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YaypixelYaypixel
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auto fixes from testing and sim
1 parent 34b641a commit cc601a1

7 files changed

Lines changed: 179 additions & 42 deletions

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‎simgui-ds.json‎

Lines changed: 98 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,98 @@
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{
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"keyboardJoysticks": [
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{
4+
"axisConfig": [
5+
{
6+
"decKey": 65,
7+
"incKey": 68
8+
},
9+
{
10+
"decKey": 87,
11+
"incKey": 83
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},
13+
{
14+
"decKey": 69,
15+
"decayRate": 0.0,
16+
"incKey": 82,
17+
"keyRate": 0.009999999776482582
18+
}
19+
],
20+
"axisCount": 3,
21+
"buttonCount": 4,
22+
"buttonKeys": [
23+
90,
24+
88,
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67,
26+
86
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],
28+
"povConfig": [
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{
30+
"key0": 328,
31+
"key135": 323,
32+
"key180": 322,
33+
"key225": 321,
34+
"key270": 324,
35+
"key315": 327,
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"key45": 329,
37+
"key90": 326
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}
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],
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"povCount": 1
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},
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{
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"axisConfig": [
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{
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"decKey": 74,
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"incKey": 76
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},
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{
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"decKey": 73,
50+
"incKey": 75
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}
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],
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"axisCount": 2,
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"buttonCount": 4,
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"buttonKeys": [
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77,
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44,
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46,
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47
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],
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"povCount": 0
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},
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{
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"axisConfig": [
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{
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"decKey": 263,
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"incKey": 262
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},
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{
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"decKey": 265,
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"incKey": 264
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}
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],
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"axisCount": 2,
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"buttonCount": 6,
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"buttonKeys": [
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260,
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268,
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266,
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261,
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269,
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267
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],
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"povCount": 0
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},
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{
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"axisCount": 0,
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"buttonCount": 0,
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"povCount": 0
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}
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],
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"robotJoysticks": [
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{},
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{
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"guid": "Keyboard0"
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}
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]
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}

‎src/main/deploy/pathplanner/autos/center to back depot side.auto‎

Lines changed: 21 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -17,30 +17,24 @@
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}
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},
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{
20-
"type": "parallel",
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"type": "deadline",
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"data": {
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"commands": [
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{
24-
"type": "named",
24+
"type": "path",
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"data": {
26-
"name": "intake"
26+
"pathName": "1 Depot side center"
2727
}
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},
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{
30-
"type": "path",
30+
"type": "named",
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"data": {
32-
"pathName": "1 Depot side center"
32+
"name": "intake"
3333
}
3434
}
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]
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}
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},
38-
{
39-
"type": "named",
40-
"data": {
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"name": "idle"
42-
}
43-
},
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{
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"type": "path",
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"data": {
@@ -50,13 +44,26 @@
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{
5145
"type": "named",
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"data": {
53-
"name": "shoot long"
47+
"name": "rev shooter"
5448
}
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},
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{
57-
"type": "named",
51+
"type": "parallel",
5852
"data": {
59-
"name": "idle"
53+
"commands": [
54+
{
55+
"type": "named",
56+
"data": {
57+
"name": "hopper retract"
58+
}
59+
},
60+
{
61+
"type": "named",
62+
"data": {
63+
"name": "shoot long"
64+
}
65+
}
66+
]
6067
}
6168
}
6269
]

‎src/main/deploy/pathplanner/autos/center to back outpost side.auto‎

Lines changed: 21 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -17,30 +17,24 @@
1717
}
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},
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{
20-
"type": "parallel",
20+
"type": "deadline",
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"data": {
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"commands": [
2323
{
24-
"type": "named",
24+
"type": "path",
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"data": {
26-
"name": "intake"
26+
"pathName": "1 Outpost side center"
2727
}
2828
},
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{
30-
"type": "path",
30+
"type": "named",
3131
"data": {
32-
"pathName": "1 Outpost side center"
32+
"name": "intake"
3333
}
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}
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]
3636
}
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},
38-
{
39-
"type": "named",
40-
"data": {
41-
"name": "idle"
42-
}
43-
},
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{
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"type": "path",
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"data": {
@@ -50,13 +44,26 @@
5044
{
5145
"type": "named",
5246
"data": {
53-
"name": "shoot long"
47+
"name": "rev shooter"
5448
}
5549
},
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{
57-
"type": "named",
51+
"type": "parallel",
5852
"data": {
59-
"name": "idle"
53+
"commands": [
54+
{
55+
"type": "named",
56+
"data": {
57+
"name": "hopper retract"
58+
}
59+
},
60+
{
61+
"type": "named",
62+
"data": {
63+
"name": "shoot long"
64+
}
65+
}
66+
]
6067
}
6168
}
6269
]

