Merge branch 'main' into LED

Should be ready for testing
SaintsRobotics · Mar 20, 2024 · 746c1d3 · 746c1d3
1 parent a0d6586
commit 746c1d3
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Showing 14 changed files with 164 additions and 89 deletions.
diff --git a/src/main/deploy/pathplanner/autos/0-Anywhere-Leave-StraightBack.auto b/src/main/deploy/pathplanner/autos/0-Anywhere-Leave-StraightBack.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.55744644822623,
+      "y": 6.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Straight-Back"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...lanner/autos/1-Left-Leave-Delayed-6s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-3s.auto b/...lanner/autos/1-Left-Leave-Delayed-6s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-3s.auto
diff --git a/...anner/autos/1-Left-Leave-Delayed-12s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-8s.auto b/...anner/autos/1-Left-Leave-Delayed-12s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-8s.auto
diff --git a/...y/pathplanner/autos/1-Right-Leave-4s.auto → ...oy/pathplanner/autos/1-AmpSide-Leave.auto b/...y/pathplanner/autos/1-Right-Leave-4s.auto → ...oy/pathplanner/autos/1-AmpSide-Leave.auto
diff --git a/.../pathplanner/autos/2-Center-Stays-8s.auto → ...loy/pathplanner/autos/2-Center-Stays.auto b/.../pathplanner/autos/2-Center-Stays-8s.auto → ...loy/pathplanner/autos/2-Center-Stays.auto
diff --git a/...ploy/pathplanner/autos/2-Right-Leave.auto → ...pathplanner/autos/2-SourceSide-Leave.auto b/...ploy/pathplanner/autos/2-Right-Leave.auto → ...pathplanner/autos/2-SourceSide-Leave.auto
diff --git a/src/main/deploy/pathplanner/autos/3-Center-Stays.auto b/src/main/deploy/pathplanner/autos/3-Center-Stays.auto
@@ -22,23 +22,22 @@
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "CenterNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "CenterNote-Center"
                 }
               },
               {
                 "type": "named",
                 "data": {
                   "name": "Intake"
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Spin up Shooter"
+                }
               }
             ]
           }
@@ -52,24 +51,17 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Outtake"
           }
         },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "LeftNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "LeftNote-Center"
                 }
               },
               {
@@ -90,7 +82,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Outtake"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -17,28 +17,39 @@
             "name": "Shoot"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake out"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": []
+          }
+        },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "CenterNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "CenterNote-Center"
                 }
               },
               {
                 "type": "named",
                 "data": {
                   "name": "Intake"
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Spin up Shooter"
+                }
               }
             ]
           }
@@ -52,24 +63,17 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Outtake"
           }
         },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "LeftNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "LeftNote-Center"
                 }
               },
               {
@@ -90,24 +94,17 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Outtake"
           }
         },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "sequential",
+                "type": "path",
                 "data": {
-                  "commands": [
-                    {
-                      "type": "path",
-                      "data": {
-                        "pathName": "RightNote-Center"
-                      }
-                    }
-                  ]
+                  "pathName": "RightNote-Center"
                 }
               },
               {
@@ -128,7 +125,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Outtake"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/LeftNote-Center.path b/src/main/deploy/pathplanner/paths/LeftNote-Center.path
@@ -16,15 +16,15 @@
     },
     {
       "anchor": {
-        "x": 2.9026396514331507,
+        "x": 2.75,
         "y": 6.5
       },
       "prevControl": {
-        "x": 2.913008302826397,
+        "x": 2.760368651393246,
         "y": 5.421660255102424
       },
       "nextControl": {
-        "x": 2.8927727086223416,
+        "x": 2.740133057189191,
         "y": 7.526162052324105
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Straight-Back.path b/src/main/deploy/pathplanner/paths/Straight-Back.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.55744644822623,
+        "y": 6.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.557446448226229,
+        "y": 6.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 6.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -106,8 +106,7 @@ 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 = 0.504;
+    public static final double kArmEncoderOffset = 0.715;
 
     public static final double kIntakeSpeed = 0.5;
 
@@ -118,13 +117,13 @@ public static final class IntakeConstants {
   public static final class ShooterConstants {
     public static final int kTopShooterMotorPort = 20;
     public static final int kBottomShooterMotorPort = 35;
-    public static final double kTopShooterSpeed = 0.8;
-    public static final double kBottomShooterSpeed = 0.9;
-    public static final double kPreShooterSpeed = 0.4;
+    public static final double kShooterSpeedTop = 0.75;
+    public static final double kShooterSpeedBottom = 1;
+    public static final double kPrepShooterSpeed = 0.6;
     public static final double kShooterOff = 0;
 
     public static final double kShooterOffTime = 0.04; 
-    public static final double kShooterOnTime = 1.9; 
+    public static final double kShooterOnTime = 1; 
   }
 
   public static class ClimberConstants {