From 8985afa16a31fa86a9a0f102f0a3290173f1a740 Mon Sep 17 00:00:00 2001 From: Ethan Torres Date: Wed, 11 Mar 2026 22:34:23 -0400 Subject: [PATCH] Hotel Testing --- .../deploy/choreo/RE_Left_Trench_Mid_2.traj | 731 +++++++++--------- src/main/deploy/choreo/autos.chor | 14 + src/main/deploy/choreo/benautoDepo.traj | 557 +++++++++++++ src/main/deploy/choreo/benautoHP.traj | 554 +++++++++++++ .../autos/Copy of RE_LEFT_TRENCH_MID2.auto | 32 + .../autos/RE_LEFT_TRENCH_MID2.auto | 74 +- .../deploy/pathplanner/autos/benauto.auto | 201 +++++ src/main/java/frc/robot/Constants.java | 209 +++-- src/main/java/frc/robot/Robot.java | 43 +- src/main/java/frc/robot/RobotContainer.java | 29 +- .../robot/commands/GuidedTeleopSwerve.java | 4 +- .../frc/robot/commands/ShootOnTheMove.java | 18 +- .../frc/robot/generated/TunerConstants.java | 2 +- .../java/frc/robot/subsystems/Intake.java | 3 +- .../java/frc/robot/subsystems/Swerve.java | 9 +- .../java/frc/robot/util/SOTMCalculator.java | 7 + 16 files changed, 1971 insertions(+), 516 deletions(-) create mode 100644 src/main/deploy/choreo/benautoDepo.traj create mode 100644 src/main/deploy/choreo/benautoHP.traj create mode 100644 src/main/deploy/pathplanner/autos/Copy of RE_LEFT_TRENCH_MID2.auto create mode 100644 src/main/deploy/pathplanner/autos/benauto.auto diff --git a/src/main/deploy/choreo/RE_Left_Trench_Mid_2.traj b/src/main/deploy/choreo/RE_Left_Trench_Mid_2.traj index 9244cbd..29d3995 100644 --- a/src/main/deploy/choreo/RE_Left_Trench_Mid_2.traj +++ b/src/main/deploy/choreo/RE_Left_Trench_Mid_2.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.558840274810791, "y":6.3166327476501465, "heading":-1.5707963267948966, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.558840274810791, "y":7.480356216430664, "heading":-1.5707963267948966, "intervals":14, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.558840274810791, "y":6.3166327476501465, "heading":-1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.4169228076934814, "y":7.42358922958374, "heading":-1.5707963267948966, "intervals":14, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.637413024902344, "y":7.480356216430664, "heading":-1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.829519748687744, "y":7.480356216430664, "heading":-1.5707963267948966, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.242116928100586, "y":6.926877975463867, "heading":-1.5413932709132914, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -19,8 +19,8 @@ {"x":6.709408283233643, "y":4.698773384094238, "heading":2.8326617992318592, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.028204441070557, "y":5.323210716247559, "heading":1.5902115241576855, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.155930042266846, "y":6.756577014923096, "heading":0.6478115361687639, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.786944389343262, "y":7.42358922958374, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.558840274810791, "y":7.42358922958374, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.786944389343262, "y":7.42358922958374, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.4169228076934814, "y":7.42358922958374, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,13 +32,15 @@ {"from":8, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":16, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":17, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - 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"val":-1.5707963267948966}, "intervals":14, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.637413024902344 m", "val":4.637413024902344}, "y":{"exp":"7.480356216430664 m", "val":7.480356216430664}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.480356216430664 m", "val":7.480356216430664}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.242116928100586 m", "val":8.242116928100586}, "y":{"exp":"6.926877975463867 m", "val":6.926877975463867}, "heading":{"exp":"-1.5413932709132914 rad", "val":-1.5413932709132914}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -46,15 +48,15 @@ {"x":{"exp":"7.958281993865967 m", "val":7.958281993865967}, "y":{"exp":"5.010992050170898 m", "val":5.010992050170898}, "heading":{"exp":"-1.8094054870980394 rad", "val":-1.8094054870980392}, "intervals":30, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.382997989654541 m", "val":6.382997989654541}, "y":{"exp":"6.472742080688477 m", "val":6.472742080688477}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.574068546295166 m", "val":5.574068546295166}, "y":{"exp":"7.480356216430664 m", "val":7.480356216430664}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.4169228076934814 m", "val":3.4169228076934814}, "y":{"exp":"7.42358922958374 m", "val":7.42358922958374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LeftTrench.x", "val":3.4169228076934814}, "y":{"exp":"LeftTrench.y", "val":7.42358922958374}, "heading":{"exp":"LeftTrench.heading", "val":0.0}, "intervals":20, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.829519748687744 