diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index ce18629b..8eb9ea38 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -2,9 +2,20 @@ "robotWidth": 0.76, "robotLength": 0.76, "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, + "pathFolders": [ + "Center", + "Full", + "Wing", + "Start" + ], + "autoFolders": [ + "Full", + "A", + "E", + "M", + "S" + ], + "defaultMaxVel": 4.12, "defaultMaxAccel": 3.0, "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 720.0, diff --git a/src/main/deploy/pathplanner/autos/A.auto b/src/main/deploy/pathplanner/autos/A.auto new file mode 100644 index 00000000..463aedc7 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.325730468864645, + "y": 5.515804013063089 + }, + "rotation": 58.75307058652307 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "StationaryShoot" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A1.auto b/src/main/deploy/pathplanner/autos/A1.auto new file mode 100644 index 00000000..4e4ffd0b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A1.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6582127857550991, + "y": 6.628333484912334 + }, + "rotation": 58.091893064346834 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "1W" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A12.auto b/src/main/deploy/pathplanner/autos/A12.auto new file mode 100644 index 00000000..a24d1861 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A12.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6582127857550991, + "y": 6.628333484912334 + }, + "rotation": 58.091893064346834 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "12" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "2W" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A123.auto b/src/main/deploy/pathplanner/autos/A123.auto new file mode 100644 index 00000000..a26cb991 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A123.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6582127857550991, + "y": 6.628333484912334 + }, + "rotation": 58.091893064346834 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "12" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "23" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "3W" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A145.auto b/src/main/deploy/pathplanner/autos/A145.auto new file mode 100644 index 00000000..ff53c438 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A145.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6582127857550991, + "y": 6.628333484912334 + }, + "rotation": 55.459909092929095 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "14" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "4X5" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "5X" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A1456-f.auto b/src/main/deploy/pathplanner/autos/A1456-f.auto new file mode 100644 index 00000000..e4feed0c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A1456-f.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6582127857550991, + "y": 6.628333484912334 + }, + "rotation": 59.91997316061384 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A1456" + } + } + ] + } + }, + "folder": "Full", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A451.auto b/src/main/deploy/pathplanner/autos/A451.auto new file mode 100644 index 00000000..9a980172 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A451.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6933452953924437, + "y": 6.593200975274989 + }, + "rotation": 56.64597424848324 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A4" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "4X5" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "5X1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A456.auto b/src/main/deploy/pathplanner/autos/A456.auto new file mode 100644 index 00000000..c8e5d2ec --- /dev/null +++ b/src/main/deploy/pathplanner/autos/A456.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6933452953924437, + "y": 6.593200975274989 + }, + "rotation": 60.94539590092286 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "A4" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "4X5" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "5X6" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "6Y" + } + } + ] + } + }, + "folder": "A", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E76-p.auto b/src/main/deploy/pathplanner/autos/E76-p.auto new file mode 100644 index 00000000..e77eed80 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E76-p.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.4896821805055864, + "y": 1.756625481867227 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E7-p" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7Z6" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "6Y" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E76.auto b/src/main/deploy/pathplanner/autos/E76.auto new file mode 100644 index 00000000..10bfae6e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E76.