diff --git a/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto b/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto index 16e0de4..b83e34c 100644 --- a/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto +++ b/src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto @@ -32,40 +32,9 @@ "data": { "pathName": "MoveOut-Left" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 1.5 - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } } ] } - }, - { - "type": "named", - "data": { - "name": "Prep-Speed - 60%" - } - }, - { - "type": "named", - "data": { - "name": "Outtake" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/2-SourceSide-Leave.auto b/src/main/deploy/pathplanner/autos/2-SourceSide-Leave.auto index 863d559..8d2f7b2 100644 --- a/src/main/deploy/pathplanner/autos/2-SourceSide-Leave.auto +++ b/src/main/deploy/pathplanner/autos/2-SourceSide-Leave.auto @@ -11,12 +11,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "named", - "data": { - "name": "Intake in" - } - }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto index 73d8f39..2964dc9 100644 --- a/src/main/deploy/pathplanner/autos/4-Center-Stays.auto +++ b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto @@ -50,25 +50,6 @@ "data": { "name": "Spin up Shooter" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } @@ -100,25 +81,6 @@ "data": { "name": "Intake" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } @@ -150,25 +112,6 @@ "data": { "name": "Intake" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } diff --git a/src/main/deploy/pathplanner/autos/5-Center-Stays.auto b/src/main/deploy/pathplanner/autos/5-Center-Stays.auto index 36dc3d6..7d849f7 100644 --- a/src/main/deploy/pathplanner/autos/5-Center-Stays.auto +++ b/src/main/deploy/pathplanner/autos/5-Center-Stays.auto @@ -11,12 +11,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "named", - "data": { - "name": "Intake in" - } - }, { "type": "named", "data": { @@ -50,25 +44,6 @@ "data": { "name": "Spin up Shooter" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } @@ -100,25 +75,6 @@ "data": { "name": "Intake" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } @@ -150,25 +106,6 @@ "data": { "name": "Intake" } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "Intake in" - } - } - ] - } } ] } @@ -184,38 +121,6 @@ "data": { "name": "Outtake" } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "praying" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } - } - ] - } } ] } diff --git a/src/main/deploy/pathplanner/paths/praying.path b/src/main/deploy/pathplanner/paths/praying.path deleted file mode 100644 index 8f370f6..0000000 --- a/src/main/deploy/pathplanner/paths/praying.path +++ /dev/null @@ -1,84 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.4, - "y": 5.5216374597852385 - }, - "prevControl": null, - "nextControl": { - "x": 3.1394462788925583, - "y": 5.042853514278457 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.727856598570341, - "y": 4.0606698356253865 - }, - "prevControl": { - "x": 6.452483762110382, - "y": 3.9287347146122866 - }, - "nextControl": { - "x": 7.9485168895402, - "y": 4.083496762277441 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.3470318873095533, - "y": 5.5216374597852385 - }, - "prevControl": { - "x": 4.590732610036649, - "y": 4.456475198664683 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.9, - "rotationDegrees": -5.22608757192024, - "rotateFast": false - }, - { - "waypointRelativePos": 1.5, - "rotationDegrees": -30.73809745377298, - "rotateFast": false - }, - { - "waypointRelativePos": 0.5, - "rotationDegrees": -30.768435452329488, - "rotateFast": false - } - ], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.25, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": 0, - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java index 4fe897f..6eed73a 100644 --- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java @@ -13,73 +13,73 @@ import frc.robot.Constants.ClimberConstants; public class ClimberSubsystem extends SubsystemBase { - private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH, - ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel); - private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH, - ClimberConstants.rightReverseChannel, ClimberConstants.rightForwardChannel); - private PneumaticHub m_pHub; + // private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH, + // ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel); + // private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH, + // ClimberConstants.rightReverseChannel, ClimberConstants.rightForwardChannel); + // private PneumaticHub m_pHub; - private boolean m_compressorEnabled; + // private boolean m_compressorEnabled; - private Value m_state; + // private Value m_state; public ClimberSubsystem() { - m_pHub = new PneumaticHub(2); + // m_pHub = new PneumaticHub(2); - solenoidOff(); + // solenoidOff(); - m_compressorEnabled = false; + // m_compressorEnabled = false; } // Runs once every tick (~20ms) public void periodic() { - m_leftSolenoid.set(m_state); - m_rightSolenoid.set(m_state); - SmartDashboard.putString("pneumatics state", m_state.name()); - SmartDashboard.putNumber("pressure", m_pHub.getPressure(0)); - SmartDashboard.putBoolean("Compressor Enabled", m_compressorEnabled); - SmartDashboard.putBoolean("Compressor Running", m_pHub.getCompressor()); + // m_leftSolenoid.set(m_state); + // m_rightSolenoid.set(m_state); + // SmartDashboard.putString("pneumatics state", m_state.name()); + // SmartDashboard.putNumber("pressure", m_pHub.getPressure(0)); + // SmartDashboard.putBoolean("Compressor Enabled", m_compressorEnabled); + // SmartDashboard.putBoolean("Compressor Running", m_pHub.getCompressor()); } public void reset() { - m_state = kOff; + // m_state = kOff; } /** * Sets the state of the solenoid to off */ public void solenoidOff() { - m_state = kOff; + // m_state = kOff; } /** * Extends both arms */ public void forward() { - m_state = kForward; + // m_state = kForward; } /** * Retracts both arms */ public void reverse() { - m_state = kReverse; + // m_state = kReverse; } public Value getState(){ - return m_state; - // return Value.kOff; + // return m_state; + return Value.kOff; } /** * Toggles the state of the compressor (on/off) */ public void toggleCompressor() { - m_compressorEnabled = !m_compressorEnabled; - if (m_compressorEnabled) { - m_pHub.enableCompressorAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure); - } else { - m_pHub.disableCompressor(); - } + // m_compressorEnabled = !m_compressorEnabled; + // if (m_compressorEnabled) { + // m_pHub.enableCompressorAnalog(ClimberConstants.minPressure, ClimberConstants.maxPressure); + // } else { + // m_pHub.disableCompressor(); + // } } } diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 6dc648d..a019706 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2024.2.8", + "version": "2024.2.7", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2024.2.8" + "version": "2024.2.7" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2024.2.8", + "version": "2024.2.7", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json index 0322385..2b7d172 100644 --- a/vendordeps/Phoenix6.json +++ b/vendordeps/Phoenix6.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix6.json", "name": "CTRE-Phoenix (v6)", - "version": "24.3.0", + "version": "24.2.0", "frcYear": 2024, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "24.3.0" + "version": "24.2.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -39,7 +39,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -52,7 +52,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -65,7 +65,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -78,7 +78,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -91,7 +91,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -117,7 +117,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -130,7 +130,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -143,7 +143,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.3.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -158,7 +158,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -173,7 +173,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -203,7 +203,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -218,7 +218,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -233,7 +233,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -248,7 +248,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -263,7 +263,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -278,7 +278,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -293,7 +293,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +308,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -323,7 +323,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.3.0", + "version": "24.2.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true,