m", "val":5.829519748687744}, "y":{"exp":"7.42358922958374 m", "val":7.42358922958374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.305461406707764 m", "val":7.305461406707764}, "y":{"exp":"6.870110988616943 m", "val":6.870110988616943}, "heading":{"exp":"-0.6696388201712318 rad", "val":-0.6696388201712318}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.873131275177002 m", "val":7.873131275177002}, "y":{"exp":"5.4793195724487305 m", 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.786944389343262 m", "val":5.786944389343262}, "y":{"exp":"7.42358922958374 m", "val":7.42358922958374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.558840274810791 m", "val":3.558840274810791}, "y":{"exp":"7.42358922958374 m", "val":7.42358922958374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"5.786944389343262 m", "val":5.786944389343262}, "y":{"exp":"7.42358922958374 m", "val":7.42358922958374}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LeftTrench.x", "val":3.4169228076934814}, "y":{"exp":"LeftTrench.y", "val":7.42358922958374}, "heading":{"exp":"LeftTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -66,7 +68,9 @@ {"from":8, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":16, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":17, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -97,365 +101,354 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.26561,1.73099,1.96514,2.57889,2.87745,3.79805,4.53923,5.04868,5.98068,6.70832,7.06701,7.47694,7.97856,8.31312,8.72225,9.14737,10.0944], + "waypoints":[0.0,0.66936,1.16471,1.39666,2.01038,2.30901,3.22961,3.9708,4.48024,5.41224,6.13988,6.49857,6.90851,7.41012,7.74468,8.15382,8.57893,9.55436], "samples":[ - {"t":0.0, "x":3.55884, "y":6.31663, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":9.97132, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[141.34113,141.34113,141.34113,141.34113]}, - {"t":0.04868, "x":3.55884, "y":6.32845, "heading":-1.5708, "vx":0.0, "vy":0.48538, "omega":0.0, "ax":0.0, "ay":9.96254, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[141.21666,141.21666,141.21666,141.21666]}, - {"t":0.09735, "x":3.55884, "y":6.36388, "heading":-1.5708, "vx":0.0, 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"ay":2.76257, "alpha":5.30866, "fx":[-127.05815,-137.17203,-134.21693,-113.15384], "fy":[53.45704,9.38383,17.52932,76.26483]}, + {"t":11.15936, "x":7.06053, "y":1.77885, "heading":0.04612, "vx":2.50258, "vy":4.38486, "omega":0.27067, "ax":-8.79038, "ay":-0.47676, "alpha":10.67505, "fx":[-134.84295,-131.12854,-112.43713,-119.99768], "fy":[28.81091,-42.67437,-74.12437,60.95592]}, + {"t":11.18794, "x":7.12848, "y":1.90399, "heading":0.05386, "vx":2.2513, "vy":4.37123, "omega":0.57583, "ax":-7.74944, "ay":-2.8194, "alpha":13.81334, "fx":[-138.01809,-115.74519,-58.23209,-127.39076], "fy":[6.45805,-76.24307,-123.45951,33.38704]}, + {"t":11.21653, "x":7.18966, "y":2.0278, "heading":0.07032, "vx":2.02978, "vy":4.29064, "omega":0.97069, "ax":-6.80857, "ay":-4.03273, "alpha":14.9114, "fx":[-138.42005,-102.26081,-19.83777,-125.52103], "fy":[-6.35611,-94.43702,-136.50164,8.64272]}, + {"t":11.24512, "x":7.24491, "y":2.1488, "heading":0.09807, "vx":1.83515, "vy":4.17536, "omega":1.39694, "ax":-5.89932, "ay":-4.89828, "alpha":15.35133, "fx":[-138.20076,-92.0613,3.42121,-107.64503], "fy":[-14.38957,-104.97344,-138.74459,-19.62007]}, + {"t":11.2737, "x":7.29495, "y":2.26615, "heading":0.138, "vx":1.66652, "vy":4.03534, "omega":1.83576, "ax":-4.13413, "ay":-6.17277, "alpha":15.8999, "fx":[-137.44641,-83.79924,17.28938,-30.4447], "fy":[-22.50531,-112.0526,-138.22193,-77.2102]}, + {"t":11.30229, "x":7.3409, "y":2.37898, "heading":0.19048, "vx":1.54834, "vy":3.85889, "omega":2.29027, "ax":-3.04428, "ay":-6.86143, "alpha":16.07201, "fx":[-135.79626,-76.2715,26.09871,13.36128], "fy":[-32.1662,-117.56188,-137.16368,-102.14472]}, + {"t":11.33087, "x":7.38392, "y":2.48649, "heading":0.25595, "vx":1.46132, "vy":3.66275, "omega":2.74969, "ax":-2.73548, "ay":-6.9802, "alpha":16.07865, "fx":[-134.02269,-69.14936,34.87469,13.19824], "fy":[-39.77741,-122.0783,-135.42781,-98.48718]}, + {"t":11.35946, "x":7.42457, "y":2.58834, "heading":0.33455, "vx":1.38312, "vy":3.46322, "omega":3.20931, "ax":-3.95414, "ay":-6.32552, "alpha":16.09653, "fx":[-131.96597,-62.13523,43.12028,-73.21502], "fy":[-46.80637,-125.94092,-133.19354,-52.71005]}, + {"t":11.38804, "x":7.4625, "y":2.68475, "heading":0.42629, "vx":1.27009, "vy":3.2824, "omega":3.66944, "ax":-4.19353, "ay":-7.42835, "alpha":12.34932, "fx":[-124.55483,-55.52578,37.76267,-95.45097], "fy":[-64.34423,-129.08636,-134.89643,-92.85353]}, + {"t":11.41663, "x":7.49709, "y":2.77554, "heading":0.53118, "vx":1.15022, "vy":3.07006, "omega":4.02245, "ax":-3.95829, "ay":-8.93263, "alpha":3.9903, "fx":[-82.79667,-52.95913,-25.99945,-62.67613], "fy":[-113.3392,-130.14603,-137.84985,-125.13647]}, + {"t":11.44521, "x":7.52835, "y":2.85965, "heading":0.64616, "vx":1.03707, "vy":2.81471, "omega":4.13651, "ax":-3.87162, "ay":-9.11192, "alpha":-1.46672, "fx":[-