‎src/main/deploy/pathplanner/paths/1 Depot side center.path‎

Lines changed: 15 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,21 @@
3434
"rotationDegrees": -58.149754025069136
3535
}
3636
],
37-
"constraintZones": [],
37+
"constraintZones": [
38+
{
39+
"name": "Constraints Zone",
40+
"minWaypointRelativePos": 0.6399186643835615,
41+
"maxWaypointRelativePos": 1.0,
42+
"constraints": {
43+
"maxVelocity": 2.5,
44+
"maxAcceleration": 2.5,
45+
"maxAngularVelocity": 540.0,
46+
"maxAngularAcceleration": 720.0,
47+
"nominalVoltage": 12.0,
48+
"unlimited": false
49+
}
50+
}
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],
3852
"pointTowardsZones": [],
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"eventMarkers": [],
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"globalConstraints": {

‎src/main/deploy/pathplanner/paths/2 Center back depot.path‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
1616
},
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{
1818
"anchor": {
19-
"x": 4.0567324188374805,
20-
"y": 7.511517423211508
19+
"x": 3.9102779260481375,
20+
"y": 7.456715595885093
2121
},
2222
"prevControl": {
23-
"x": 3.890990081444429,
24-
"y": 7.324355788265967
23+
"x": 3.744535588655086,
24+
"y": 7.269553960939552
2525
},
2626
"nextControl": null,
2727
"isLocked": false,
@@ -42,7 +42,7 @@
4242
},
4343
"goalEndState": {
4444
"velocity": 0,
45-
"rotation": -90.89625075928353
45+
"rotation": -81.599031837346
4646
},
4747
"reversed": false,
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"folder": null,

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

Lines changed: 18 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -19,6 +19,7 @@
1919
import frc.robot.commands.*;
2020
import frc.robot.config.CANMappings;
2121
import frc.robot.config.HopperConfig;
22+
import frc.robot.config.IntakeConfig;
2223
import frc.robot.config.TunerConstants;
2324
import frc.robot.subsystems.*;
2425

@@ -55,6 +56,7 @@ public class RobotContainer {
5556
.withDeadline(Commands.waitSeconds(2))));
5657

5758
public RobotContainer() {
59+
5860
NamedCommands.registerCommand(
5961
"idle",
6062
Commands.runOnce(() -> hopper.stop(), hopper)
@@ -66,22 +68,31 @@ public RobotContainer() {
6668
Commands.runEnd(
6769
() -> hopper.move(HopperConfig.HOPPER_EXTEND_ROTATION), () -> hopper.stop(), hopper)
6870
.alongWith(Commands.run(() -> System.out.println("Hopper Deployed")))
71+
.withDeadline(Commands.waitSeconds(1)));
72+
73+
NamedCommands.registerCommand(
74+
"hopper retract",
75+
Commands.runEnd(
76+
() -> hopper.move(HopperConfig.HOPPER_RETRACT_ROTATION),
77+
() -> hopper.stop(),
78+
hopper)
79+
.alongWith(Commands.run(() -> System.out.println("Hopper Retracted")))
6980
.withDeadline(Commands.waitSeconds(2)));
7081

7182
NamedCommands.registerCommand(
7283
"intake",
73-
new IntakeCommand(intake, IntakeCommand.Position.INTAKE)
74-
.withDeadline(Commands.waitSeconds(8)));
84+
Commands.run(() -> intake.intake(IntakeConfig.INTAKE_INTAKE_SPEED), intake)
85+
.alongWith(Commands.run(() -> System.out.println("Intaking"))));
86+
87+
NamedCommands.registerCommand(
88+
"rev shooter",
89+
new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain)
90+
.withDeadline(Commands.waitSeconds(1)));
7591

7692
NamedCommands.registerCommand(
7793
"shoot long",
7894
Commands.parallel(
7995
new KickerCommand(kicker, KickerCommand.Position.INTAKE),
80-
Commands.runEnd(
81-
() -> hopper.slowMove(HopperConfig.HOPPER_RETRACT_ROTATION),
82-
() -> hopper.stop(),
83-
hopper)
84-
.withDeadline(Commands.waitSeconds(2)),
8596
new IntakeCommand(intake, IntakeCommand.Position.SLOW_INTAKE),
8697
new FlywheelCommand(flywheel, FlywheelCommand.Position.TRENCH_SHOT, drivetrain))
8798
.withDeadline(Commands.waitSeconds(8)));

‎src/main/java/frc/robot/config/FlywheelConfig.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@ public class FlywheelConfig {
3333
public static final double FLYWHEEL_OUTTAKE_SPEED = 0;
3434
public static final double FLYWHEEL_HUB_SHOT_SPEED = 40;
3535
public static final double FLYWHEEL_TOWER_SHOT_SPEED = 0;
36-
public static final double FLYWHEEL_TRENCH_SHOT_SPEED = 40; // to be set later w/ testing
36+
public static final double FLYWHEEL_TRENCH_SHOT_SPEED = 65; // to be set later w/ testing
3737
public static final double FLYWHEEL_DEFAULT_SHOT_SPEED = 40;
3838
public static final double FLYWHEEL_TOLERANCE = 5;
3939
}

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