Competition merge (#31)

* Added intake in to pathplanner center-4 * Fixed arm encoder offset * fixed parallel thing * Reduced Auton Time * chore: added control changes, also modified psi constants * control-changes port * 3 note auton option * Auto modified to 1 sec wait * yes. pneumatics. :> * Smart Dashboard output for climber solenoids state * auton to 1 second fix * chore: sent shotoeriems to constants * this is the message * Added options: not gonna use during competition * runable commit * run dis * competition changes * Constants migration * Auton tuning * pr
SaintsRobotics · Mar 12, 2024 · 841b71d · 841b71d
1 parent e88e22c
commit 841b71d
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Showing 14 changed files with 309 additions and 55 deletions.
diff --git a/...oy/pathplanner/autos/1-Leave-Delayed.auto → ...anner/autos/1-Left-Leave-Delayed-12s.auto b/...oy/pathplanner/autos/1-Leave-Delayed.auto → ...anner/autos/1-Left-Leave-Delayed-12s.auto
@@ -24,7 +24,7 @@
               {
                 "type": "wait",
                 "data": {
-                  "waitTime": 12.0
+                  "waitTime": 8.0
                 }
               }
             ]

diff --git a/src/main/deploy/pathplanner/autos/1-Left-Leave-Delayed-6s.auto b/src/main/deploy/pathplanner/autos/1-Left-Leave-Delayed-6s.auto
@@ -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
+}
diff --git a/src/main/deploy/pathplanner/autos/1-Right-Leave-4s.auto b/src/main/deploy/pathplanner/autos/1-Right-Leave-4s.auto
@@ -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
+}
diff --git a/...loy/pathplanner/autos/2-Center-Stays.auto → .../pathplanner/autos/2-Center-Stays-8s.auto b/...loy/pathplanner/autos/2-Center-Stays.auto → .../pathplanner/autos/2-Center-Stays-8s.auto
@@ -25,12 +25,6 @@
                 "type": "sequential",
                 "data": {
                   "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 2.0
-                      }
-                    },
                     {
                       "type": "path",
                       "data": {

diff --git a/src/main/deploy/pathplanner/autos/3-Center-Stays.auto b/src/main/deploy/pathplanner/autos/3-Center-Stays.auto
@@ -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
+}
diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto
@@ -25,12 +25,6 @@
                 "type": "sequential",
                 "data": {
                   "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 2.0
-                      }
-                    },
                     {
                       "type": "path",
                       "data": {
@@ -49,6 +43,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -63,12 +63,6 @@
                 "type": "sequential",
                 "data": {
                   "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 2.0
-                      }
-                    },
                     {
                       "type": "path",
                       "data": {
@@ -87,6 +81,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -101,12 +101,6 @@
                 "type": "sequential",
                 "data": {
                   "commands": [
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 2.0
-                      }
-                    },
                     {
                       "type": "path",
                       "data": {
@@ -125,6 +119,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/shoot only.auto b/src/main/deploy/pathplanner/autos/shoot only.auto
@@ -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
+}
diff --git a/src/main/deploy/pathplanner/paths/CenterNote-Center.path b/src/main/deploy/pathplanner/paths/CenterNote-Center.path
@@ -49,7 +49,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 3.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -64,5 +64,5 @@
     "rotation": 0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/LeftNote-Center.path b/src/main/deploy/pathplanner/paths/LeftNote-Center.path
@@ -55,7 +55,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 3.25,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -70,5 +70,5 @@
     "rotation": 0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -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;
 
@@ -119,7 +120,11 @@ 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 {
@@ -128,8 +133,8 @@ 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 {