44.26611,-57.94065,-64.89428,-52.4159], "fy":[-133.40718,-127.99584,-124.72485,-130.5091]}, + {"t":11.4738, "x":7.55641, "y":2.93639, "heading":0.76441, "vx":0.9264, "vy":2.55424, "omega":4.09459, "ax":-3.74297, "ay":-8.99381, "alpha":-4.88433, "fx":[-16.45443,-70.42962,-81.85703,-43.48194], "fy":[-139.73501,-121.58885,-114.59773,-134.0186]}, + {"t":11.50239, "x":7.58137, "y":3.00573, "heading":0.88145, "vx":0.8194, "vy":2.29715, "omega":3.95496, "ax":-3.64676, "ay":-8.77561, "alpha":-7.52189, "fx":[3.59268,-87.07286,-88.40458,-34.88297], "fy":[-140.74496,-110.35913,-109.81958,-136.64485]}, + {"t":11.53097, "x":7.6033, "y":3.06781, "heading":0.99451, "vx":0.71516, "vy":2.0463, "omega":3.73995, "ax":-3.5415, "ay":-8.51714, "alpha":-9.86906, "fx":[18.56493,-102.6658,-90.12653,-26.57199], "fy":[-139.61827,-96.17344,-108.53986,-138.5819]}, + {"t":11.55956, "x":7.6223, "y":3.12282, "heading":1.10142, "vx":0.61392, "vy":1.80283, "omega":3.45784, "ax":-3.38703, "ay":-8.27803, "alpha":-11.86046, "fx":[30.06079,-114.01204,-89.44793,-18.64214], "fy":[-137.63634,-82.60965,-109.18787,-139.92279]}, + {"t":11.58814, "x":7.63846, "y":3.17098, "heading":1.20026, "vx":0.5171, "vy":1.5662, "omega":3.1188, "ax":-3.18924, "ay":-8.09389, "alpha":-13.38592, "fx":[39.04759,-121.11639,-87.54948,-11.20856], "fy":[-135.38039,-72.00636,-110.77811,-140.75121]}, + {"t":11.61673, "x":7.65194, "y":3.21244, "heading":1.28941, "vx":0.42593, "vy":1.33483, "omega":2.73616, "ax":-2.97313, "ay":-7.96576, "alpha":-14.4752, "fx":[46.19148,-125.29859,-85.09336,-4.37302], "fy":[-133.1205,-64.65176,-112.72116,-141.15732]}, + {"t":11.64531, "x":7.6629, "y":3.24734, "heading":1.36763, "vx":0.34095, "vy":1.10712, "omega":2.32238, "ax":-2.75887, "ay":-7.87794, "alpha":-15.23838, "fx":[52.0344,-127.75582,-82.4934,1.78968], "fy":[-130.94774,-59.81622,-114.67186,-141.23588]}, + {"t":11.6739, "x":7.67152, "y":3.27577, "heading":1.43401, "vx":0.26208, "vy":0.88193, "omega":1.88678, "ax":-2.557, "ay":-7.81229, "alpha":-15.79718, "fx":[57.08356,-129.26678,-80.02708,7.23086], "fy":[-128.82317,-56.61273,-116.43306,-141.08018]}, + {"t":11.70248, "x":7.67797, "y":3.29779, "heading":1.48795, "vx":0.18899, "vy":0.65861, "omega":1.43521, "ax":-2.37078, "ay":-7.75285, "alpha":-16.25933, "fx":[61.84671,-130.2978,-77.88965,11.91953], "fy":[-126.60066,-54.30689,-117.89486,-140.77704]}, + {"t":11.73107, "x":7.6824, "y":3.31345, "heading":1.52897, "vx":0.12122, "vy":0.43699, "omega":0.97043, "ax":-2.19941, "ay":-7.68623, "alpha":-16.71445, "fx":[66.81712,-131.12955,-76.22425,15.83223], "fy":[-124.04723,-52.35452,-118.99574,-140.40442]}, + {"t":11.75965, "x":7.68497, "y":3.3228, "heading":1.55671, "vx":0.05835, "vy":0.21728, "omega":0.49264, "ax":-2.0412, "ay":-7.60099, "alpha":-17.23381, "fx":[72.39882,-131.93532,-75.14065,18.9433], "fy":[-120.87976,-50.36068,-119.69741,-140.03086]}, + {"t":11.78824, "x":7.6858, "y":3.32591, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,14,122,189,382] + }, + "events":[] +} diff --git a/src/main/deploy/pathplanner/autos/Copy of RE_LEFT_TRENCH_MID2.auto b/src/main/deploy/pathplanner/autos/Copy of RE_LEFT_TRENCH_MID2.auto new file mode 100644 index 0000000..f473936 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Copy of RE_LEFT_TRENCH_MID2.auto @@ -0,0 +1,32 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "path", + "data": { + "pathName": "blahblahblah.0" + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RE_LEFT_TRENCH_MID2.auto b/src/main/deploy/pathplanner/autos/RE_LEFT_TRENCH_MID2.auto index 320316c..3713f09 100644 --- a/src/main/deploy/pathplanner/autos/RE_LEFT_TRENCH_MID2.auto +++ b/src/main/deploy/pathplanner/autos/RE_LEFT_TRENCH_MID2.auto @@ -14,73 +14,73 @@ "waitTime": 2.5 } }, - { - "type": "path", - "data": { - "pathName": "RE_Left_Trench_Mid_2.0" - } - }, - { - "type": "named", - "data": { - "name": "Shoot On The Move" - } - }, { "type": "sequential", "data": { "commands": [ { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Zero Hood" - } - }, - { - "type": "named", - "data": { - "name": "Zero Arm" - } - } - ] + "pathName": "RE_Left_Trench_Mid_2.0" } }, { "type": "named", "data": { - "name": "Intake Out" + "name": "Stop Swerve" } } ] } + }, + { + "type": "named", + "data": { + "name": "Shoot On The Move" + } + }, + { + "type": "named", + "data": { + "name": "Intake Out" + } } ] } }, - { - "type": "named", - "data": { - "name": "Intake In" - } - }, { "type": "deadline", "data": { "commands": [ + { + "type": "path", + "data": { + "pathName": "RE_Left_Trench_Mid_2.1" + } + }, { "type": "named", "data": { - "name": "Intake Sequence Out" + "name": "Intake In" } }, { - "type": "path", + "type": "sequential", "data": { - "pathName": "RE_Left_Trench_Mid_2.1" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Intake Sequence Out" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/benauto.auto b/src/main/deploy/pathplanner/autos/benauto.auto new file mode 100644 index 0000000..ef41238 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/benauto.auto @@ -0,0 +1,201 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "benautoDepo.0" + } + }, + { + "type": "named", + "data": { + "name": "Stop Swerve" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot On The Move" + } + }, + { + "type": "named", + "data": { + "name": "Intake Out" + } + } + ] + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "benautoDepo.1" + } + }, + { + "type": "named", + "data": { + "name": "Intake In" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Intake Sequence Out" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "benautoDepo.2" + } + }, + { + "type": "named", + "data": { + "name": "Stop Swerve" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 4.5 + } + }, + { + "type": "named", + "data": { + "name": "Shoot On The Move" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Shake Intake" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "benautoDepo.3" + } + }, + { + "type": "named", + "data": { + "name": "Stop Swerve" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Shoot On The Move" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.8 + } + }, + { + "type": "named", + "data": { + "name": "Shake Intake" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "benautoDepo.4" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 018ea48..30ca162 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -85,84 +85,145 @@ public static class SOTMConstants { public static InterpolatingDoubleTreeMap timeOfFlightMapFerrying = new InterpolatingDoubleTreeMap(); + public static InterpolatingTreeMap hoodAngleMapSim = + new InterpolatingTreeMap<>(InverseInterpolator.forDouble(), Rotation2d::interpolate); + public static InterpolatingDoubleTreeMap shooterSpeedMapSim = new InterpolatingDoubleTreeMap(); + public static InterpolatingDoubleTreeMap timeOfFlightMapSim = new InterpolatingDoubleTreeMap(); + + static { + hoodAngleMapSim.put(1.681, Rotation2d.fromDegrees(21.448)); + hoodAngleMapSim.put(2.016, Rotation2d.fromDegrees(21.972)); + hoodAngleMapSim.put(2.338, Rotation2d.fromDegrees(22.648)); + hoodAngleMapSim.put(2.665, Rotation2d.fromDegrees(24.122)); + hoodAngleMapSim.put(3.034, Rotation2d.fromDegrees(25.658)); + hoodAngleMapSim.put(3.363, Rotation2d.fromDegrees(26.333)); + hoodAngleMapSim.put(3.711, Rotation2d.fromDegrees(27.562)); + hoodAngleMapSim.put(4.061, Rotation2d.fromDegrees(29.036)); + hoodAngleMapSim.put(4.324, Rotation2d.fromDegrees(29.835)); + hoodAngleMapSim.put(4.619, Rotation2d.fromDegrees(30.449)); + hoodAngleMapSim.put(5.010, Rotation2d.fromDegrees(32.046)); + hoodAngleMapSim.put(5.366, Rotation2d.fromDegrees(33.275)); + hoodAngleMapSim.put(5.610, Rotation2d.fromDegrees(34.319)); + hoodAngleMapSim.put(6.051, Rotation2d.fromDegrees(35.794)); + hoodAngleMapSim.put(6.369, Rotation2d.fromDegrees(36.408)); + hoodAngleMapSim.put(6.704, Rotation2d.fromDegrees(37.002)); + hoodAngleMapSim.put(7.022, Rotation2d.fromDegrees(36.531)); + + shooterSpeedMapSim.put(1.681, 18.155); + shooterSpeedMapSim.put(2.016, 18.611); + shooterSpeedMapSim.put(2.338, 19.516); + shooterSpeedMapSim.put(2.665, 20.121); + shooterSpeedMapSim.put(3.034, 21.027); + shooterSpeedMapSim.put(3.363, 21.629); + shooterSpeedMapSim.put(3.711, 22.233); + shooterSpeedMapSim.put(4.061, 22.981); + shooterSpeedMapSim.put(4.324, 23.583); + shooterSpeedMapSim.put(4.619, 24.037); + shooterSpeedMapSim.put(5.010, 24.793); + shooterSpeedMapSim.put(5.366, 25.549); + shooterSpeedMapSim.put(5.610, 25.850); + shooterSpeedMapSim.put(6.051, 26.455); + shooterSpeedMapSim.put(6.369, 27.057); + shooterSpeedMapSim.put(6.704, 27.661); + shooterSpeedMapSim.put(7.022, 28.265); + + timeOfFlightMapSim.put(1.695, 0.893); + timeOfFlightMapSim.put(2.016, 0.924); + timeOfFlightMapSim.put(2.338, 0.985); + timeOfFlightMapSim.put(2.665, 1.013); + timeOfFlightMapSim.put(3.034, 1.059); + timeOfFlightMapSim.put(3.363, 1.093); + timeOfFlightMapSim.put(3.711, 1.118); + timeOfFlightMapSim.put(4.061, 1.147); + timeOfFlightMapSim.put(4.324, 1.175); + timeOfFlightMapSim.put(4.619, 1.195); + timeOfFlightMapSim.put(5.010, 1.216); + timeOfFlightMapSim.put(5.366, 1.242); + timeOfFlightMapSim.put(5.610, 1.241); + timeOfFlightMapSim.put(6.051, 1.249); + timeOfFlightMapSim.put(6.365, 1.273); + timeOfFlightMapSim.put(6.704, 1.295); + timeOfFlightMapSim.put(7.022, 1.341); + } + static { - // hoodAngleMapScoring.put(1.777, Rotation2d.fromDegrees(21.448)); - // hoodAngleMapScoring.put(2.44, Rotation2d.fromDegrees(22.25)); - // hoodAngleMapScoring.put(3.28, Rotation2d.fromDegrees(23.62)); - // hoodAngleMapScoring.put(3.805, Rotation2d.fromDegrees(25.18)); - // hoodAngleMapScoring.put(3.877, Rotation2d.fromDegrees(24.59)); - // hoodAngleMapScoring.put(4.34, Rotation2d.fromDegrees(26.64)); - // hoodAngleMapScoring.put(5.272, Rotation2d.fromDegrees(26.64)); - // hoodAngleMapScoring.put(5.478, Rotation2d.fromDegrees(27.23)); - // hoodAngleMapScoring.put(6.285, Rotation2d.fromDegrees(30.65)); - // hoodAngleMapScoring.put(2.247, Rotation2d.fromDegrees(21.45)); - // hoodAngleMapScoring.put(2.5405, Rotation2d.fromDegrees(22.54)); - // hoodAngleMapScoring.put(2.33, Rotation2d.fromDegrees(22.25)); - // hoodAngleMapScoring.put(4.842, Rotation2d.fromDegrees(27.52)); - // hoodAngleMapScoring.put(3.315, Rotation2d.fromDegrees(24.10)); - // hoodAngleMapScoring.put(5.207, Rotation2d.fromDegrees(27.23)); - - // shooterSpeedMapScoring.put(1.777, 