diff --git a/src/main/deploy/pathplanner/autos/Center-Auto Ruiner.auto b/src/main/deploy/pathplanner/autos/Center-Auto Ruiner.auto index 0e51d79b..98788499 100644 --- a/src/main/deploy/pathplanner/autos/Center-Auto Ruiner.auto +++ b/src/main/deploy/pathplanner/autos/Center-Auto Ruiner.auto @@ -12,9 +12,22 @@ "data": { "commands": [ { - "type": "path", + "type": "parallel", "data": { - "pathName": "Center-Auto Ruiner" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Auto Ruiner" + } + }, + { + "type": "named", + "data": { + "name": "AutonRuinerShootAndIntake" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/Left Auton 4 piece total.auto b/src/main/deploy/pathplanner/autos/Left Auton 4 piece total.auto new file mode 100644 index 00000000..249c6267 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Auton 4 piece total.auto @@ -0,0 +1,197 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "rotation": 64.817265461845 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Left-Pickup Subwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Left-Pickup Subwoofer 2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Left-Pickup Subwoofer 3" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Shoot.auto b/src/main/deploy/pathplanner/autos/Left Shoot.auto index 46e672fe..4c5c106e 100644 --- a/src/main/deploy/pathplanner/autos/Left Shoot.auto +++ b/src/main/deploy/pathplanner/autos/Left Shoot.auto @@ -2,10 +2,10 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.7023114046228096, - "y": 6.71281009228685 + "x": 1.2933990244570825, + "y": 7.102190285805508 }, - "rotation": 65.7722546820459 + "rotation": -1.9561248701734877 }, "command": { "type": "sequential", diff --git a/src/main/deploy/pathplanner/autos/Left-Auto Ruiner.auto b/src/main/deploy/pathplanner/autos/Left-Auto Ruiner.auto index 2f23cea4..bed0d378 100644 --- a/src/main/deploy/pathplanner/autos/Left-Auto Ruiner.auto +++ b/src/main/deploy/pathplanner/autos/Left-Auto Ruiner.auto @@ -12,9 +12,22 @@ "data": { "commands": [ { - "type": "path", + "type": "parallel", "data": { - "pathName": "Left-Auto Ruiner" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left-Auto Ruiner" + } + }, + { + "type": "named", + "data": { + "name": "AutonRuinerShootAndIntake" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/New New Auto.auto b/src/main/deploy/pathplanner/autos/New New Auto.auto deleted file mode 100644 index d19fce7a..00000000 --- a/src/main/deploy/pathplanner/autos/New New Auto.auto +++ /dev/null @@ -1,18 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.0, - "y": 6.86 - }, - "rotation": 0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [] - } - }, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Preloaded Center Auton 3 piece total.auto b/src/main/deploy/pathplanner/autos/Preloaded Center Auton 3 piece total.auto new file mode 100644 index 00000000..2d47d8d8 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Preloaded Center Auton 3 piece total.auto @@ -0,0 +1,150 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3756161320151827, + "y": 5.55076982040085 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup 2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Preloaded Center Auton 4 piece total.auto b/src/main/deploy/pathplanner/autos/Preloaded Center Auton 4 piece total.auto new file mode 100644 index 00000000..f9b243e1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Preloaded Center Auton 4 piece total.auto @@ -0,0 +1,197 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3756161320151827, + "y": 5.55076982040085 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup 2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup 3" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Preloaded Left Auton 3 piece total.auto b/src/main/deploy/pathplanner/autos/Preloaded Left Auton 3 piece total.auto new file mode 100644 index 00000000..a627e577 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Preloaded Left Auton 3 piece total.auto @@ -0,0 +1,144 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "rotation": 64.817265461845 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Left-Pickup Subwoofer" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Left-Pickup Subwoofer 2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Preloaded Left-Pickup Subwoofer.auto b/src/main/deploy/pathplanner/autos/Preloaded Left-Pickup Subwoofer.auto index c55e1a22..6e74b5bd 100644 --- a/src/main/deploy/pathplanner/autos/Preloaded Left-Pickup Subwoofer.auto +++ b/src/main/deploy/pathplanner/autos/Preloaded Left-Pickup Subwoofer.