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.4896821805055864, + "y": 1.756625481867227 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E7" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7Z6" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "6Y" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E76E-p.auto b/src/main/deploy/pathplanner/autos/E76E-p.auto new file mode 100644 index 00000000..c0c39338 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E76E-p.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.4896821805055864, + "y": 1.756625481867227 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E7-p" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7Z6" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "6ZE" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "EW" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E7E-p.auto b/src/main/deploy/pathplanner/autos/E7E-p.auto new file mode 100644 index 00000000..f9d28c92 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E7E-p.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.4896821805055864, + "y": 1.756625481867227 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E7-p" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7ZE" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "EW" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E87-p.auto b/src/main/deploy/pathplanner/autos/E87-p.auto new file mode 100644 index 00000000..7c33606e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E87-p.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.477971343959805, + "y": 1.4521437316769061 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E8-p" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "8Z7" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7Z" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E87.auto b/src/main/deploy/pathplanner/autos/E87.auto new file mode 100644 index 00000000..e0f429a1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E87.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.4896821805055864, + "y": 1.756625481867227 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E8" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "8Z7" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "7Z" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E876-f.auto b/src/main/deploy/pathplanner/autos/E876-f.auto new file mode 100644 index 00000000..4a81174b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E876-f.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.5131038535971493, + "y": 1.3701678758564357 + }, + "rotation": 0.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E876" + } + } + ] + } + }, + "folder": "Full", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/E8E-p.auto b/src/main/deploy/pathplanner/autos/E8E-p.auto new file mode 100644 index 00000000..0d65bada --- /dev/null +++ b/src/main/deploy/pathplanner/autos/E8E-p.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.477971343959805, + "y": 1.4521437316769061 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "E8-p" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "8ZE" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "EW" + } + } + ] + } + }, + "folder": "E", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M.auto b/src/main/deploy/pathplanner/autos/M.auto new file mode 100644 index 00000000..bb424f4a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/M.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6465019492093177, + "y": 4.50867207012588 + }, + "rotation": -1.2453642667683855 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "StationaryShoot" + } + } + ] + } + }, + "folder": "M", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M12.auto b/src/main/deploy/pathplanner/autos/M12.auto new file mode 100644 index 00000000..e75984cb --- /dev/null +++ b/src/main/deploy/pathplanner/autos/M12.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "M1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "12" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "2W" + } + } + ] + } + }, + "folder": "M", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M123.auto b/src/main/deploy/pathplanner/autos/M123.auto new file mode 100644 index 00000000..685e1ad1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/M123.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "M1" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "12" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "23" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "3W" + } + } + ] + } + }, + "folder": "M", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M2.auto b/src/main/deploy/pathplanner/autos/M2.auto new file mode 100644 index 00000000..89df8beb --- /dev/null +++ b/src/main/deploy/pathplanner/autos/M2.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "M2" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "2W" + } + } + ] + } + }, + "folder": "M", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M32.auto b/src/main/deploy/pathplanner/autos/M32.auto new file mode 100644 index 00000000..54d67f96 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/M32.