32.51); - // shooterSpeedMapScoring.put(2.44, 35.61); - // shooterSpeedMapScoring.put(3.28, 41.11); - // shooterSpeedMapScoring.put(3.805, 41.11); - // shooterSpeedMapScoring.put(4.34, 47.80); - // shooterSpeedMapScoring.put(5.272, 51.14); - // shooterSpeedMapScoring.put(5.478, 51.14); - // shooterSpeedMapScoring.put(6.285, 53.05); - // shooterSpeedMapScoring.put(2.247, 35.14); - // shooterSpeedMapScoring.put(2.5405, 38.00); - // shooterSpeedMapScoring.put(2.33, 36.09); - // shooterSpeedMapScoring.put(3.877, 47.32); - // shooterSpeedMapScoring.put(4.842, 49.47); - // shooterSpeedMapScoring.put(3.315, 43.74); - // shooterSpeedMapScoring.put(5.312075, 51.14); - - // timeOfFlightMapScoring.put(1.777, 1.1); - // timeOfFlightMapScoring.put(2.44, 1.12); - // timeOfFlightMapScoring.put(3.28, 1.3); - // timeOfFlightMapScoring.put(3.805, 1.33); - // timeOfFlightMapScoring.put(4.34, 1.44); - // timeOfFlightMapScoring.put(5.272, 1.60); - // timeOfFlightMapScoring.put(5.478, 1.57); - // timeOfFlightMapScoring.put(6.285, 1.50); - // timeOfFlightMapScoring.put(2.247, 1.20); - // timeOfFlightMapScoring.put(2.5405, 1.20); - // timeOfFlightMapScoring.put(2.33, 1.10); - // timeOfFlightMapScoring.put(3.87, 1.40); - // timeOfFlightMapScoring.put(4.842, 1.50); - // timeOfFlightMapScoring.put(3.315, 1.30); - // timeOfFlightMapScoring.put(5.312, 1.59); + hoodAngleMapScoring.put(1.777, Rotation2d.fromDegrees(21.448)); + hoodAngleMapScoring.put(2.44, Rotation2d.fromDegrees(22.25)); + hoodAngleMapScoring.put(3.28, Rotation2d.fromDegrees(23.62)); + hoodAngleMapScoring.put(3.805, Rotation2d.fromDegrees(25.18)); + hoodAngleMapScoring.put(3.877, Rotation2d.fromDegrees(24.59)); + hoodAngleMapScoring.put(4.34, Rotation2d.fromDegrees(26.64)); + hoodAngleMapScoring.put(5.272, Rotation2d.fromDegrees(26.64)); + hoodAngleMapScoring.put(5.478, Rotation2d.fromDegrees(27.23)); + hoodAngleMapScoring.put(6.285, Rotation2d.fromDegrees(30.65)); + hoodAngleMapScoring.put(2.247, Rotation2d.fromDegrees(21.45)); + hoodAngleMapScoring.put(2.5405, Rotation2d.fromDegrees(22.54)); + hoodAngleMapScoring.put(2.33, Rotation2d.fromDegrees(22.25)); + hoodAngleMapScoring.put(4.842, Rotation2d.fromDegrees(27.52)); + hoodAngleMapScoring.put(3.315, Rotation2d.fromDegrees(24.10)); + hoodAngleMapScoring.put(5.207, Rotation2d.fromDegrees(27.23)); + + shooterSpeedMapScoring.put(1.777, 32.51); + shooterSpeedMapScoring.put(2.44, 35.61); + shooterSpeedMapScoring.put(3.28, 41.11); + shooterSpeedMapScoring.put(3.805, 41.11); + shooterSpeedMapScoring.put(4.34, 47.80); + shooterSpeedMapScoring.put(5.272, 51.14); + shooterSpeedMapScoring.put(5.478, 51.14); + shooterSpeedMapScoring.put(6.285, 53.05); + shooterSpeedMapScoring.put(2.247, 35.14); + shooterSpeedMapScoring.put(2.5405, 38.00); + shooterSpeedMapScoring.put(2.33, 36.09); + shooterSpeedMapScoring.put(3.877, 47.32); + shooterSpeedMapScoring.put(4.842, 49.47); + shooterSpeedMapScoring.put(3.315, 43.74); + shooterSpeedMapScoring.put(5.312075, 51.14); + + timeOfFlightMapScoring.put(1.777, 1.1); + timeOfFlightMapScoring.put(2.44, 1.12); + timeOfFlightMapScoring.put(3.28, 1.3); + timeOfFlightMapScoring.put(3.805, 1.33); + timeOfFlightMapScoring.put(4.34, 1.44); + timeOfFlightMapScoring.put(5.272, 1.60); + timeOfFlightMapScoring.put(5.478, 1.57); + timeOfFlightMapScoring.put(6.285, 1.50); + timeOfFlightMapScoring.put(2.247, 1.20); + timeOfFlightMapScoring.put(2.5405, 1.20); + timeOfFlightMapScoring.put(2.33, 1.10); + timeOfFlightMapScoring.put(3.87, 1.40); + timeOfFlightMapScoring.put(4.842, 1.50); + timeOfFlightMapScoring.put(3.315, 1.30); + timeOfFlightMapScoring.put(5.312, 1.59); hoodAngleMapScoring.put(1.667, Rotation2d.fromDegrees(21.45)); hoodAngleMapScoring.put(2.14, Rotation2d.fromDegrees(21.45)); hoodAngleMapScoring.put(2.412, Rotation2d.fromDegrees(21.45)); hoodAngleMapScoring.put(2.735, Rotation2d.fromDegrees(22.85)); hoodAngleMapScoring.put(3.046, Rotation2d.fromDegrees(23.35)); - hoodAngleMapScoring.put(3.467, Rotation2d.fromDegrees(23.35)); - hoodAngleMapScoring.put(3.725, Rotation2d.fromDegrees(24.24)); - hoodAngleMapScoring.put(3.963, Rotation2d.fromDegrees(25.13)); - hoodAngleMapScoring.put(4.187, Rotation2d.fromDegrees(25.43)); - hoodAngleMapScoring.put(4.5086, Rotation2d.fromDegrees(25.43)); - hoodAngleMapScoring.put(4.780, Rotation2d.fromDegrees(25.43)); - hoodAngleMapScoring.put(5.172, Rotation2d.fromDegrees(25.43)); - hoodAngleMapScoring.put(5.501, Rotation2d.fromDegrees(25.82)); - hoodAngleMapScoring.put(5.848, Rotation2d.fromDegrees(26.12)); + // hoodAngleMapScoring.put(3.467, Rotation2d.fromDegrees(23.35)); + // hoodAngleMapScoring.put(3.725, Rotation2d.fromDegrees(24.24)); + // hoodAngleMapScoring.put(3.963, Rotation2d.fromDegrees(25.13)); + // hoodAngleMapScoring.put(4.187, Rotation2d.fromDegrees(25.43)); + // hoodAngleMapScoring.put(4.5086, Rotation2d.fromDegrees(25.43)); + // hoodAngleMapScoring.put(4.780, Rotation2d.fromDegrees(25.43)); + // hoodAngleMapScoring.put(5.172, Rotation2d.fromDegrees(25.43)); + // hoodAngleMapScoring.put(5.501, Rotation2d.fromDegrees(25.82)); + // hoodAngleMapScoring.put(5.848, Rotation2d.fromDegrees(26.12)); shooterSpeedMapScoring.put(1.667, 