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Diagonal joystick scaling #36

Merged
merged 17 commits into from
Mar 23, 2024
+324 −113
Merged

Diagonal joystick scaling #36

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3599b00
Increased rotation speed
ReeledWarrior14 Mar 20, 2024
7711cac
Scale joysticks for full speed drivign on diagonals
ReeledWarrior14 Mar 20, 2024
0844af8
Tested at stemnasium
ProgrammingSR Mar 21, 2024
974a416
Auto path changes
ProgrammingSR Mar 22, 2024
520aba0
chore: updated venderdep and WPILib
ProgrammingSR Mar 22, 2024
ffd36ea
fix?: distance sensor update and can simulate robot now
ProgrammingSR Mar 22, 2024
d30f660
FEAT: replaced rev2mdistancesensor with color sensor
ProgrammingSR Mar 22, 2024
0af36ad
Broken Path
cyblazer Mar 22, 2024
7bb58ef
We want a timer if the distance sensor decides to not work
cyblazer Mar 22, 2024
e91401d
Enable on teleop-compressor
cyblazer Mar 22, 2024
4effaf8
Toggle compressor start+rightbumper
cyblazer Mar 22, 2024
343225d
Merge branch 'diagonal-joystick-scaling' of https://github.com/Saints…
ProgrammingSR Mar 23, 2024
3e0aada
Merge branch 'diagonal+compressor' of https://github.com/SaintsRoboti…
ProgrammingSR Mar 23, 2024
8dcdd3f
yes
ProgrammingSR Mar 23, 2024
c3c2c86
chore: added toggle functionality for the color sensor
ProgrammingSR Mar 23, 2024
9d7c279
fix: use IR value from color sensor instead
ProgrammingSR Mar 23, 2024
590100a
Final changes
ProgrammingSR Mar 23, 2024
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2024.3.1"
id "edu.wpi.first.GradleRIO" version "2024.3.2"
}

java {
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/autos/0-Anywhere-Leave-StraightBack.auto
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Expand Up @@ -2,8 +2,8 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.55744644822623,
"y": 6.0
"x": 0.75,
"y": 3.0
},
"rotation": 0
},
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75 changes: 75 additions & 0 deletions src/main/deploy/pathplanner/autos/1+0.5-SourceSide-Leave.auto
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@@ -0,0 +1,75 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.8,
"y": 4.4
},
"rotation": -60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
},
{
"type": "path",
"data": {
"pathName": "Middle5thNote"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Prep-Speed - 60%"
}
},
{
"type": "path",
"data": {
"pathName": "5thNote-Back"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "Outtake"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/autos/1-AmpSide-Leave.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7516461186768542,
"y": 4.35
"x": 0.75,
"y": 6.75
},
"rotation": -60.0
"rotation": 60.0
},
"command": {
"type": "sequential",
Expand All @@ -24,7 +24,7 @@
{
"type": "path",
"data": {
"pathName": "MoveOut-Right"
"pathName": "MoveOut-Left"
}
}
]
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17 changes: 8 additions & 9 deletions src/main/deploy/pathplanner/autos/2-Center-Stays.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -17,21 +17,20 @@
"name": "Shoot"
}
},
{
"type": "named",
"data": {
"name": "Intake out"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "sequential",
"type": "path",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "CenterNote-Center"
}
}
]
"pathName": "CenterNote-Center"
}
},
{
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6 changes: 6 additions & 0 deletions src/main/deploy/pathplanner/autos/2-SourceSide-Leave.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,12 @@
]
}
},
{
"type": "named",
"data": {
"name": "Intake in"
}
},
{
"type": "named",
"data": {
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6 changes: 6 additions & 0 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 @@ -17,6 +17,12 @@
"name": "Shoot"
}
},
{
"type": "named",
"data": {
"name": "Intake out"
}
},
{
"type": "deadline",
"data": {
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6 changes: 0 additions & 6 deletions src/main/deploy/pathplanner/autos/4-Center-Stays.auto
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Expand Up @@ -23,12 +23,6 @@
"name": "Intake out"
}
},
{
"type": "deadline",
"data": {
"commands": []
}
},
{
"type": "deadline",
"data": {
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52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/5thNote-Back.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 8.0,
"y": 0.75
},
"prevControl": null,
"nextControl": {
"x": 7.346710693421388,
"y": 1.0261620523241057
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.0,
"y": 1.25
},
"prevControl": {
"x": 5.436099261932909,
"y": 0.6271857083288086
},
"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": -30.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}
12 changes: 6 additions & 6 deletions src/main/deploy/pathplanner/paths/LeftNote-Center.path
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Expand Up @@ -16,27 +16,27 @@
},
{
"anchor": {
"x": 2.75,
"x": 2.9,
"y": 6.5
},
"prevControl": {
"x": 2.760368651393246,
"y": 5.421660255102424
"x": 2.909614940148025,
"y": 5.5000462246053825
},
"nextControl": {
"x": 2.740133057189191,
"x": 2.890133057189191,
"y": 7.526162052324105
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.35,
"x": 1.4,
"y": 5.52
},
"prevControl": {
"x": 3.249810371265829,
"x": 3.2998103712658287,
"y": 5.52
},
"nextControl": null,
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22 changes: 11 additions & 11 deletions src/main/deploy/pathplanner/paths/Middle5thNote-Right.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,41 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 0.75,
"y": 4.35
"x": 0.8,
"y": 4.4
},
"prevControl": null,
"nextControl": {
"x": 1.2709445330007911,
"y": 1.3955767409633761
"x": 1.3209445330007905,
"y": 1.4455767409633768
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.043316855864482,
"x": 8.05,
"y": 0.7104198823782273
},
"prevControl": {
"x": 7.043316855864482,
"x": 7.050000000000001,
"y": 0.7104198823782273
},
"nextControl": {
"x": 9.04331685586447,
"x": 9.049999999999988,
"y": 0.7104198823782273
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.75,
"y": 4.35
"x": 0.8,
"y": 4.4
},
"prevControl": {
"x": 1.2709445330007911,
"y": 1.3955767409633757
"x": 1.320944533000791,
"y": 1.4455767409633768
},
"nextControl": null,
"isLocked": false,
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58 changes: 58 additions & 0 deletions src/main/deploy/pathplanner/paths/Middle5thNote.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,58 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.8,
"y": 4.4
},
"prevControl": null,
"nextControl": {
"x": 1.3209445330007905,
"y": 1.4455767409633768
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.0,
"y": 0.75
},
"prevControl": {
"x": 7.0,
"y": 0.75
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.85,
"rotationDegrees": 0,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -60.067304943288455,
"velocity": 0
},
"useDefaultConstraints": true
}
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