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.7308159060762569, - "y": 6.641548838653233 + "x": 2.0, + "y": 7.0 }, "rotation": 60.25511870305776 }, diff --git a/src/main/deploy/pathplanner/autos/Preloaded Right Auton 2 piece total.auto b/src/main/deploy/pathplanner/autos/Preloaded Right Auton 2 piece total.auto new file mode 100644 index 00000000..c2b95917 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Preloaded Right Auton 2 piece total.auto @@ -0,0 +1,106 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7371441255109025, + "y": 4.39519602333928 + }, + "rotation": -57.09475707701205 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Pickup" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Shoot" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Preloaded Right Auton 3 piece total.auto b/src/main/deploy/pathplanner/autos/Preloaded Right Auton 3 piece total.auto new file mode 100644 index 00000000..ba1c08f1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Preloaded Right Auton 3 piece total.auto @@ -0,0 +1,158 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7371441255109025, + "y": 4.39519602333928 + }, + "rotation": -57.09475707701205 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Pickup" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Shoot" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Pickup 2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "ArmToSubwoofer" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Preloaded Right-Shoot 2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "SwitchRPMShoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ArmToGround" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right-Auto Ruiner.auto b/src/main/deploy/pathplanner/autos/Right-Auto Ruiner.auto index cde771af..1db819a8 100644 --- a/src/main/deploy/pathplanner/autos/Right-Auto Ruiner.auto +++ b/src/main/deploy/pathplanner/autos/Right-Auto Ruiner.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.5, - "y": 2.08 + "x": 0.8442899328546756, + "y": 2.7050989470935694 }, "rotation": 0 }, @@ -12,9 +12,22 @@ "data": { "commands": [ { - "type": "path", + "type": "parallel", "data": { - "pathName": "Right-Auto Ruiner" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right-Auto Ruiner" + } + }, + { + "type": "named", + "data": { + "name": "AutonRuinerShootAndIntake" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/Shoot on Right.auto b/src/main/deploy/pathplanner/autos/Shoot on Right.auto deleted file mode 100644 index 82273cb0..00000000 --- a/src/main/deploy/pathplanner/autos/Shoot on Right.auto +++ /dev/null @@ -1,38 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.69 - }, - "rotation": 147.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ArmToSubwoofer" - } - }, - { - "type": "named", - "data": { - "name": "SwitchRPMShoot" - } - } - ] - } - } - ] - } - }, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Test 4 piece.auto b/src/main/deploy/pathplanner/autos/Test 4 piece.auto new file mode 100644 index 00000000..a54cfcd2 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Test 4 piece.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3756161320151827, + "y": 5.55076982040085 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center-Pickup" + } + }, + { + "type": "path", + "data": { + "pathName": "Center-Pickup 2" + } + }, + { + "type": "path", + "data": { + "pathName": "Center-Pickup 3" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Center-Auto Ruiner.path index f5ce9e13..967c8a88 100644 --- a/src/main/deploy/pathplanner/paths/Center-Auto Ruiner.path +++ b/src/main/deploy/pathplanner/paths/Center-Auto Ruiner.path @@ -36,12 +36,12 @@ "y": 0.7869617776272596 }, "prevControl": { - "x": 4.462708374490823, - "y": 0.11639338093491075 + "x": 4.404829487934736, + "y": 1.101052954407271 }, "nextControl": { - "x": 9.291645553665193, - "y": 1.1945743121768773 + "x": 9.53622158727117, + "y": 0.574553367374826 }, "isLocked": false, "linkedName": null @@ -96,16 +96,16 @@ }, { "anchor": { - "x": 7.9882578085766855, - "y": 7.451136064309165 + "x": 7.614890544595903, + "y": 7.342597271192029 }, "prevControl": { - "x": 8.37057976486527, - "y": 7.041954048893445 + "x": 7.988089256952776, + "y": 7.353622739775686 }, "nextControl": { - "x": 7.585454318915502, - "y": 7.8822385448364445 + "x": 7.285264557419584, + "y": 7.332859078519773 }, "isLocked": false, "linkedName": null @@ -116,8 +116,8 @@ "y": 6.962884482874621 }, "prevControl": { - "x": 6.121410342440393, - "y": 6.997030500240731 + "x": 5.962304878346412, + "y": 6.8946404084978985 }, "nextControl": null, "isLocked": false, @@ -126,8 +126,28 @@ ], "rotationTargets": [ { - "waypointRelativePos": 5.6000000000000005, - "rotationDegrees": -7.0, + "waypointRelativePos": 5.7, + "rotationDegrees": 76.37253697709336, + "rotateFast": false + }, + { + "waypointRelativePos": 2.0500000000000003, + "rotationDegrees": 0, + "rotateFast": false + }, + { + "waypointRelativePos": 3.0, + "rotationDegrees": 13.8197149275521, + "rotateFast": false + }, + { + "waypointRelativePos": 4.050000000000001, + "rotationDegrees": 28.524517180426013, + "rotateFast": false + }, + { + "waypointRelativePos": 5.05, + "rotationDegrees": 31.334287515593456, "rotateFast": false } ], diff --git a/src/main/deploy/pathplanner/paths/Center-Pickup 2.path b/src/main/deploy/pathplanner/paths/Center-Pickup 2.path new file mode 100644 index 00000000..8ac48a6c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Center-Pickup 2.path @@ -0,0 +1,74 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.408287396727466, + "y": 5.525086266457521 + }, + "prevControl": null, + "nextControl": { + "x": 2.057289618731077, + "y": 6.174014151112526 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.8752978027901492, + "y": 7.0894042618452975 + }, + "prevControl": { + "x": 2.476031903427983, + "y": 6.709614747817872 + }, + "nextControl": { + "x": 3.066893432653555, + "y": 7.271653763422683 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.408287396727466, + "y": 5.525086266457521 + }, + "prevControl": { + "x": 1.784620224044719, + "y": 5.920821141760907 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.65, + "rotationDegrees": 45.189322306802794, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 0.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center-Pickup 3.path b/src/main/deploy/pathplanner/paths/Center-Pickup 3.path new file mode 100644 index 00000000..d9d37ad5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Center-Pickup 3.path @@ -0,0 +1,74 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.408287396727466, + "y": 5.525086266457521 + }, + "prevControl": null, + "nextControl": { + 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}, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center-Pickup.path b/src/main/deploy/pathplanner/paths/Center-Pickup.path index dcf51460..f0909276 100644 --- a/src/main/deploy/pathplanner/paths/Center-Pickup.path +++ b/src/main/deploy/pathplanner/paths/Center-Pickup.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 3.256945750532723, + "x": 3.0700616561375482, "y": 5.525086266457521 }, "prevControl": { - "x": 2.7918205615572567, - "y": 5.450666236221447 + "x": 2.5928902154412907, + "y": 5.541031627728612 }, "nextControl": { - "x": 3.5180556875108673, - "y": 5.566863856374024 + "x": 3.334345163811631, + "y": 5.516254857767795 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path index 105e6e9c..15394ae1 100644 --- a/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path +++ b/src/main/deploy/pathplanner/paths/Left-Auto Ruiner.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 1.8260632958924956, - "y": 5.211754342083749 + "x": 2.79739226145119, + "y": 7.060189683843188 }, "isLocked": false, "linkedName": null @@ -110,9 +110,14 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.5, + "waypointRelativePos": 0.85, "rotationDegrees": 22.20045635608777, "rotateFast": false + }, + { + "waypointRelativePos": 0.5, + "rotationDegrees": 0, + "rotateFast": false } ], "constraintZones": [], diff --git a/src/main/deploy/pathplanner/paths/Left-Pickup For Left Subwoofer.path b/src/main/deploy/pathplanner/paths/Left-Pickup For Left Subwoofer.path index 7de2e6ad..6881bbf4 100644 --- a/src/main/deploy/pathplanner/paths/Left-Pickup For Left Subwoofer.path +++ b/src/main/deploy/pathplanner/paths/Left-Pickup For Left Subwoofer.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 3.579230015602889, - "y": 6.714031713777714 + "x": 2.9337269587943684, + "y": 6.982284142504229 }, "prevControl": { - "x": 3.466140107582353, - "y": 6.996756483829054 + "x": 2.6297483710657295, + "y": 7.000162651926998 }, "nextControl": { - "x": 3.725824594506333, - "y": 6.347545266519105 + "x": 3.17439943471651, + "y": 6.9681289838770155 }, "isLocked": false, "linkedName": null @@ -44,7 +44,13 @@ "linkedName": null } ], - "rotationTargets": [], + "rotationTargets": [ + { + "waypointRelativePos": 0.55, + "rotationDegrees": 0, + "rotateFast": false + } + ], "constraintZones": [], "eventMarkers": [], "globalConstraints": { @@ -55,7 +61,7 @@ }, "goalEndState": { "velocity": 0.0, - "rotation": 151.3175833489299, + "rotation": 60.09226463401354, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 2.path b/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 2.path new file mode 100644 index 00000000..83d484dc --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 2.path @@ -0,0 +1,89 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "prevControl": null, + "nextControl": { + "x": 2.912280633728115, + "y": 5.66086343368397 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.6513193714406413, + "y": 5.589722591070332 + }, + "prevControl": { + "x": 2.9588371489600256, + "y": 5.403738785504717 + }, + "nextControl": { + "x": 0.9071049924266421, + "y": 6.644606736462032 