34.18); shooterSpeedMapScoring.put(2.14, 36.14); shooterSpeedMapScoring.put(2.412, 40.53); shooterSpeedMapScoring.put(2.735, 41.02); shooterSpeedMapScoring.put(3.046, 41.99); - shooterSpeedMapScoring.put(3.467, 43.21); - shooterSpeedMapScoring.put(3.725, 43.95); - shooterSpeedMapScoring.put(3.963, 44.92); - shooterSpeedMapScoring.put(4.187, 45.51); - shooterSpeedMapScoring.put(4.5086, 45.65); - shooterSpeedMapScoring.put(4.780, 45.65); - shooterSpeedMapScoring.put(5.172, 46.87); - shooterSpeedMapScoring.put(5.501, 47.36); - shooterSpeedMapScoring.put(5.848, 48.83); + // shooterSpeedMapScoring.put(3.467, 43.21); + // shooterSpeedMapScoring.put(3.725, 43.95); + // shooterSpeedMapScoring.put(3.963, 44.92); + // shooterSpeedMapScoring.put(4.187, 45.51); + // shooterSpeedMapScoring.put(4.5086, 45.65); + // shooterSpeedMapScoring.put(4.780, 45.65); + // shooterSpeedMapScoring.put(5.172, 46.87); + // shooterSpeedMapScoring.put(5.501, 47.36); + // shooterSpeedMapScoring.put(5.848, 48.83); timeOfFlightMapScoring.put(1.667, 0.95); timeOfFlightMapScoring.put(2.14, 1.05); @@ -172,12 +233,12 @@ public static class SOTMConstants { timeOfFlightMapScoring.put(3.467, 1.40); timeOfFlightMapScoring.put(3.725, 1.39); timeOfFlightMapScoring.put(3.963, 1.41); - timeOfFlightMapScoring.put(4.187, 1.50); - timeOfFlightMapScoring.put(4.5086, 1.35); - timeOfFlightMapScoring.put(4.780, 1.39); - timeOfFlightMapScoring.put(5.172, 1.40); - timeOfFlightMapScoring.put(5.501, 1.37); - timeOfFlightMapScoring.put(5.848, 1.48); + // timeOfFlightMapScoring.put(4.187, 1.50); + // timeOfFlightMapScoring.put(4.5086, 1.35); + // timeOfFlightMapScoring.put(4.780, 1.39); + // timeOfFlightMapScoring.put(5.172, 1.40); + // timeOfFlightMapScoring.put(5.501, 1.37); + // timeOfFlightMapScoring.put(5.848, 1.48); // ferrying maps hoodAngleMapFerrying.put(6.572, Rotation2d.fromDegrees(29.28)); @@ -472,7 +533,7 @@ public static class FieldConstants { Path.of( Filesystem.getDeployDirectory().getPath(), "apriltags", - regalEagleAprilTagJson + ".json"); + aprilTagJson + ".json"); public static AprilTagFieldLayout aprilTagLayout; @@ -605,8 +666,8 @@ public static class TurretConstants { public static final Angle MIN_ANGLE = Degrees.of(-270.0); public static final Angle MAX_ANGLE = Degrees.of(90.0); - public static final Angle encAMagnetOffset = Rotations.of(-0.538330078125); - public static final Angle encBMagnetOffset = Rotations.of(-0.82421875); + public static final Angle encAMagnetOffset = Rotations.of(-0.517333984375); + public static final Angle encBMagnetOffset = Rotations.of(-0.802734375); public static final AngularVelocity maxTurretVelocity = DegreesPerSecond.of(2.75 * 360); // 3 public static final AngularAcceleration maxTurretAcceleration = diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 72db9ad..c256331 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -4,12 +4,15 @@ package frc.robot; +import static edu.wpi.first.units.Units.Seconds; + import com.ctre.phoenix6.SignalLogger; import com.pathplanner.lib.commands.PathfindingCommand; import edu.wpi.first.epilogue.Epilogue; import edu.wpi.first.epilogue.Logged; import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.Timer; @@ -17,7 +20,9 @@ import edu.wpi.first.wpilibj.util.WPILibVersion; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.util.FuelSim; // import frc.robot.util.FuelSim; +import frc.robot.util.HubTracker; import frc.robot.util.LogUtil; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; @@ -120,18 +125,16 @@ public void robotPeriodic() { SmartDashboard.putNumber("Voltage", RobotController.getBatteryVoltage()); SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); - // SmartDashboard.putNumber( - // "HubTracker/Time Until Shift", - // HubTracker.timeRemainingInCurrentShift().orElse(Seconds.of(0)).in(Seconds)); - // SmartDashboard.putBoolean( - // "HubTracker/RedWonAuto", HubTracker.getAutoWinner().orElse(Alliance.Blue) == - // Alliance.Red); - // SmartDashboard.putBoolean("HubTracker/GameDataPresent", - // !HubTracker.getAutoWinner().isEmpty()); + SmartDashboard.putNumber( + "HubTracker/Time Until Shift", + HubTracker.timeRemainingInCurrentShift().orElse(Seconds.of(0)).in(Seconds)); + SmartDashboard.putBoolean( + "HubTracker/RedWonAuto", HubTracker.getAutoWinner().orElse(Alliance.Blue) == Alliance.Red); + SmartDashboard.putBoolean("HubTracker/GameDataPresent", !HubTracker.getAutoWinner().isEmpty()); - // SmartDashboard.putNumber( - // "HubTracker/TimeUtilActive", - // HubTracker.timeUntilActive().orElse(Seconds.of(0)).in(Seconds)); + SmartDashboard.putNumber( + "HubTracker/TimeUtilActive", + HubTracker.timeUntilActive().orElse(Seconds.of(0)).in(Seconds)); double