diff --git a/src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto b/src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto deleted file mode 100644 index b686ed8..0000000 --- a/src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Back To Shoot Blue" - } - }, - { - "type": "named", - "data": { - "name": "shoot_hub" - } - }, - { - "type": "named", - "data": { - "name": "shoot_hub" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Blue Middle", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/8 Balls Middle Start Red.auto b/src/main/deploy/pathplanner/autos/8 Balls Middle Start Red.auto deleted file mode 100644 index f3da4f1..0000000 --- a/src/main/deploy/pathplanner/autos/8 Balls Middle Start Red.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Back To Shoot Red" - } - }, - { - "type": "named", - "data": { - "name": "shoot_hub" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Red Middle", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot and Depot Blue.auto b/src/main/deploy/pathplanner/autos/BlueLeft1.8cycle.auto similarity index 59% rename from src/main/deploy/pathplanner/autos/Shoot and Depot Blue.auto rename to src/main/deploy/pathplanner/autos/BlueLeft1.8cycle.auto index 45c6376..d25f908 100644 --- a/src/main/deploy/pathplanner/autos/Shoot and Depot Blue.auto +++ b/src/main/deploy/pathplanner/autos/BlueLeft1.8cycle.auto @@ -8,35 +8,22 @@ "type": "parallel", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "intaker_down" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, { "type": "path", "data": { - "pathName": "Back To Shoot Blue" - } - }, - { - "type": "named", - "data": { - "name": "intaker_down" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shoot_hub" - } - }, - { - "type": "named", - "data": { - "name": "intaker_down" + "pathName": "blueLeft1" } } ] @@ -49,42 +36,21 @@ } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Shoot to Depot Blue" - } - } - ] + "pathName": "blueLeft2" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Depot Intake Blue" - } - } - ] + "pathName": "blueLeft3" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutoAim" - } - } - ] + "pathName": "blueLeftTurnToHub2" } }, { @@ -106,18 +72,36 @@ { "type": "named", "data": { - "name": "Shake" - } - }, - { - "type": "named", - "data": { - "name": "intaker_up" + "name": "AutoAim" } } ] } }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "blueLeftTurnToHub1" + } + }, + { + "type": "path", + "data": { + "pathName": "blueLeft4" + } + }, + { + "type": "path", + "data": { + "pathName": "blueLeft5" + } + }, { "type": "parallel", "data": { @@ -131,28 +115,16 @@ { "type": "named", "data": { - "name": "Shake" - } - }, - { - "type": "named", - "data": { - "name": "intaker_up" + "name": "AutoAim" } } ] } - }, - { - "type": "path", - "data": { - "pathName": "blue depot go 1" - } } ] } }, "resetOdom": true, - "folder": "Blue Middle", + "folder": "Blue", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Copy of Shoot and Depot Blue.auto b/src/main/deploy/pathplanner/autos/BlueRight1.8cycle.auto similarity index 58% rename from src/main/deploy/pathplanner/autos/Copy of Shoot and Depot Blue.auto rename to src/main/deploy/pathplanner/autos/BlueRight1.8cycle.auto index 91521ab..679b5c9 100644 --- a/src/main/deploy/pathplanner/autos/Copy of Shoot and Depot Blue.auto +++ b/src/main/deploy/pathplanner/autos/BlueRight1.8cycle.auto @@ -8,35 +8,22 @@ "type": "parallel", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "intaker_down" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, { "type": "path", "data": { - "pathName": "Back To Shoot Red" - } - }, - { - "type": "named", - "data": { - "name": "intaker_down" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shoot_hub" - } - }, - { - "type": "named", - "data": { - "name": "intaker_down" + "pathName": "blueRight1" } } ] @@ -49,42 +36,21 @@ } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Shoot to Depot Red" - } - } - ] + "pathName": "blueRight2" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Depot Intake