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "M3" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "32" + } + }, + { + "type": "named", + "data": { + "name": "AutoIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "2W" + } + } + ] + } + }, + "folder": "M", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/M321.auto 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a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/E8-p.path similarity index 69% rename from src/main/deploy/pathplanner/paths/Example Path.path rename to src/main/deploy/pathplanner/paths/E8-p.path index 0ebde615..90beb395 100644 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ b/src/main/deploy/pathplanner/paths/E8-p.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.0, - "y": 7.0 + "x": 1.477971343959805, + "y": 1.4521437316769061 }, "prevControl": null, "nextControl": { - "x": 3.0, - "y": 7.0 + "x": 3.53907857601735, + "y": 0.7846260485673593 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 4.0, - "y": 6.0 + "x": 7.216281251392744, + "y": 0.7963368851131419 }, "prevControl": { - "x": 3.0, - "y": 6.0 + "x": 5.237149875155669, + "y": 0.8197585582047049 }, "nextControl": null, "isLocked": false, @@ -32,18 +32,18 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + 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b/src/main/deploy/pathplanner/paths/EW.path @@ -0,0 +1,99 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.3725738150477713, + "y": 2.8223116075333428 + }, + "prevControl": null, + "nextControl": { + "x": 1.096299416345128, + "y": 2.9604488068846635 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.8058747672416873, + "y": 3.688913511921175 + }, + "prevControl": { + "x": 1.6887664017838722, + "y": 3.3375884155477293 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Shoot 1", + "minWaypointRelativePos": 0.0, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 0.5, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + } + } + ], + "eventMarkers": [ + { + "name": "Feed", + "waypointRelativePos": 0, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Feed" + } + } + ] + } + } + }, + { + "name": "Shoot 1", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.12, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -33.959059819676305, + "rotateFast": false + }, + "reversed": false, + "folder": "Wing", + "previewStartingState": { + "rotation": -65.89776549883891, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/M1.path b/src/main/deploy/pathplanner/paths/M1.path new file mode 100644 index 00000000..a2659288 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/M1.path @@ -0,0 +1,82 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.2788871226815193, + "y": 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540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0.6, + "rotation": 47.1210963966615, + "rotateFast": false + }, + "reversed": false, + "folder": "Start", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/M2.path b/src/main/deploy/pathplanner/paths/M2.path new file mode 100644 index 00000000..ddf506ae --- /dev/null +++ b/src/main/deploy/pathplanner/paths/M2.path @@ -0,0 +1,82 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "prevControl": null, + "nextControl": { + "x": 1.5833688728718385, + "y": 5.550936522700434 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.1806215367066955, + "y": 5.550936522700434 + }, + "prevControl": { + "x": 2.040091498157318, + "y": 5.550936522700434 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Shoot M", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 0.45, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + } + } + ], + "eventMarkers": [ + { + "name": "Shoot M", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.12, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0.6, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": "Start", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/M3.path b/src/main/deploy/pathplanner/paths/M3.path new file mode 100644 index 00000000..a8eba3cb --- /dev/null +++ b/src/main/deploy/pathplanner/paths/M3.path @@ -0,0 +1,82 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.2788871226815193, + "y": 5.550936522700434 + }, + "prevControl": null, + "nextControl": { + "x": 1.5833688728718385, + "y": 5.550936522700434 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.286019065618729, + "y": 4.707756291404166 + }, + "prevControl": { + "x": 2.0869348443404436, + "y": 5.141057243598081 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Shoot M", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 0.45, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + } + } + ], + "eventMarkers": [ + { + "name": "Shoot M", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.12, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0.6, + "rotation": -42.08916217383231, + "rotateFast": false + }, + "reversed": false, + "folder": "Start", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/S3.path b/src/main/deploy/pathplanner/paths/S3.path new file mode 100644 index 00000000..cf62e785 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/S3.path @@ -0,0 +1,82 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7050561319382253, + "y": 4.450117887396973 + }, + "prevControl": null, + "nextControl": { + "x": 1.1617787572237042, + "y": 4.11050362756931 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.2040432097982583, + "y": 4.450117887396973 + }, + "prevControl": { + "x": 1.7238989114212167, + "y": 4.988816368502922 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Shoot S", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 1.