + m_led.start(); + AddressableLEDBuffer m_buffer = new AddressableLEDBuffer(120); + + AddressableLEDBufferView m_left = m_buffer.createView(0, 59); + + + AddressableLEDBufferView m_right = m_buffer.createView(60, 119).reversed(); +} + diff --git a/src/main/java/frc/robot/commands/leds/LED.java b/src/main/java/frc/robot/commands/leds/LED.java new file mode 100644 index 0000000..8ba7205 --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/LED.java @@ -0,0 +1,53 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.leds; +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.ElevatorNew; + +/** Add your docs here. */ +public class LED extends Command { + private static final boolean ElevatorNew = false; + private final Color color; + private final boolean lOn ; + private Timer timer = new Timer(); + private LED leds; + public LED(double period, Color color, LED leds) { + this.color = color; + leds.leds = leds; + } + @Override + public void initialize() { + + + public void Time(){ + timer.restart(); + timer.start(); + } + public void Run(){ + AddressableLEDBuffer buffer = LED.updateBuffer(); + lOn = !lOn; + if (lOn) { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + } else { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + } + } + public static AddressableLEDBuffer updateBuffer() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'updateBuffer'"); + } +} + public static AddressableLEDBuffer updateBuffer() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'updateBuffer'"); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/leds/LEDTEST.java b/src/main/java/frc/robot/commands/leds/LEDTEST.java new file mode 100644 index 0000000..6f245a0 --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/LEDTEST.java @@ -0,0 +1,71 @@ +package frc.robot.commands.leds; +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +import edu.wpi.first.wpilibj.AddressableLED; +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.LEDPattern; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.WrapperCommand; + +/** Add your docs here. */ +public class LEDTEST{ + + public static void red(){ + + try (AddressableLED led = new AddressableLED(6)) { + AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(6); + led.setLength(ledBuffer.getLength()); + + led.setData(ledBuffer); + led.start(); + @SuppressWarnings("unused") + + final int kPort = 9; + final int kLength = 120; + + final AddressableLED m_led; + final AddressableLEDBuffer m_buffer; + + public static void LEDSubsystem() { + lOn = new AddressableLED(kPort); + lOn = new AddressableLEDBuffer(kLength); + m_led.setLength(kLength); + m_led.start(); + + + setDefaultCommand(runPattern(LEDPattern.solid(Color.kGreenYellow)).withName("not on")); + } + + private void setDefaultCommand(WrapperCommand withName) { + throw new UnsupportedOperationException("??'"); + } + + @Override + public void periodic() { + // Periodically send the latest LED color data to the LED strip for it to display + m_led.setData(m_buffer); + } + + /** + * + * + * @param pattern the LED pattern to run + */ + public Command runPattern(LEDPattern pattern) { + return LEDSubsystem(() -> pattern.applyTo(m_buffer)){} + } + + + } +} +} + + + + + + diff --git a/src/main/java/frc/robot/commands/leds/Light.java b/src/main/java/frc/robot/commands/leds/Light.java new file mode 100644 index 0000000..fafe11b --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/Light.java @@ -0,0 +1,58 @@ +package frc.robot.commands.leds; + +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.Command; + +public class Light extends Command { + public final Color color; + public static LED leds; + public Timer time = new Timer(); + + public int period; + private boolean lO = false; + + public Light(int period, Color color, LED leds) { + this.period = (int) period; + this.color = color; + Light.leds = leds; + + } + + @Override + public void initialize() { + time.restart(); + time.start(); + } + + @Override + public void execute() { + if (time.advanceIfElapsed(period)) { + AddressableLEDBuffer buffer = LED.updateBuffer(); + + if (lO) { + for (int e = 0; e < buffer.getLength(); e++) { + buffer.setLED(e, color); + } + } else { + for (int e = 0; e < buffer.getLength(); e++) { + buffer.setLED(e, color); + } + } + } + + } + + + @Override + public void end(boolean interrupted) { + time.stop(); + time.reset(); + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/leds/RSLSync.java b/src/main/java/frc/robot/commands/leds/RSLSync.java new file mode 100644 index 0000000..12accbe --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/RSLSync.java @@ -0,0 +1,75 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.leds; + +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.Command; + +public class RSLSync extends Command { + private final Color color; + private boolean ledsOn = false; + + /** Creates a new RSLSync. */ + public RSLSync(Color color, LED leds) { + this.color = color; + } + + + @Override + public boolean runsWhenDisabled() { + return true; + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + boolean rslOn = RobotController.getRSLState(); + AddressableLEDBuffer buffer = LED.updateBuffer(); + + if (rslOn) { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + LED.updateBuffer(); + } else if (!rslOn) { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + } + + ledsOn = rslOn; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + boolean rslOn = RobotController.getRSLState(); + AddressableLEDBuffer buffer = LED.updateBuffer(); + + if (rslOn && !ledsOn) { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + } else if (!rslOn && ledsOn) { + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + } + + ledsOn = rslOn; + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/leds/SolidColor.java b/src/main/java/frc/robot/commands/leds/SolidColor.java new file mode 100644 index 0000000..f7ec0d7 --- /dev/null +++ b/src/main/java/frc/robot/commands/leds/SolidColor.java @@ -0,0 +1,54 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.leds; + +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.Command; + +public class SolidColor extends Command { + private final Color color; + private boolean ledsOn = false; + + /** Creates a new SolidColor. */ + public SolidColor(Color color, LED leds) { + this.color = color; + } + + @Override + public boolean runsWhenDisabled() { + return true; + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + ledsOn = false; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (!ledsOn) { + AddressableLEDBuffer buffer = LED.updateBuffer(); + for (int i = 0; i < buffer.getLength(); i++) { + buffer.setLED(i, color); + } + + } + + ledsOn = true; + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ES.java b/src/main/java/frc/robot/subsystems/ES.java new file mode 100644 index 0000000..add6897 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ES.java @@ -0,0 +1,75 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.AutoConstants; + + + +public class ES extends SubsystemBase { + private static final DutyCycleOut Follower = null; + /** Creates a new Elevator. */ + + TalonFX rightMotor = new TalonFX(1, "Cannie"); + AutoConstants PIDConstants = new AutoConstants(); + TalonFX leftMotor = new TalonFX(2, "Cannie"); + double getSpeed; + double getRotation; + + public ES() { + leftMotor.setControl(Follower); + } + + + public void setMotor(TalonFX motor) { + this.rightMotor = motor; + this.leftMotor = motor; + } + + public void setSpeed(double speed){ + rightMotor.set(1); + rightMotor.set(1); + } + + public double getSpeed(double speed){ + return rightMotor.get(); + + } + + public void elevatorUp(int speed) { + rightMotor.set(speed); + leftMotor.set(speed); + + } + + public void elevatorDown(int speed) { + rightMotor.set(-speed); + leftMotor.set(-speed); + + } + + public void elevatorStop() { + rightMotor.set(0); + leftMotor.set( 0); + } + + // public void rotate(double speed){ + // rightMotor.set(5); + // } + +} + + + + // @Override + // public void periodic() {} + // This method will be called once per scheduler run + + + + \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java index 5f5758b..9392504 100644 --- a/src/main/java/frc/robot/subsystems/Elevator.java +++ b/src/main/java/frc/robot/subsystems/Elevator.java @@ -168,4 +168,9 @@ public void periodic() { elevatorAlert.set(!isZeroed); } + +public Command outakeLaserBroken() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'outakeLaserBroken'"); +} } diff --git a/src/main/java/frc/robot/subsystems/ElevatorNew.java b/src/main/java/frc/robot/subsystems/ElevatorNew.java new file mode 100644 index 0000000..21c8256 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ElevatorNew.java @@ -0,0 +1,75 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.AutoConstants; + + + +public class ElevatorNew extends SubsystemBase { + private static final DutyCycleOut Follower = null; + /** Creates a new Elevator. */ + + TalonFX rightMotor = new TalonFX(1, "Cannie"); + AutoConstants PIDConstants = new AutoConstants(); + TalonFX leftMotor = new TalonFX(2, "Cannie"); + double getSpeed; + double getRotation; + + public ElevatorNew() { + leftMotor.setControl(Follower); + } + + + public void setMotor(TalonFX