Red" - } - } - ] + "pathName": "blueRight3" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutoAim" - } - } - ] + "pathName": "blueRightTurnToHub2" } }, { @@ -106,18 +72,36 @@ { "type": "named", "data": { - "name": "Shake" - } - }, - { - "type": "named", - "data": { - "name": "intaker_up" + "name": "AutoAim" } } ] } }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "blueRightTurnToHub1" + } + }, + { + "type": "path", + "data": { + "pathName": "blueRight4" + } + }, + { + "type": "path", + "data": { + "pathName": "blueRight5" + } + }, { "type": "parallel", "data": { @@ -131,13 +115,7 @@ { "type": "named", "data": { - "name": "Shake" - } - }, - { - "type": "named", - "data": { - "name": "intaker_up" + "name": "AutoAim" } } ] @@ -147,6 +125,6 @@ } }, "resetOdom": true, - "folder": "Red Middle", + "folder": "Blue", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RedLeft1.8cycle.auto b/src/main/deploy/pathplanner/autos/RedLeft1.8cycle.auto new file mode 100644 index 0000000..2d665fb --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RedLeft1.8cycle.auto @@ -0,0 +1,111 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intaker_down" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "red1" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "red2" + } + }, + { + "type": "path", + "data": { + "pathName": "red3" + } + }, + { + "type": "path", + "data": { + "pathName": "turntohub2" + } + }, + { + "type": "named", + "data": { + "name": "stop_intake_and_conveyor" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot_hub" + } + }, + { + "type": "named", + "data": { + "name": "AutoAim" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "turntohub1" + } + }, + { + "type": "path", + "data": { + "pathName": "red4" + } + }, + { + "type": "path", + "data": { + "pathName": "red5" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Red", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RedMiddle.auto b/src/main/deploy/pathplanner/autos/RedMiddle.auto new file mode 100644 index 0000000..1ce2213 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RedMiddle.auto @@ -0,0 +1,81 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intaker_down" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "RedGotodepot" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot_hub" + } + }, + { + "type": "named", + "data": { + "name": "AutoAim" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "redDepotToGoudong" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "red4" + } + }, + { + "type": "path", + "data": { + "pathName": "red5" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Red", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RedRight1.8cycle.auto b/src/main/deploy/pathplanner/autos/RedRight1.8cycle.auto new file mode 100644 index 0000000..ef0821a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RedRight1.8cycle.auto @@ -0,0 +1,111 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intaker_down" + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "redRight1" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "redRight2" + } + }, + { + "type": "path", + "data": { + "pathName": "redRight3" + } + }, + { + "type": "path", + "data": { + "pathName": "redRightTurnToHub2" + } + }, + { + "type": "named", + "data": { + "name": "stop_intake_and_conveyor" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot_hub" + } + }, + { + "type": "named", + "data": { + "name": "AutoAim" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "start_intake_and_conveyor" + } + }, + { + "type": "path", + "data": { + "pathName": "redRightTurnToHub1" + } + }, + { + "type": "path", + "data": { + "pathName": "redRight4" + } + }, + { + "type": "path", + "data": { + "pathName": "redRight5" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Red", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json index ac5f521..7ad858d 100644 --- a/src/main/deploy/pathplanner/navgrid.json +++ b/src/main/deploy/pathplanner/navgrid.json @@ -1 +1 @@ -{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,t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\ No newline at end of file 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+++ b/src/main/deploy/pathplanner/paths/blueLeft5.path @@ -0,0 +1,119 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.765392296718973, + "y": 6.784465049928674 + }, + "prevControl": null, + "nextControl": { + "x": 7.733458465905914, + "y": 6.464214217773148 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.813229166666666, + "y": 4.668807228915663 + }, + "prevControl": { + "x": 8.011674331775877, + "y": 5.027990467000143 + }, + "nextControl": { + "x": 7.485447276626493, + "y": 4.075526155097174 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.33579518072289, + "y": 4.668807228915663 + }, + "prevControl": { + "x": 6.546160668095942, + "y": 4.185317251794125 + }, + "nextControl": { + "x": 6.148280431906521, + "y": 5.099778595689354 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.1609518072289156, + "y": 7.302385542168675 + }, + "prevControl": { + "x": 6.655393279169644, + 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+ "nextControl": { + "x": 8.806541534094086, + "y": 6.464214217773148 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.726770833333333, + "y": 4.668807228915663 + }, + "prevControl": { + "x": 8.528325668224122, + "y": 5.027990467000143 + }, + "nextControl": { + "x": 9.054552723373506, + "y": 4.075526155097174 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 10.204204819277109, + "y": 4.668807228915663 + }, + "prevControl": { + "x": 9.993839331904057, + "y": 4.185317251794125 + }, + "nextControl": { + "x": 10.391719568093478, + "y": 5.099778595689354 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 10.379048192771084, + "y": 7.302385542168675 + }, + "prevControl": { + "x": 9.884606720830355, + "y": 6.772626822232179 + }, + "nextControl": { + "x": 10.549627755361087, + "y": 7.485149359229394 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 11.242337349397589, + "y": 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a/src/main/deploy/pathplanner/paths/Shoot to Depot Red.path b/src/main/deploy/pathplanner/paths/redRightTurnToHub1.path similarity index 66% rename from src/main/deploy/pathplanner/paths/Shoot to Depot Red.path rename to src/main/deploy/pathplanner/paths/redRightTurnToHub1.path index 44b7e83..f0d83e6 100644 --- a/src/main/deploy/pathplanner/paths/Shoot to Depot Red.path +++ b/src/main/deploy/pathplanner/paths/redRightTurnToHub1.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 13.5, - "y": 4.0 + "x": 13.537156626506023, + "y": 6.471879518072289 }, "prevControl": null, "nextControl": { - "x": 13.699377937127288, - "y": 3.7771427571164287 + "x": 13.416951807228916, + "y": 6.941771084337349 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 15.400452528841061, - "y": 2.1 + "x": 13.12190361445783, + "y": 7.3788795180722895 }, "prevControl": { - "x": 15.073650526430217, - "y": 2.4474296685616617 + "x": 13.279328656950806, + "y": 7.152135161355801 }, "nextControl": null, "isLocked": false, @@ -41,14 +41,14 @@ "unlimited": false }, "goalEndState": { - "velocity": 0, + "velocity": 0.0, "rotation": 180.0 }, "reversed": false, - "folder": "Red Middle", + "folder": "Red Right from pwz", "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": -141.0090059574941 }, - "useDefaultConstraints": false + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/To Depot Red.path b/src/main/deploy/pathplanner/paths/redRightTurnToHub2.path similarity index 65% rename from src/main/deploy/pathplanner/paths/To Depot Red.path rename to src/main/deploy/pathplanner/paths/redRightTurnToHub2.path index 517c7f3..103cc2b 100644 --- a/src/main/deploy/pathplanner/paths/To Depot Red.path +++ b/src/main/deploy/pathplanner/paths/redRightTurnToHub2.