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Auton rename #32

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merged 5 commits into from
Mar 19, 2024
Merged

Auton rename #32

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3dd18a2
Renamed Auton Paths
ProgrammingSR Mar 12, 2024
80bf546
WIP
ProgrammingSR Mar 12, 2024
a6388fd
changes that should have been pushed days ago
ProgrammingSR Mar 16, 2024
b351180
feat: tested auton paths with spinup times
ProgrammingSR Mar 16, 2024
6ff708b
outtake-timer-removed
ProgrammingSR Mar 18, 2024
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25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/0-Anywhere-Leave-StraightBack.auto
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Original file line number Diff line number Diff line change
@@ -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
}
0 ...lanner/autos/1-Left-Leave-Delayed-6s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-3s.auto
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0 ...anner/autos/1-Left-Leave-Delayed-12s.auto → ...ner/autos/1-AmpSide-Leave-Delayed-8s.auto
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0 ...y/pathplanner/autos/1-Right-Leave-4s.auto → ...oy/pathplanner/autos/1-AmpSide-Leave.auto
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0 .../pathplanner/autos/2-Center-Stays-8s.auto → ...loy/pathplanner/autos/2-Center-Stays.auto
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0 ...ploy/pathplanner/autos/2-Right-Leave.auto → ...pathplanner/autos/2-SourceSide-Leave.auto
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32 changes: 12 additions & 20 deletions src/main/deploy/pathplanner/autos/3-Center-Stays.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
}
}
]
}
Expand All @@ -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"
}
},
{
Expand All @@ -90,7 +82,7 @@
{
"type": "named",
"data": {
"name": "Shoot"
"name": "Outtake"
}
}
]
Expand Down
45 changes: 15 additions & 30 deletions src/main/deploy/pathplanner/autos/4-Center-Stays.auto
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Expand Up @@ -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"
}
}
]
}
Expand All @@ -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"
}
},
{
Expand All @@ -90,24 +82,17 @@
{
"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"
}
},
{
Expand All @@ -128,7 +113,7 @@
{
"type": "named",
"data": {
"name": "Shoot"
"name": "Outtake"
}
}
]
Expand Down
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/Straight-Back.path
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@@ -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
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Expand Up @@ -120,7 +120,7 @@ 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 kPrepShooterSpeed = 0.6;
public static final double kShooterOff = 0;

public static final double kShooterOffTime = 0.04;
Expand Down
18 changes: 13 additions & 5 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -67,7 +67,7 @@ public RobotContainer() {
NamedCommands.registerCommand("Shoot",
new SequentialCommandGroup(
new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
new ParallelDeadlineGroup(new WaitCommand(0.8), new NoteOuttakeCommand(m_intakeSubsystem)),
new ParallelDeadlineGroup(new WaitCommand(0.8), new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem))),
new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime)));

NamedCommands.registerCommand("Intake",
Expand All @@ -76,8 +76,16 @@ public RobotContainer() {
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("Prep-Speed - 60%",
new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Prep, 0.01));

NamedCommands.registerCommand("Spin up Shooter",
new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, 0.01));

NamedCommands.registerCommand("Spin down Shooter",
new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, 0.01));

NamedCommands.registerCommand("Outtake", new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem)));

NamedCommands.registerCommand("Intake in",
new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
Expand Down Expand Up @@ -166,7 +174,7 @@ private void configureBindings() {

new JoystickButton(m_driverController, Button.kX.value)
.onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting, ShooterConstants.kShooterOnTime),
new NoteOuttakeCommand(m_intakeSubsystem)))
new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem))))
.onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off, ShooterConstants.kShooterOffTime));

new JoystickButton(m_driverController, Button.kRightBumper.value)
Expand All @@ -186,7 +194,7 @@ private void configureBindings() {
// Outtake, Operator Controller Right Trigger
new Trigger(() -> {
return m_operatorController.getRightTriggerAxis() > 0.5;
}).whileTrue(new NoteOuttakeCommand(m_intakeSubsystem));
}).whileTrue(new ParallelDeadlineGroup(new WaitCommand(1), new NoteOuttakeCommand(m_intakeSubsystem)));

new Trigger(() -> {
return m_operatorController.getLeftTriggerAxis() > 0.5;
Expand Down
1 change: 1 addition & 0 deletions src/main/java/frc/robot/commands/NoteOuttakeCommand.java
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Expand Up @@ -4,6 +4,7 @@

package frc.robot.commands;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.IntakeSubsystem;

Expand Down
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Expand Up @@ -42,9 +42,9 @@ public void setShootingSpeed(ShootSpeed speed) {
m_topSpeed = ShooterConstants.kShooterSpeedTop;
m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
break;
case Halfway:
m_topSpeed = ShooterConstants.kPreShooterSpeed;
m_bottomSpeed = ShooterConstants.kPreShooterSpeed;
case Prep:
m_topSpeed = ShooterConstants.kPrepShooterSpeed;
m_bottomSpeed = ShooterConstants.kPrepShooterSpeed;
break;
case Off:
m_topSpeed = 0.0;
Expand All @@ -69,7 +69,7 @@ public void periodic() {

public static enum ShootSpeed {
Shooting,
Halfway,
Prep,
Off
}
}
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