motor) { + this.rightMotor = motor; + this.leftMotor = motor; + } + + public void setSpeed(double speed){ + rightMotor.set(1); + rightMotor.set(1); + } + + public double getSpeed(double speed){ + return rightMotor.get(); + + } + + public void elevatorUp(int speed) { + rightMotor.set(speed); + leftMotor.set(speed); + + } + + public void elevatorDown(int speed) { + rightMotor.set(-speed); + leftMotor.set(-speed); + + } + + public void elevatorStop() { + rightMotor.set(0); + leftMotor.set( 0); + } + + // public void rotate(double speed){ + // rightMotor.set(5); + // } + +} + + + + // @Override + // public void periodic() {} + // This method will be called once per scheduler run + + + + \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/GroundIntake.java b/src/main/java/frc/robot/subsystems/GroundIntake.java index 25481fe..4d1a628 100644 --- a/src/main/java/frc/robot/subsystems/GroundIntake.java +++ b/src/main/java/frc/robot/subsystems/GroundIntake.java @@ -11,6 +11,8 @@ import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; + +import au.grapplerobotics.LaserCan; import edu.wpi.first.epilogue.Logged; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -39,6 +41,22 @@ public GroundIntake() { groundIntakeConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); } + + public boolean intakeLaserBroken() { + LaserCan.Measurement measurement = IntakeConstants.getMeasurement(); + if (measurement != null && measurement.status == LaserCan.LASERCAN_STATUS_VALID_MEASUREMENT) { + // System.out.println("The target is " + measurement.distance_mm + "mm away!"); + // if (measurement.distance_mm < 500) { + // return true; + // } else { + // return false; + // } + return true; + } else { + return false; + } + } + public void stopGroundIntake() { groundIntakeMotor.set(0); } @@ -60,7 +78,7 @@ public void feedToIndexer() { } public void manualOuttake() { - groundIntakeMotor.set(IntakeConstants.outtakeSpeed); + groundIntakeMotor.set(IntakeConstants.outakeSpeed); } @Override diff --git a/src/main/java/frc/robot/subsystems/GroundIntakeS.java b/src/main/java/frc/robot/subsystems/GroundIntakeS.java new file mode 100644 index 0000000..e038fec --- /dev/null +++ b/src/main/java/frc/robot/subsystems/GroundIntakeS.java @@ -0,0 +1,51 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.Command; +/** Add your docs here. */ +public class GroundIntakeS { + + @Override + public Command getPrematchCheckCommand( + return Commands.sequence{ + Commands.runOnce( + () -> { + REVLibError motorError = groundIntake.getError(); + if (motorError != REVLibError.kOk) { + addError("Error"); + } else { + addInfo("Good"); + } + }). + Commands.wait(1); + + Commands.runOnce(() -> { + if (!speed()) { + addError("Error"); + } else { + addInfo("good");} + }). + + Commands.runOnce(() -> { + if (!suction()) { + addError("Error"); + } else { + addInfo("good");} + }) + } + ) + + @Override + public String toString() { + return "GroundIntakeS []"; + }} + + + + + + + diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java index 2a42efe..02b6213 100644 --- a/src/main/java/frc/robot/subsystems/Indexer.java +++ b/src/main/java/frc/robot/subsystems/Indexer.java @@ -4,7 +4,11 @@ package frc.robot.subsystems; +<<<<<<< HEAD +import au.grapplerobotics.LaserCan; +======= import com.revrobotics.REVLibError; +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 import com.revrobotics.spark.SparkBase.PersistMode; import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkLowLevel.MotorType; @@ -24,6 +28,8 @@ @Logged public class Indexer extends ExpandedSubsystem { /** Creates a new Indexer. */ + private LaserCan outakeLaser; + private SparkMax indexerMotor; private final double prematchDelay = 2.5; @@ -31,6 +37,7 @@ public class Indexer extends ExpandedSubsystem { public List indexerPrematchAlerts = new ArrayList(); public Indexer() { + outakeLaser = new LaserCan(14); indexerMotor = new SparkMax(IntakeConstants.indexerMotorID, MotorType.kBrushless); SparkMaxConfig indexerConfig = new SparkMaxConfig(); @@ -69,11 +76,32 @@ public void stopIndexer() { indexerMotor.set(0); } + public boolean outakeLaserBroken() { + LaserCan.Measurement measurement = outakeLaser.getMeasurement(); + if (measurement != null && measurement.status == LaserCan.LASERCAN_STATUS_VALID_MEASUREMENT) { + // System.out.println("The target is " + measurement.distance_mm + "mm away!"); + // if (measurement.distance_mm < 500) { + // return true; + // } else { + // return false; + // } + return true; + } else { + return false; + } + } + @Override public void periodic() { SmartDashboard.putNumber("Indexer