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + } + } + ], + "eventMarkers": [ + { + "name": "Shoot S", + "waypointRelativePos": 0.6, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.12, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 1.0, + "rotation": -27.82409638425332, + "rotateFast": false + }, + "reversed": false, + "folder": "Start", + "previewStartingState": { + "rotation": -63.43494882292201, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 24d7492c..7d3e52f5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -12,6 +12,13 @@ import java.util.function.BooleanSupplier; import com.choreo.lib.ChoreoTrajectory; +import com.fasterxml.jackson.databind.util.Named; +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.auto.NamedCommands; +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.PathPlannerLogging; + import edu.wpi.first.cscore.MjpegServer; import edu.wpi.first.cscore.UsbCamera; import edu.wpi.first.math.MathUtil; @@ -26,6 +33,7 @@ import edu.wpi.first.util.PixelFormat; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj.event.EventLoop; import edu.wpi.first.wpilibj.XboxController; @@ -37,14 +45,17 @@ import edu.wpi.first.wpilibj2.command.ConditionalCommand; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.POVButton; import frc.robot.Constants.SwerveConstants; import frc.robot.commands.auton.AutoAmpSequence; import frc.robot.commands.auton.AutonBuilder; +import frc.robot.commands.auton.SwerveAimCommand; import frc.robot.commands.climb.ClimbLowerCommand; import frc.robot.commands.elevator.ElevatorToAmpCommand; import frc.robot.commands.elevator.ElevatorToEncoderZeroCommand; @@ -52,10 +63,13 @@ import frc.robot.commands.elevator.ElevatorToZeroCommand; import frc.robot.commands.intake.pivot.IntakePivotSetPositionCommand; import frc.robot.commands.intake.roller.IntakeRollerAmpIntakeCommand; +import frc.robot.commands.intake.roller.IntakeRollerFeedCommand; import frc.robot.commands.intake.roller.IntakeRollerIntakeCommand; import frc.robot.commands.intake.roller.IntakeRollerOuttakeCommand; import frc.robot.commands.sequences.PrepareAmpSequence; +import frc.robot.commands.shooter.flywheel.ShooterFlywheelReadyCommand; import frc.robot.commands.shooter.flywheel.ShooterFlywheelShuttleCommand; +import frc.robot.commands.shooter.pivot.ShooterPivotAimCommand; import frc.robot.commands.swerve.AlignCommand; import frc.robot.commands.swerve.AutoIntakeSequence; import frc.robot.commands.swerve.NoteAlignCommand; @@ -74,6 +88,7 @@ import frc.robot.subsystems.shooter.ShooterFlywheelSubsystem; import frc.robot.subsystems.shooter.ShooterPivotSubsystem; import frc.robot.subsystems.superstructure.LightBarStatus; +import frc.robot.subsystems.superstructure.MatchStatus; import frc.robot.subsystems.superstructure.SuperstructureSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.util.ConditionalWaitCommand; @@ -154,6 +169,7 @@ public class RobotContainer { private NetworkTable autonTable; private String autonValue; private int autonHandle; + private String autoName = "A145"; /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -248,6 +264,48 @@ public RobotContainer() { swerveCrauton.add(autonPathChooser); + NamedCommands.registerCommand("Shoot", new ParallelDeadlineGroup( + new SequentialCommandGroup( + new WaitCommand(.05), + new ConditionalWaitCommand(swerveSubsystem::atTargetAngle), + new IntakeRollerFeedCommand(intakeRollerSubsystem, 1).until(intakeRollerSubsystem::getRockwellSensorValue), + new IntakeRollerFeedCommand(intakeRollerSubsystem, 1).until(() -> + !intakeRollerSubsystem.getRockwellSensorValue() + && + !intakeRollerSubsystem.getAmpSensor() + && + !intakeRollerSubsystem.getFrontSensorValue()), + new IntakeRollerFeedCommand(intakeRollerSubsystem, 1).withTimeout(.3) + ), + new SwerveAimCommand(swerveSubsystem) + )); + + NamedCommands.registerCommand("StationaryShoot", new ParallelDeadlineGroup( + new SequentialCommandGroup( + new WaitCommand(.05), + new ConditionalWaitCommand(swerveSubsystem::atTargetAngle), + new IntakeRollerFeedCommand(intakeRollerSubsystem, 1).until(() -> !intakeRollerSubsystem.getRockwellSensorValue()), + new IntakeRollerFeedCommand(intakeRollerSubsystem, 1).withTimeout(.3) + ), + new SwerveAimCommand(swerveSubsystem) + )); + + NamedCommands.registerCommand( + "Intake", + new IntakeRollerAmpIntakeCommand(intakeRollerSubsystem).andThen(new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)) + ); + + NamedCommands.registerCommand("AutoIntake", + new NoteAlignCommand(swerveSubsystem, noteDetector, driveController).until(intakeRollerSubsystem::getAmpSensor).alongWith( + new IntakeRollerAmpIntakeCommand(intakeRollerSubsystem) + ) + ); + NamedCommands.registerCommand("Feed", + new IntakeRollerFeedCommand(intakeRollerSubsystem).until(intakeRollerSubsystem::getRockwellSensorValue) + ); + + swerveSubsystem.targetSpeaker(); + configureBindings(); } @@ -540,7 +598,9 @@ private void configureBindings() { } } else { - shooterPivotSubsystem.setAutoAimBoolean(false); + // if(fmsSubsystem.getMatchStatus() != MatchStatus.AUTON){ + // shooterPivotSubsystem.setAutoAimBoolean(false); + // } if (mechController.getPOV() == 90) { if (shooterFlywheelSubsystem.atSpeed()) { @@ -615,6 +675,10 @@ private void configureBindings() { * @return The selected autonomous command. */ public Command getAutonomousCommand() { - return autonBuilder.getMiddleFourPiece();//autonPathChooser.getSelected(); + return AutoBuilder.buildAuto(autoName).alongWith( + new ShooterFlywheelReadyCommand(shooterFlywheelSubsystem, lightBarSubsystem), + new InstantCommand(() -> {shooterPivotSubsystem.setAutoAimBoolean(true);}), + new IntakePivotSetPositionCommand(intakePivotSubsystem, 1) + ); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/auton/AutonBuilder.java b/src/main/java/frc/robot/commands/auton/AutonBuilder.java index ffdfbd51..39164ae8 100644 --- a/src/main/java/frc/robot/commands/auton/AutonBuilder.java +++ b/src/main/java/frc/robot/commands/auton/AutonBuilder.java @@ -132,7 +132,7 @@ public Command goAndIntake(ChoreoTrajectory intakeTrajectory) { */ public Command shoot() { return new ShooterPivotAimCommand(shooterPivotSubsystem) - .alongWith(new SetCalculatedAngleCommand(swerveSubsystem)).withTimeout(1) + .alongWith(new SwerveAimCommand(swerveSubsystem)).withTimeout(1) .andThen(new IntakeRollerFeedCommand(intakeRollerSubsystem).until( () -> !intakeRollerSubsystem.getRockwellSensorValue()) .andThen(new IntakeRollerFeedCommand(intakeRollerSubsystem)).withTimeout(.5) @@ -173,7 +173,7 @@ public SequentialCommandGroup buildAuton(Pose2d initPose, Command... commands) { autonSequence.addCommands( resetSwerve(GRTUtil.mirrorAcrossField(initPose, fmsSubsystem::isRedAlliance)), new ShooterFlywheelReadyCommand(shooterFlywheelSubsystem, lightBarSubsystem).alongWith( - new SetCalculatedAngleCommand(swerveSubsystem), + new SwerveAimCommand(swerveSubsystem), new ShooterPivotAimCommand(shooterPivotSubsystem), new IntakePivotSetPositionCommand(intakePivotSubsystem, 1) ).withTimeout(2) diff --git a/src/main/java/frc/robot/commands/auton/StationarySwerveAimCommand.java b/src/main/java/frc/robot/commands/auton/StationarySwerveAimCommand.java new file mode 100644 index 00000000..6d8e2a71 --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/StationarySwerveAimCommand.java @@ -0,0 +1,18 @@ +package frc.robot.commands.auton; + +import frc.robot.subsystems.swerve.SwerveSubsystem; + +public class StationarySwerveAimCommand extends SwerveAimCommand{ + + SwerveSubsystem swerveSubsystem; + + public StationarySwerveAimCommand(SwerveSubsystem swerveSubsystem){ + super(swerveSubsystem); + this.swerveSubsystem = swerveSubsystem; + } + + @Override + public void execute() { + swerveSubsystem.setChassisSpeeds(0, 0, 0); + } +} diff --git a/src/main/java/frc/robot/commands/auton/SetCalculatedAngleCommand.java b/src/main/java/frc/robot/commands/auton/SwerveAimCommand.java similarity index 50% rename from src/main/java/frc/robot/commands/auton/SetCalculatedAngleCommand.java rename to src/main/java/frc/robot/commands/auton/SwerveAimCommand.java index 7556622d..33265018 100644 --- a/src/main/java/frc/robot/commands/auton/SetCalculatedAngleCommand.java +++ b/src/main/java/frc/robot/commands/auton/SwerveAimCommand.java @@ -1,19 +1,15 @@ package frc.robot.commands.auton; -import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants.SwerveConstants; import frc.robot.subsystems.swerve.SwerveSubsystem; /** SetCalculatedAngleCommand. */ -public class SetCalculatedAngleCommand extends Command { +public class SwerveAimCommand extends Command { private final SwerveSubsystem swerve; /** Sets the angle of the robot to aim at the speaker. */ - public SetCalculatedAngleCommand(SwerveSubsystem swerve) { + public SwerveAimCommand(SwerveSubsystem swerve) { this.swerve = swerve; - addRequirements(swerve); - } @Override @@ -22,19 +18,8 @@ public void initialize() { swerve.setAim(true); } - @Override - public void execute() { - swerve.setDrivePowers(0, 0, 0); - } - - @Override - public boolean isFinished() { - return Math.abs(swerve.getAngleError()) < Units.degreesToRadians(3); - } - @Override public void end(boolean interrupted) { - swerve.setRobotRelativeDrivePowers(0, 0, 0); swerve.setAim(false); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java index 2b25369d..6a2dccb9 100644 --- a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java +++ b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java @@ -9,6 +9,7 @@ public class IntakeRollerFeedCommand extends Command { private final IntakeRollerSubsystem intakeSubsystem; private final TrackingTimer timer; + private double speed = .6; /** * Sets all the rollers inwards to pass note into shooter. @@ -21,9 +22,22 @@ public IntakeRollerFeedCommand(IntakeRollerSubsystem intakeRollerSubsystem) { addRequirements(intakeRollerSubsystem); } + /** + * Sets all the rollers inwards to pass note into shooter. + * + * @param intakeRollerSubsystem The {@link IntakeRollerSubsystem} to set the powers to. + */ + public IntakeRollerFeedCommand(IntakeRollerSubsystem intakeRollerSubsystem, double speed) { + this.intakeSubsystem = intakeRollerSubsystem; + timer = new