Autonupdate

src/main/deploy/pathplanner/autos/2-Center-Stays.auto

@@ -28,7 +28,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 2.0
+                        "waitTime": 1.0
                       }
                     },
                     {

src/main/deploy/pathplanner/autos/2-Right-Leave.auto

@@ -21,6 +21,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -42,6 +48,12 @@
             "name": "Shoot"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/3-Center-Stays-copy.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
+}

src/main/deploy/pathplanner/autos/4-Center-Stays.auto

@@ -28,7 +28,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 2.0
+                        "waitTime": 1.0
                       }
                     },
                     {
@@ -49,6 +49,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -66,7 +72,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 2.0
+                        "waitTime": 1.0
                       }
                     },
                     {
@@ -87,6 +93,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -104,7 +116,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 2.0
+                        "waitTime": 1.0
                       }
                     },
                     {
@@ -125,6 +137,12 @@
             ]
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
         {
           "type": "named",
           "data": {

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
 }

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
 }

src/main/java/frc/robot/Constants.java

@@ -119,7 +119,11 @@ 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 +132,8 @@ 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 {

src/main/java/frc/robot/RobotContainer.java

@@ -11,6 +11,7 @@
 import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -25,6 +26,7 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.IOConstants;
+import frc.robot.Constants.ShooterConstants;
 import frc.robot.commands.IntakeArmPositionCommand;
 import frc.robot.commands.NoteIntakeCommand;
 import frc.robot.commands.NoteOuttakeCommand;
@@ -62,16 +64,19 @@ public class RobotContainer {
   public RobotContainer() {
     NamedCommands.registerCommand("Shoot",
         new SequentialCommandGroup(
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
-            new ParallelDeadlineGroup(new WaitCommand(2), new NoteOuttakeCommand(m_intakeSubsystem)),
-            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off)));
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
+            new ParallelDeadlineGroup(new WaitCommand(0.8), new NoteOuttakeCommand(m_intakeSubsystem)),
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime)));
 
     NamedCommands.registerCommand("Intake",
         new SequentialCommandGroup(
             new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Extended),
             new NoteIntakeCommand(m_intakeSubsystem),
             new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
 
+    NamedCommands.registerCommand("Pre-Speed - 30%",
+      new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Halfway, 0.01));
+
     NamedCommands.registerCommand("Intake in",
         new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
 
@@ -87,7 +92,18 @@ public RobotContainer() {
                                                                                // from robot center to
                                                                                // furthest module.
             new ReplanningConfig(false, false)),
-        () -> false, m_robotDrive);
+        () -> {
+          // Boolean supplier that controls when the path will be mirrored for the red
+          // alliance
+          // This will flip the path being followed to the red side of the field.
+          // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+          var alliance = DriverStation.getAlliance();
+          if (alliance.isPresent()) {
+            return alliance.get() == DriverStation.Alliance.Red;
+          }
+          return false;
+        }, m_robotDrive);
 
     // new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem,
     // ShootSpeed.Shooting),
@@ -147,9 +163,9 @@ private void configureBindings() {
     // DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
 
     new JoystickButton(m_driverController, Button.kX.value)
-        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
+        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
             new NoteOuttakeCommand(m_intakeSubsystem)))
-        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
+        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
     new JoystickButton(m_driverController, Button.kRightBumper.value)
         .onTrue(new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Amp))
@@ -172,8 +188,8 @@ private void configureBindings() {
 
     new Trigger(() -> {
       return m_operatorController.getLeftTriggerAxis() > 0.5;
-    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting))
-        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
+    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime))
+        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));
 
     // Climber Up, Operator Controller Right Bumper + A Button
     new Trigger(() -> {
@@ -206,17 +222,20 @@ public void resetAllSubsystems() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    // PathPlannerPath path = PathPlannerPath.fromPathFile("Center4Note");
+
+    /// List<PathPlannerPath> pathGroup =
+    /// PathPlannerAuto.getPathGroupFromAutoFile(autoChooser.getSelected().getName());
+    // PathPlannerAuto path = PathPlannerAuto.getPathGroupFromAutoFile(pathGroup);
 
     // var alliance = DriverStation.getAlliance();
-    // PathPlannerPath autonPath = path;
+    // PathPlannerPath pathGroup = path;
     // if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
     // autonPath = autonPath.flipPath();
     // }
     // m_robotDrive.resetOdometry(autonPath.getPreviewStartingHolonomicPose());
 
-    // return AutoBuilder.followPath(autonPath);
-    // return null;
+    // return new PathPlannerAuto(autoChooser.getSelected().getName());
     return autoChooser.getSelected();
+
   }
 }

src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java

@@ -13,15 +13,19 @@ public class ShooterSetSpeedCommand extends Command {
   ShooterSubsystem m_ShooterSubsystem;
   double m_shooterSpeed = 0;
 
+
+  double set_time = 1.5;
   Timer m_timer = new Timer();
 
   ShootSpeed m_shootSpeed;
 
   /** Creates a new ShootCommand. */
-  public ShooterSetSpeedCommand(ShooterSubsystem shooterSubsystem, ShootSpeed shootSpeed) {
+  public ShooterSetSpeedCommand(ShooterSubsystem shooterSubsystem, ShootSpeed shootSpeed, double time) {
     m_ShooterSubsystem = shooterSubsystem;
     addRequirements(m_ShooterSubsystem);
 
+    set_time = time;
+
     m_shootSpeed = shootSpeed;
   }
 
@@ -47,6 +51,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return m_timer.get() > 1.5;
+    return m_timer.get() > set_time;
   }
 }