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amp side
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@r4stered
r4stered committed Oct 25, 2024
1 parent 7c9f357 commit 5f4350b
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Showing 18 changed files with 1,161 additions and 107 deletions.
7 changes: 7 additions & 0 deletions src/main/cpp/subsystems/ShooterSubsystem.cpp
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Expand Up @@ -57,6 +57,13 @@ frc2::CommandPtr ShooterSubsystem::RunShooter(
consts::shooter::PASS_SPEEDS.bottomSpeed;
neutralState = false;
break;
case consts::shooter::PRESET_SPEEDS::SPIT:
topWheelVelocitySetpoint =
consts::shooter::SPIT_SPEEDS.topSpeed;
bottomWheelVelocitySetpoint =
consts::shooter::SPIT_SPEEDS.bottomSpeed;
neutralState = false;
break;
case consts::shooter::PRESET_SPEEDS::SPEAKER_DIST:
fmt::print("dist: {}\n", distance());
topWheelVelocitySetpoint =
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240 changes: 240 additions & 0 deletions src/main/deploy/choreo/AmpSide.traj
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142 changes: 142 additions & 0 deletions src/main/deploy/choreo/AmpSideCloseNotes.traj
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123 changes: 123 additions & 0 deletions src/main/deploy/choreo/AmpSideGoForSecond.traj
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188 changes: 188 additions & 0 deletions src/main/deploy/choreo/SourceGoForSecond.traj
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106 changes: 106 additions & 0 deletions src/main/deploy/choreo/SourceSide.traj
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102 changes: 0 additions & 102 deletions src/main/deploy/choreo/UnderStage.traj
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17 changes: 16 additions & 1 deletion src/main/deploy/choreo/lynkclone.chor
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Expand Up @@ -4,7 +4,22 @@
"type":"Swerve",
"variables":{
"expressions":{},
"poses":{}
"poses":{
"smn":{
"x":{
"exp":"7.896727085113525 m",
"val":7.896727085113525
},
"y":{
"exp":"0.8752641081809998 m",
"val":0.8752641081809998
},
"heading":{
"exp":"2.9452431127404317 rad",
"val":2.9452431127404317
}
}
}
},
"config":{
"frontLeft":{
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2 changes: 1 addition & 1 deletion src/main/deploy/commit.txt
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@@ -1 +1 @@
c2ca8e1
7c9f357
38 changes: 38 additions & 0 deletions src/main/deploy/pathplanner/autos/Amp.auto
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@@ -0,0 +1,38 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Spit"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "AmpSide.0"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": true
}
75 changes: 75 additions & 0 deletions src/main/deploy/pathplanner/autos/AmpClose.auto
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@@ -0,0 +1,75 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "AmpSideCloseNotes.0"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "AmpSideCloseNotes.1"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": true
}
31 changes: 31 additions & 0 deletions src/main/deploy/pathplanner/autos/AmpGotNote.auto
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@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "AmpSide.1"
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": true
}
44 changes: 44 additions & 0 deletions src/main/deploy/pathplanner/autos/AmpNoNote.auto
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@@ -0,0 +1,44 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "AmpSideGoForSecond.0"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": true
}
44 changes: 44 additions & 0 deletions src/main/deploy/pathplanner/autos/Source.auto
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@@ -0,0 +1,44 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "SourceSide.0"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": true
}
31 changes: 31 additions & 0 deletions src/main/deploy/pathplanner/autos/SourceGotNote.auto
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@@ -0,0 +1,31 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "SourceSide.1"
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": true
}
44 changes: 44 additions & 0 deletions src/main/deploy/pathplanner/autos/SourceNoNote.auto
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@@ -0,0 +1,44 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "SourceGoForSecond"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "SubwooferSpinUp"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": true
}
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