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Merge branch 'main' into LED
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ProgrammingSR committed Mar 14, 2024
2 parents 01658bc + 841b71d commit 39b31e1
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Showing 14 changed files with 309 additions and 55 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
{
"type": "wait",
"data": {
"waitTime": 12.0
"waitTime": 8.0
}
}
]
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44 changes: 44 additions & 0 deletions src/main/deploy/pathplanner/autos/1-Left-Leave-Delayed-6s.auto
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@@ -0,0 +1,44 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.75,
"y": 6.75
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "wait",
"data": {
"waitTime": 2.0
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "MoveOut-Left"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
38 changes: 38 additions & 0 deletions src/main/deploy/pathplanner/autos/1-Right-Leave-4s.auto
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@@ -0,0 +1,38 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7516461186768542,
"y": 4.35
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "MoveOut-Right"
}
}
]
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,6 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "path",
"data": {
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101 changes: 101 additions & 0 deletions src/main/deploy/pathplanner/autos/3-Center-Stays.auto
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@@ -0,0 +1,101 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3470318873095533,
"y": 5.5216374597852385
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "CenterNote-Center"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "LeftNote-Center"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
36 changes: 18 additions & 18 deletions src/main/deploy/pathplanner/autos/4-Center-Stays.auto
Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,6 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "path",
"data": {
Expand All @@ -49,6 +43,12 @@
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
Expand All @@ -63,12 +63,6 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "path",
"data": {
Expand All @@ -87,6 +81,12 @@
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
Expand All @@ -101,12 +101,6 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "path",
"data": {
Expand All @@ -125,6 +119,12 @@
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
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31 changes: 31 additions & 0 deletions src/main/deploy/pathplanner/autos/shoot only.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2,
"y": 2
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/CenterNote-Center.path
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 3.25,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -64,5 +64,5 @@
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/LeftNote-Center.path
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 3.25,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -70,5 +70,5 @@
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
11 changes: 8 additions & 3 deletions src/main/java/frc/robot/Constants.java
Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,8 @@ public static final class IntakeConstants {
public static final double kIntakeAmpScoringAngle = -93; // 193 - 100 (previous angle)

/** Encoder offset in rotations */
public static final double kArmEncoderOffset = 0.3415;
//public static final double kArmEncoderOffset = 0.3415;
public static final double kArmEncoderOffset = 0.504;

public static final double kIntakeSpeed = 0.5;

Expand Down Expand Up @@ -145,7 +146,11 @@ public static final class ShooterConstants {
public static final int kBottomShooterMotorPort = 35;
public static final double kShooterSpeedTop = 0.8;
public static final double kShooterSpeedBottom = 0.9;
public static final double kPreShooterSpeed = 0.4;
public static final double kShooterOff = 0;

public static final double kShooterOffTime = 0.04;
public static final double kShooterOnTime = 1.9;
}

public static class ClimberConstants {
Expand All @@ -154,8 +159,8 @@ public static class ClimberConstants {
public final static int leftReverseChannel = 2;
public final static int rightReverseChannel = 3;

public final static double minPressure = 100.0;
public final static double maxPressure = 110.0;
public final static double minPressure = 95.0;
public final static double maxPressure = 105.0;
}

public static final class VisionConstants {
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