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 13.0, - "y": 4.0 + "x": 13.12190361445783, + "y": 7.3788795180722895 }, "prevControl": null, "nextControl": { - "x": 14.000000000000002, - "y": 4.0 + "x": 13.364446481851207, + "y": 7.3182745885978715 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 15.400452528841061, - "y": 2.1 + "x": 13.537156626506023, + "y": 6.471879518072289 }, "prevControl": { - "x": 14.400452528841061, - "y": 2.1 + "x": 12.99967089935809, + "y": 7.025981025402732 }, "nextControl": null, "isLocked": false, @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.5, - "maxAcceleration": 3.0, + "maxVelocity": 2.0, + "maxAcceleration": 4.0, "maxAngularVelocity": 360.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0 + "rotation": -141.0090059574941 }, "reversed": false, - "folder": "Red Middle", + "folder": "Red Right from pwz", "idealStartingState": { - "velocity": 0, + "velocity": 1.2, "rotation": 180.0 }, "useDefaultConstraints": true -} \ No newline at end of file +} diff --git a/src/main/deploy/pathplanner/paths/Back To Shoot Red.path b/src/main/deploy/pathplanner/paths/turntohub1.path similarity index 60% rename from src/main/deploy/pathplanner/paths/Back To Shoot Red.path rename to src/main/deploy/pathplanner/paths/turntohub1.path index d7af0a4..4105b03 100644 --- a/src/main/deploy/pathplanner/paths/Back To Shoot Red.path +++ b/src/main/deploy/pathplanner/paths/turntohub1.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 13.01022182786158, - "y": 4.0 + "x": 13.537156626506023, + "y": 1.5981204819277117 }, "prevControl": null, "nextControl": { - "x": 13.865906250551847, - "y": 4.0 + "x": 13.416951807228916, + "y": 1.128228915662652 }, "isLocked": false, - "linkedName": null + "linkedName": "sssss" }, { "anchor": { - "x": 13.5, - "y": 4.0 + "x": 13.12190361445783, + "y": 0.691120481927711 }, "prevControl": { - "x": 13.231071353115471, - "y": 4.0 + "x": 13.279328656950806, + "y": 0.9178648386441994 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "3" } ], "rotationTargets": [], @@ -33,22 +33,22 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.5, - "maxAcceleration": 3.0, + "maxVelocity": 2.0, + "maxAcceleration": 4.0, "maxAngularVelocity": 360.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { - "velocity": 0, + "velocity": 0.0, "rotation": 180.0 }, "reversed": false, - "folder": "Red Middle", + "folder": "Red Right from pwz", "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": 141.0090059574941 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/turntohub2.path b/src/main/deploy/pathplanner/paths/turntohub2.path new file mode 100644 index 0000000..b9089df --- /dev/null +++ b/src/main/deploy/pathplanner/paths/turntohub2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 13.12190361445783, + "y": 0.691120481927711 + }, + "prevControl": null, + "nextControl": { + "x": 13.364446481851207, + "y": 0.7517254114021283 + }, + "isLocked": false, + "linkedName": "3" + }, + { + "anchor": { + "x": 13.537156626506023, + "y": 1.5981204819277117 + }, + "prevControl": { + "x": 12.99967089935809, + "y": 1.0440189745972686 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "sssss" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 141.0090059574941 + }, + "reversed": false, + "folder": "Red Right from pwz", + "idealStartingState": { + "velocity": 1.2, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 9a4cd76..2b09539 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,19 +3,21 @@ "robotLength": 0.85, "holonomicMode": true, "pathFolders": [ - "Blue Middle", - "Red Middle" + "Blue Left from pwz", + "Red Right from pwz", + "Blue Right from pwz" ], "autoFolders": [ - "Red Middle", - "Blue Middle" + "Blue", + "New Folder", + "Red" ], - "defaultMaxVel": 1.5, - "defaultMaxAccel": 3.0, + "defaultMaxVel": 2.0, + "defaultMaxAccel": 4.0, "defaultMaxAngVel": 360.