TrackingTimer(); + addRequirements(intakeRollerSubsystem); + + this.speed = speed; + } + @Override public void initialize() { - intakeSubsystem.setRollSpeeds(.6, .6); + intakeSubsystem.setRollSpeeds(speed, speed); timer.reset(); } diff --git a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java index 478908f4..999a8d11 100644 --- a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java +++ b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java @@ -9,6 +9,7 @@ public class IntakeRollerIntakeCommand extends Command { private final IntakeRollerSubsystem intakeSubsystem; private final LightBarSubsystem lightBarSubsystem; + private double speed = .7; /** * Runs the rollers on the intake until a note is detected. @@ -22,6 +23,13 @@ public IntakeRollerIntakeCommand(IntakeRollerSubsystem intakeSubsystem, LightBar addRequirements(intakeSubsystem); } + public IntakeRollerIntakeCommand(IntakeRollerSubsystem intakeSubsystem, LightBarSubsystem lightBarSubsystem, double speed) { + this.intakeSubsystem = intakeSubsystem; + this.lightBarSubsystem = lightBarSubsystem; + addRequirements(intakeSubsystem); + this.speed = speed; + } + @Override public void initialize() { lightBarSubsystem.setLightBarStatus(LightBarStatus.INTAKING, 2); @@ -29,7 +37,7 @@ public void initialize() { @Override public void execute() { - intakeSubsystem.setRollSpeeds(.7, .7); + intakeSubsystem.setRollSpeeds(speed, speed); } @Override diff --git a/src/main/java/frc/robot/commands/shooter/flywheel/ShooterFlywheelReadyCommand.java b/src/main/java/frc/robot/commands/shooter/flywheel/ShooterFlywheelReadyCommand.java index 483d6ed7..82a3af95 100644 --- a/src/main/java/frc/robot/commands/shooter/flywheel/ShooterFlywheelReadyCommand.java +++ b/src/main/java/frc/robot/commands/shooter/flywheel/ShooterFlywheelReadyCommand.java @@ -52,9 +52,4 @@ public void execute() { lightBarSubsystem.updateShooterSpeedPercentage(avg); } - - @Override - public boolean isFinished() { - return shooterSubsystem.atSpeed(); - } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/shooter/pivot/ShooterPivotAimCommand.java b/src/main/java/frc/robot/commands/shooter/pivot/ShooterPivotAimCommand.java index c0812a46..f80db27d 100644 --- a/src/main/java/frc/robot/commands/shooter/pivot/ShooterPivotAimCommand.java +++ b/src/main/java/frc/robot/commands/shooter/pivot/ShooterPivotAimCommand.java @@ -23,7 +23,7 @@ public void initialize() { @Override public void end(boolean interrupted) { - shooterPivotSubsystem.setAutoAimBoolean(false); + // shooterPivotSubsystem.setAutoAimBoolean(false); } @Override diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java index b6698565..b1b11109 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java @@ -6,6 +6,7 @@ package frc.robot.subsystems.shooter; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.controls.ControlRequest; import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.NeutralModeValue; @@ -80,6 +81,7 @@ public ShooterFlywheelSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier shooterMotorTop.setNeutralMode(NeutralModeValue.Coast); shooterMotorBottom.setNeutralMode(NeutralModeValue.Coast); + request.EnableFOC = true; Slot0Configs configs = new Slot0Configs(); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java index 255cec6a..0eef54b4 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java @@ -122,7 +122,7 @@ public ShooterPivotSubsystem(DoubleSupplier distanceSupplier, BooleanSupplier re angleSpline = akima.interpolate(distances, angles); //field - autoAim = false; + autoAim = true; rotationPIDController.setReference(Units.degreesToRadians(18), ControlType.kPosition); @@ -166,8 +166,8 @@ public double getPosition() { } /** Sets whether Auto-aim should be on or off. */ - public void setAutoAimBoolean(boolean autonAim) { - this.autoAim = autonAim; + public void setAutoAimBoolean(boolean autoAim) { + this.autoAim = autoAim; } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 0b44bfaa..29bdcd5f 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -199,9 +199,7 @@ public SwerveSubsystem(BooleanSupplier redSupplier) { FL_POS.getNorm(), // Drive base radius in meters. Distance from robot center to furthest module. new ReplanningConfig(true, true) ), - () -> { - return false; - }, + redSupplier, this ); @@ -463,6 +461,10 @@ public ChassisSpeeds getAimChassisSpeeds(ChassisSpeeds currentSpeeds){ return currentSpeeds; } + public boolean atTargetAngle(){ + return Math.abs(getAngleError()) < Units.degreesToRadians(5); + } + public Translation2d getTargetPoint() { return targetPoint; } diff --git a/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java b/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java index b2528ea4..0e85e161 100644 --- a/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java +++ b/src/main/java/frc/robot/subsystems/swerve/drivemotors/VortexDriveMotor.java @@ -24,6 +24,7 @@ public class VortexDriveMotor implements SwerveDriveMotor { public VortexDriveMotor(int canID) { motor = new CANSparkFlex(canID, MotorType.kBrushless); motor.setIdleMode(IdleMode.kBrake); + motor.setClosedLoopRampRate(.1); encoder = motor.getEncoder(); encoder.setVelocityConversionFactor(conversionFactor); //STUB