codeRuntime = (Timer.getFPGATimestamp() - startTime) * 1000.0; SmartDashboard.putNumber("Code Runtime (ms)", codeRuntime); @@ -201,16 +204,16 @@ public void simulationInit() { public void simulationPeriodic() { // RobotVisualization.projectileUpdater(); - // FuelSim.getInstance().updateSim(); - // FuelSim.getInstance() - // .toggleAirResistance(SmartDashboard.getBoolean("Air Resistance Toggle", false)); - // FuelSim.Hub.RED_HUB.toggleCountWhenActive( - // SmartDashboard.getBoolean("Only Count while Active", false)); - // FuelSim.Hub.BLUE_HUB.toggleCountWhenActive( - // SmartDashboard.getBoolean("Only Count while Active", false)); + FuelSim.getInstance().updateSim(); + FuelSim.getInstance() + .toggleAirResistance(SmartDashboard.getBoolean("Air Resistance Toggle", false)); + FuelSim.Hub.RED_HUB.toggleCountWhenActive( + SmartDashboard.getBoolean("Only Count while Active", false)); + FuelSim.Hub.BLUE_HUB.toggleCountWhenActive( + SmartDashboard.getBoolean("Only Count while Active", false)); - // SmartDashboard.putNumber("Red Alliance Score", FuelSim.Hub.RED_HUB.getScore()); - // SmartDashboard.putNumber("Blue Alliance Score", FuelSim.Hub.BLUE_HUB.getScore()); + SmartDashboard.putNumber("Red Alliance Score", FuelSim.Hub.RED_HUB.getScore()); + SmartDashboard.putNumber("Blue Alliance Score", FuelSim.Hub.BLUE_HUB.getScore()); } private static final class GcStatsCollector { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a9e0f32..1025a93 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -115,8 +115,9 @@ public class RobotContainer { Trigger activeHubTrigger = new Trigger(HubTracker::isActive).or(() -> HubTracker.getMatchTime() < 0); - Trigger almostActiveTrigger = - new Trigger(() -> HubTracker.timeUntilActive().orElse(Seconds.of(4)).in(Seconds) < 3); + Trigger shiftEndingTrigger = + new Trigger( + () -> HubTracker.timeRemainingInCurrentShift().orElse(Seconds.of(4)).in(Seconds) < 3.53); Trigger automatedShootingTrigger = new Trigger(() -> SmartDashboard.getBoolean("Automated Shooting Toggle", false)); @@ -147,6 +148,8 @@ public RobotContainer() { // NamedCommands.registerCommand("Drive Over Bump To Middle", swerve.driveOverBump(true)); // NamedCommands.registerCommand("Drive Over Bump To Alliance", swerve.driveOverBump(false)); // NamedCommands.registerCommand("Move To Fuel", new MoveToFuel(swerve).withTimeout(2)); + NamedCommands.registerCommand("Stop Swerve", swerve.stopSwerve()); + NamedCommands.registerCommand( "Shoot On The Move", new ShootOnTheMove( @@ -247,7 +250,10 @@ public RobotContainer() { } SmartDashboard.putData( - "Set Arm Zero", intake.runOnce(() -> intake.setArmMaxPosition()).ignoringDisable(true)); + "Set Arm Down", intake.runOnce(() -> intake.setArmMaxPosition()).ignoringDisable(true)); + SmartDashboard.putData( + "Set Arm Zero", intake.runOnce(() -> intake.setZero()).ignoringDisable(true)); + SmartDashboard.putData( "Set Hood Zero", hood.runOnce(() -> hood.zeroHood()).ignoringDisable(true)); @@ -278,8 +284,8 @@ public RobotContainer() { preShiftShoot.onTrue(Commands.runOnce(() -> canPreShoot = true)); activeHubTrigger.onFalse(Commands.runOnce(() -> canPreShoot = false)); - almostActiveTrigger.onTrue(driverController.rumbleFor(RumbleType.kBothRumble, 1.0, 3)); - almostActiveTrigger.onTrue(operatorController.rumbleFor(RumbleType.kBothRumble, 1.0, 3)); + shiftEndingTrigger.onTrue(driverController.rumbleFor(RumbleType.kBothRumble, 1.0, 3)); + shiftEndingTrigger.onTrue(operatorController.rumbleFor(RumbleType.kBothRumble, 1.0, 3)); } private void configureFuelSim() { @@ -326,6 +332,19 @@ private void configureDriverBindings() { resetHeadingButton.onTrue(swerve.runOnce(swerve::seedFieldCentric).ignoringDisable(true)); + driverController + .rightTrigger() + .whileTrue( + new ShootOnTheMove( + swerve, + turret, + hood, + shooter, + spindexer, + goalShotTargetSupplier, + robotVisualization, + inAllianceZoneTrigger)); + swerve.setDefaultCommand( new GuidedTeleopSwerve( driverController::getLeftY, diff --git a/src/main/java/frc/robot/commands/GuidedTeleopSwerve.java b/src/main/java/frc/robot/commands/GuidedTeleopSwerve.java index 9e30edb..9aa237d 100644 --- a/src/main/java/frc/robot/commands/GuidedTeleopSwerve.java +++ b/src/main/java/frc/robot/commands/GuidedTeleopSwerve.java @@ -131,7 +131,7 @@ private double getMaxTranslationalSpeed() { private double getForwardSpeed() { double forwardSpeed = forwardRateLimiter.calculate(-forwardSupplier.getAsDouble() * getMaxTranslationalSpeed()); - if (Math.abs(forwardSupplier.getAsDouble()) <= 0.005) { + if (Math.abs(forwardSupplier.getAsDouble()) <= 0.00353) { forwardSpeed = 0; forwardRateLimiter.reset(0); } @@ -141,7 +141,7 @@ private double getForwardSpeed() { private double getStrafeSpeed() { double stafeSpeed = strafeRateLimiter.calculate(-strafeSupplier.getAsDouble() * getMaxTranslationalSpeed()); - if (Math.abs(strafeSupplier.getAsDouble()) <= 0.005) { + if (Math.abs(strafeSupplier.getAsDouble()) <= 0.00353) { stafeSpeed = 0; strafeRateLimiter.reset(0); } diff --git a/src/main/java/frc/robot/commands/ShootOnTheMove.java b/src/main/java/frc/robot/commands/ShootOnTheMove.java index 688ddb6..bc28209 100644 --- a/src/main/java/frc/robot/commands/ShootOnTheMove.java +++ b/src/main/java/frc/robot/commands/ShootOnTheMove.java @@ -10,6 +10,7 @@ import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; @@ -37,8 +38,8 @@ public class ShootOnTheMove extends Command { private Debouncer turretSetPointDebouncer = new Debouncer(0.02); private Debouncer shooterDebouncer = new Debouncer(0.02); - private double turretTolerance = 6.5; // deg - private double hoodTolerance = 1.5; // deg + private double turretTolerance = 10.0; // deg + private double hoodTolerance = 2.0; // deg private LinearFilter accelXFilter = LinearFilter.movingAverage(2); private LinearFilter accelYFilter = LinearFilter.movingAverage(2); @@ -108,6 +109,12 @@ public void execute() { fieldSpeeds, scoringMode.getAsBoolean()); + Angle compensatedAngle = shootingParameters.turretAngle(); + + if((compensatedAngle.in(Degrees) < -20) && (compensatedAngle.in(Degrees) > -100) && (swerve.getTurretToHubMeters() < 4.2)) { + compensatedAngle = compensatedAngle.minus(Degrees.of(6.7)); + } + turret.moveToAngle(shootingParameters.turretAngle()); hood.moveToAngle(shootingParameters.hoodAngle()); shooter.reachGoalVelocity(shootingParameters.shooterSpeed()); @@ -119,9 +126,10 @@ public void execute() { hood.getHoodAngle().in(Degrees) - shootingParameters.hoodAngle().in(Degrees); if ((turretSetPointDebouncer.calculate(Math.abs(turretErrorDeg) <= turretTolerance) - && hoodSetPointDebouncer.calculate(Math.abs(hoodErrorDeg) <= hoodTolerance) - && shooterDebouncer.calculate( - shooter.shooterAtSetPoint(shootingParameters.shooterSpeed()))) || !scoringMode.getAsBoolean()) { + && hoodSetPointDebouncer.calculate(Math.abs(hoodErrorDeg) <= hoodTolerance) + && shooterDebouncer.calculate( + shooter.shooterAtSetPoint(shootingParameters.shooterSpeed()))) + || !scoringMode.getAsBoolean()) { if (RobotBase.isSimulation()) { // if sim and ready to shoot if (isVisualizationFirstShot || ((Timer.getFPGATimestamp() - startTime) > 1 / SimConstants.fuelsPerSecond)) { diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index a230531..1c2b291 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -137,7 +137,7 @@ public class TunerConstants { private static final int kFrontLeftDriveMotorId = 1; private static final int kFrontLeftSteerMotorId = 2; private static final int kFrontLeftEncoderId = 3; - private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.174072265625); + private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.4052734375); private static final boolean kFrontLeftSteerMotorInverted = true; private static final boolean kFrontLeftEncoderInverted = false; diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 249c4f5..804de37 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -12,6 +12,7 @@ import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -165,7 +166,7 @@ public Command toggleRollers() { } public boolean isIntakeDeployed() { - // return !armMagnetSensor.get(); + if (RobotBase.isSimulation()) return true; return armMainPosition.getValue().gte(IntakeConstants.armDownPositionTolerance); // return true; // FOR TESTING IN SIM } diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index f11c9a6..d5e23f8 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -597,8 +597,7 @@ public void periodic() { stateCache = getState(); SmartDashboard.putNumber("Swerve/Gyro Position", getPigeonRotation().getDegrees()); - SmartDashboard.putNumber( - "Testing/Distance To Hub", (getTurretToHubMeters())); + SmartDashboard.putNumber("Testing/Distance To Hub", (getTurretToHubMeters())); SmartDashboard.putNumber("Testing/Distance To Ferry", getTurretToFerryMeters()); @@ -952,6 +951,12 @@ private boolean isValidMultitagPose( return true; } + public Command stopSwerve() { + return runOnce( + () -> + this.setControl(fieldOriented.withVelocityX(0).withVelocityY(0).withRotationalRate(0))); + } + // @Logged(name = "Object Detection Positions") // public Pose2d[] updateFuelPositions() { // double now = Timer.getFPGATimestamp(); diff --git a/src/main/java/frc/robot/util/SOTMCalculator.java b/src/main/java/frc/robot/util/SOTMCalculator.java index be2a06b..a23549a 100644 --- a/src/main/java/frc/robot/util/SOTMCalculator.java +++ b/src/main/java/frc/robot/util/SOTMCalculator.java @@ -10,6 +10,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants.SOTMConstants; import frc.robot.Constants.TurretConstants; @@ -61,6 +62,12 @@ public static ShootingParameters getParameters( InterpolatingDoubleTreeMap timeOfFlightMap = isScoring ? SOTMConstants.timeOfFlightMapScoring : SOTMConstants.timeOfFlightMapFerrying; + if (RobotBase.isSimulation()) { + hoodAngleMap = SOTMConstants.hoodAngleMapSim; + shooterSpeedMap = SOTMConstants.shooterSpeedMapSim; + timeOfFlightMap = SOTMConstants.timeOfFlightMapSim; + } + Pose2d robotPose = swerve.getRobotPose(); Translation2d turretPose =