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, - "robotMass": 30.0, + "robotMass": 50.0, "robotMOI": 3.6, "robotTrackwidth": 0.546, "driveWheelRadius": 0.045, diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index dde2be9..a3bb1d3 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -55,8 +55,8 @@ public final class Constants { public static final double backboardSpeedMax = 3.0; public static final double backboardSpeedMin = 0; - public static final double backboardGravityFeedforwardMinVolts = 0.1; - public static final double backboardGravityFeedforwardMaxVolts = 0.3; + public static final double backboardGravityFeedforwardMinVolts = 0.2; + public static final double backboardGravityFeedforwardMaxVolts = 0.5; public static final double backboardGravityFeedforwardMinPosition = 0.0; public static final double backboardGravityFeedforwardMaxPosition = 2200.0; public static final double backboardGravityFeedforwardDirection = 1.0; @@ -128,7 +128,7 @@ public final class Constants { public static final double intakeRollerOuttakeVoltage = 3.0; public static final double intakeRotaterRaiseVoltage = 0.8; - public static final double intakeRotaterLowerVoltage = 0.05; + public static final double intakeRotaterLowerVoltage = -0.1; public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs() .withKP(0.00).withKI(0.00).withKD(0.00) @@ -158,7 +158,7 @@ public final class Constants { public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity; public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity; - public static final double shootTimeoutSeconds = 3.0; + public static final double shootTimeoutSeconds = 4.0; public static final double aimToleranceDegrees = 1.5; public static final double stationarySpeedToleranceMetersPerSecond = 0.5; public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3237263..7b60030 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -45,6 +45,7 @@ public class Robot extends TimedRobot { @Override public void autonomousInit() { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + System.out.println("Selected auto: " + (m_autonomousCommand == null ? "null" : m_autonomousCommand.getName())); if (m_autonomousCommand != null) { CommandScheduler.getInstance().schedule(m_autonomousCommand); diff --git a/src/main/java/frc/robot/controls/Autocommand.java b/src/main/java/frc/robot/controls/Autocommand.java index fc262cc..7594267 100644 --- a/src/main/java/frc/robot/controls/Autocommand.java +++ b/src/main/java/frc/robot/controls/Autocommand.java @@ -23,11 +23,18 @@ public class Autocommand extends SequentialCommandGroup { OperatorControls operatorControls ) { NamedCommands.registerCommand("start_intake", startIntake(superstructure)); + NamedCommands.registerCommand("start_intake_and_conveyor", startIntake(superstructure)); + NamedCommands.registerCommand("stop_intake", idle(superstructure)); NamedCommands.registerCommand("stop_intake_", idle(superstructure)); - NamedCommands.registerCommand("intaker_down", lowerIntaker(intakeRotater)); + NamedCommands.registerCommand("stop_intake_and_conveyor", idle(superstructure)); + NamedCommands.registerCommand("init", init(superstructure)); + NamedCommands.registerCommand("intaker_down", init(superstructure)); + NamedCommands.registerCommand("intaker_up", raiseIntaker(intakeRotater)); NamedCommands.registerCommand("shoot_hub", shootHub(superstructure)); NamedCommands.registerCommand("reset_backboard0", operatorControls.resetBackboard0Command()); NamedCommands.registerCommand("AutoAimForShoot", autoAimForShoot(driveControls)); + NamedCommands.registerCommand("AutoAim", autoAimForShoot(driveControls)); + NamedCommands.registerCommand("Shake", driveControls.shakeCommand()); } public static Command startIntake(Superstructure superstructure) { @@ -38,8 +45,12 @@ public class Autocommand extends SequentialCommandGroup { return superstructure.requestIdleCommand(); } - public static Command lowerIntaker(IntakeRotaterSubsystem intakeRotater) { - return intakeRotater.lowerForMatchCommand(); + public static Command init(Superstructure superstructure) { + return superstructure.requestInitCommand(); + } + + public static Command raiseIntaker(IntakeRotaterSubsystem intakeRotater) { + return intakeRotater.raiseForMatchCommand(); } public static Command shootHub(Superstructure superstructure) { diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index 79e4ae8..24c6e36 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -46,8 +46,8 @@ public class TunerConstants { private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated; // The