Speed", indexerMotor.get()); } +<<<<<<< HEAD +public Command buttonTrigger() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'buttonTrigger'"); +} +======= @Override public Command getPrematchCheckCommand() { return Commands.sequence( @@ -107,4 +135,5 @@ public Command getPrematchCheckCommand() { } })); } +>>>>>>> 53ba8ad3c654736782878faff127b18904812eb6 } diff --git a/src/main/java/frc/robot/util/GeomUtil.java b/src/main/java/frc/robot/util/GeomUtil.java deleted file mode 100644 index d337393..0000000 --- a/src/main/java/frc/robot/util/GeomUtil.java +++ /dev/null @@ -1,144 +0,0 @@ -// Copyright (c) 2023 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// Use of this source code is governed by an MIT-style -// license that can be found in the LICENSE file at -// the root directory of this project. - -package frc.robot.util; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.geometry.Twist2d; - -/** Geometry utilities for working with translations, rotations, transforms, and poses. */ -public class GeomUtil { - /** - * Creates a pure translating transform - * - * @param translation The translation to create the transform with - * @return The resulting transform - */ - public static Transform2d translationToTransform(Translation2d translation) { - return new Transform2d(translation, new Rotation2d()); - } - - /** - * Creates a pure translating transform - * - * @param x The x componenet of the translation - * @param y The y componenet of the translation - * @return The resulting transform - */ - public static Transform2d translationToTransform(double x, double y) { - return new Transform2d(new Translation2d(x, y), new Rotation2d()); - } - - /** - * Creates a pure rotating transform - * - * @param rotation The rotation to create the transform with - * @return The resulting transform - */ - public static Transform2d rotationToTransform(Rotation2d rotation) { - return new Transform2d(new Translation2d(), rotation); - } - - /** - * Converts a Pose2d to a Transform2d to be used in a kinematic chain - * - * @param pose The pose that will represent the transform - * @return The resulting transform - */ - public static Transform2d poseToTransform(Pose2d pose) { - return new Transform2d(pose.getTranslation(), pose.getRotation()); - } - - /** - * Converts a Transform2d to a Pose2d to be used as a position or as the start of a kinematic - * chain - * - * @param transform The transform that will represent the pose - * @return The resulting pose - */ - public static Pose2d transformToPose(Transform2d transform) { - return new Pose2d(transform.getTranslation(), transform.getRotation()); - } - - /** - * Creates a pure translated pose - * - * @param translation The translation to create the pose with - * @return The resulting pose - */ - public static Pose2d translationToPose(Translation2d translation) { - return new Pose2d(translation, new Rotation2d()); - } - - /** - * Creates a pure rotated pose - * - * @param rotation The rotation to create the pose with - * @return The resulting pose - */ - public static Pose2d rotationToPose(Rotation2d rotation) { - return new Pose2d(new Translation2d(), rotation); - } - - /** - * Multiplies a twist by a scaling factor - * - * @param twist The twist to multiply - * @param factor The scaling factor for the twist components - * @return The new twist - */ - public static Twist2d multiplyTwist(Twist2d twist, double factor) { - return new Twist2d(twist.dx * factor, twist.dy * factor, twist.dtheta * factor); - } - - /** - * Converts a Pose3d to a Transform3d to be used in a kinematic chain - * - * @param pose The pose that will represent the transform - * @return The resulting transform - */ - public static Transform3d pose3dToTransform3d(Pose3d pose) { - return new Transform3d(pose.getTranslation(), pose.getRotation()); - } - - /** - * Converts a Transform3d to a Pose3d to be used as a position or as the start of a kinematic - * chain - * - * @param transform The transform that will represent the pose - * @return The resulting pose - */ - public static Pose3d transform3dToPose3d(Transform3d transform) { - return new Pose3d(transform.getTranslation(), transform.getRotation()); - } - - /** - * Converts a Translation3d to a Translation2d by extracting two dimensions (X and Y). chain - * - * @param transform The original translation - * @return The resulting translation - */ - public static Translation2d translation3dTo2dXY(Translation3d translation) { - return new Translation2d(translation.getX(), translation.getY()); - } - - /** - * Converts a Translation3d to a Translation2d by extracting two dimensions (X and Z). chain - * - * @param transform The original translation - * @return The resulting translation - */ - public static Translation2d translation3dTo2dXZ(Translation3d translation) { - return new Translation2d(translation.getX(), translation.getZ()); - } -} diff --git a/src/main/java/frc/robot/util/SystemIdentification.java b/src/main/java/frc/robot/util/SystemIdentification.java new file mode 100644 index 0000000..a4cc281 --- /dev/null +++ b/src/main/java/frc/robot/util/SystemIdentification.java @@ -0,0 +1,24 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.generated; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism; + + public class SystemIdentification { + SysIdRoutine routine = new SysIdRoutine( + new SysIdRoutine.Config(), + new Mechanism(null, null, null) + ); + public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { + return routine.quasistatic(direction); + } + + public Command sysIdDynamic(SysIdRoutine.Direction direction) { + return routine.dynamic(direction); + } + +} diff --git a/src/main/java/frc/robot/util/TunerConstants.java b/src/main/java/frc/robot/util/TunerConstants.java index 268a770..654fe22 100644 --- a/src/main/java/frc/robot/util/TunerConstants.java +++ b/src/main/java/frc/robot/util/TunerConstants.java @@ -12,7 +12,7 @@ import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.units.measure.*; -import frc.robot.subsystems.Swerve; +import frc.robot.subsystems.CommandSwerveDrivetrain; // Generated by the Tuner X Swerve Project Generator // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html @@ -241,8 +241,9 @@ public class TunerConstants { * Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot * program,. */ - public static Swerve createDrivetrain() { - return new Swerve(DrivetrainConstants, 250, FrontLeft, FrontRight, BackLeft, BackRight); + public static CommandSwerveDrivetrain createDrivetrain() { + return new CommandSwerveDrivetrain( + DrivetrainConstants, 250, FrontLeft, FrontRight, BackLeft, BackRight); } /** Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */ diff --git a/vendordeps/deploy/deploy/pathplanner/navgrid.json b/vendordeps/deploy/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/vendordeps/deploy/pathplanner/B1-5 B1 .traj b/vendordeps/deploy/pathplanner/B1-5 B1 .traj new file mode 100644 index 0000000..43c4d06 --- /dev/null +++ b/vendordeps/deploy/pathplanner/B1-5 B1 .traj @@ -0,0 +1,562 @@ +{ + "name":"B1-5 B1 ", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.553226470947266, "y":4.9271769523620605, "heading":-3.126209665356108, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.212909698486328, "y":3.893397092819214, "heading":-3.1333960779484515, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.879876613616943, "y":2.8043620586395264, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.150712251663208, "y":1.0367107391357422, "heading":0.981290789280902, "intervals":35, "split":false, "fixTranslation":true, 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b/vendordeps/deploy/pathplanner/Choreo.chor new file mode 100644 index 0000000..ccfe860 --- /dev/null +++ b/vendordeps/deploy/pathplanner/Choreo.chor @@ -0,0 +1,78 @@ +{ + "name":"Choreo", + "version":1, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{} + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"11 in", + "val":0.2794 + }, + "y":{ + "exp":"11 in", + "val":0.2794 + } + }, + "backLeft":{ + "x":{ + "exp":"-11 in", + "val":-0.2794 + }, + "y":{ + "exp":"11 in", + "val":0.2794 + } + }, + "mass":{ + "exp":"150 lbs", + "val":68.0388555 + }, + "inertia":{ + "exp":"6 kg m ^ 2", + "val":6.0 + }, + "gearing":{ + "exp":"6.5", + "val":6.5 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"6000 RPM", + "val":628.3185307179587 + }, + "tmax":{ + "exp":"1.2 N * m", + "val":1.2 + }, + "cof":{ + "exp":"1.5", + "val":1.5 + }, + "bumper":{ + "front":{ + "exp":"16 in", + "val":0.4064 + }, + "side":{ + "exp":"16 in", + "val":0.4064 + }, + "back":{ + "exp":"16 in", + "val":0.4064 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[] +} diff --git a/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/pathplanner/deploy/pathplanner/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/vendordeps/deploy/pathplanner/deploy/pathplanner/navgrid.json b/vendordeps/deploy/pathplanner/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/pathplanner/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/vendordeps/deploy/pathplanner/navgrid.json b/vendordeps/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/vendordeps/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file