remote sensor feedback type to use for the steer motors; - // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* - private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; + // Use RemoteCANcoder so the steer TalonFXs do not require Phoenix Pro licenses. + private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.RemoteCANcoder; // The stator current at which the wheels start to slip; // This needs to be tuned to your individual robot diff --git a/src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java index 3fb09b0..e318b15 100644 --- a/src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java @@ -41,6 +41,10 @@ public class IntakeRollerSubsystem extends SubsystemBase { setVoltage(Constants.Intaker.intakeRollerIntakeVoltage); } + public void intakeforshoot() { + setVoltage(-1.0); + } + public void outtake() { setVoltage(Constants.Intaker.intakeRollerOuttakeVoltage); } diff --git a/src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java index 455da16..30aa25c 100644 --- a/src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java @@ -82,7 +82,7 @@ public class IntakeRotaterSubsystem extends SubsystemBase { public void postShootIdleAssist(double elapsedSeconds) { double cycleTime = elapsedSeconds % 0.2; - setVoltage(cycleTime < 0.1 ? 0.03 : 0.0); + setVoltage(cycleTime < 0.1 ? 0.0 : 0.0); } public void manualRaise() { diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 7f5ec82..d3783b0 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -22,6 +22,7 @@ import frc.robot.Constants; public class Superstructure extends SubsystemBase { // 操作员或自动程序请求的目标状态。 public enum WantedState { + INIT, IDLE, INTAKE, SHOOT_HUB, @@ -34,6 +35,7 @@ public class Superstructure extends SubsystemBase { // 机器人内部实际执行状态，用于动作排序和仪表盘诊断。 public enum SystemState { DISABLED, + INITIALIZING, STOWED, INTAKING, PREP_SHOOT, @@ -85,6 +87,10 @@ public class Superstructure extends SubsystemBase { wantedState = WantedState.IDLE; } + public void requestInit() { + wantedState = WantedState.INIT; + } + public void requestIntake() { wantedState = WantedState.INTAKE; } @@ -123,6 +129,14 @@ public class Superstructure extends SubsystemBase { return Commands.runOnce(this::requestIdle, this); } + public Command requestInitCommand() { + return Commands.sequence( + Commands.runOnce(this::requestInit), + intakeRotater.lowerForMatchCommand(), + Commands.runOnce(this::requestIntake) + ); + } + public Command requestIntakeCommand() { return Commands.runOnce(this::requestIntake, this); } @@ -225,6 +239,7 @@ public class Superstructure extends SubsystemBase { } switch (wantedState) { + case INIT -> handleInit(); case IDLE -> handleIdle(); case INTAKE -> handleIntake(); case SHOOT_HUB -> handleShootHub(); @@ -237,6 +252,18 @@ public class Superstructure extends SubsystemBase { publishTelemetry(); } + private void handleInit() { + if (systemState != SystemState.INITIALIZING) { + setSystemState(SystemState.INITIALIZING); + } + + conveyor.stop(); + intakeRoller.stop(); + stopFlywheelUnlessTuning(); + stopShooterConveyorUnlessTuning(); + holdBackboardStowedUnlessTuning(); + } + private void handleIdle() { // 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。 conveyor.stop(); @@ -306,7 +333,6 @@ public class Superstructure extends SubsystemBase { && systemState != SystemState.SHOOTING) { setSystemState(SystemState.PREP_SHOOT); } - intakeRoller.stop(); // 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调， // 但不会绕过 Superstructure 状态机。 shooter.setFlywheelVelocity(targetVelocity); @@ -316,7 +342,7 @@ public class Superstructure extends SubsystemBase { // 只有 canShoot() 通过后才会进入本状态；喂球期间不再复查门控， // 避免球接触飞轮导致的掉速中断喂球。 intakeRotater.shootAssist(); - + intakeRoller.intakeforshoot(); conveyor.feedToShooter(); runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity); return; @@ -325,6 +351,7 @@ public class Superstructure extends SubsystemBase { // 未开始喂球前，球路保持静止。 conveyor.stop(); stopShooterConveyorUnlessTuning(); + intakeRoller.stop(); // 门控条件实时刷新：条件回落时状态同步回退，仪表盘能看到卡在哪一关。 if (canShoot()) {