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "prevControl": { + "x": 0.7322289902512815, + "y": 6.641990267909317 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.05, + "rotationDegrees": 59.00363812391654, + "rotateFast": true + }, + { + "waypointRelativePos": 0.65, + "rotationDegrees": -36.35534131450031, + "rotateFast": false + }, + { + "waypointRelativePos": 0.3, + "rotationDegrees": -19.256228562276885, + "rotateFast": false + }, + { + "waypointRelativePos": 1.3, + "rotationDegrees": 66.39996651332388, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 61.92751306414704, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 59.184294248270795, + "velocity": 0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 3.path b/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 3.path new file mode 100644 index 00000000..1433b174 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Preloaded Left-Pickup Subwoofer 3.path @@ -0,0 +1,84 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "prevControl": null, + "nextControl": { + "x": 2.427340940091133, + "y": 6.193490536447265 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.495508288762723, + "y": 4.060826342293255 + }, + "prevControl": { + "x": 2.5388393520297092, + "y": 3.6616553352276853 + }, + "nextControl": { + "x": 2.174147930739516, + "y": 7.021236913173708 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.7308159060762569, + "y": 6.641548838653233 + }, + "prevControl": { + "x": 0.7322289902512815, + "y": 6.641990267909317 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.15, + "rotationDegrees": 59.00363812391654, + "rotateFast": true + }, + { + 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"waypoints": [ + { + "anchor": { + "x": 0.8108009573052709, + "y": 4.391924892990533 + }, + "prevControl": null, + "nextControl": { + "x": 0.9568738473158196, + "y": 3.52522574559461 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.8363450321182127, + "y": 5.394958737729634 + }, + "prevControl": { + "x": 2.8266068394483854, + "y": 5.404696930403704 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 30.311213226407045, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.0, + "maxAcceleration": 1.0, + "maxAngularVelocity": 520.0, + "maxAngularAcceleration": 710.0 + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 68.80594351845765, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": -62.703121008326576, + "velocity": 0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Preloaded Right-Pickup.path b/src/main/deploy/pathplanner/paths/Preloaded Right-Pickup.path index 1cb00e10..f932715f 100644 --- a/src/main/deploy/pathplanner/paths/Preloaded Right-Pickup.path +++ b/src/main/deploy/pathplanner/paths/Preloaded Right-Pickup.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 0.9873564191572831, - "y": 4.589224734005024 + "x": 0.7371441255109025, + "y": 4.39519602333928 }, "prevControl": null, "nextControl": { - "x": 2.3902783513794343, - "y": 4.323327781515613 + "x": 2.140066057733054, + "y": 4.12929907084987 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 4.062870619379916 }, "prevControl": { - "x": 1.8995004656675984, - "y": 4.061891457116247 + "x": 0.9484516266329833, + "y": 4.374065273227072 }, "nextControl": null, "isLocked": false, @@ -39,13 +39,13 @@ }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, + "rotation": -0.65601236607358, "rotateFast": false }, "reversed": false, "folder": null, "previewStartingState": { - "rotation": 119.16761337957783, + "rotation": -56.502642156984386, "velocity": 0 }, "useDefaultConstraints": false diff --git a/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot 2.path b/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot 2.path new file mode 100644 index 00000000..3a21a837 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot 2.path @@ -0,0 +1,58 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.8363450321182127, + "y": 5.394958737729634 + }, + "prevControl": null, + "nextControl": { + "x": 2.602628408103792, + "y": 3.8271097182763767 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.7815863793056181, + "y": 4.411401278318571 + }, + "prevControl": { + "x": 0.7718481866357909, + "y": 4.4211394709926415 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.4, + "rotationDegrees": -32.4123066186249, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.0, + "maxAcceleration": 1.0, + "maxAngularVelocity": 520.0, + "maxAngularAcceleration": 710.0 + }, + "goalEndState": { + "velocity": 0.0, + "rotation": -59.7435628364707, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 69.64677085151882, + "velocity": 0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot.path b/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot.path index 3f0b9006..d655f89a 100644 --- a/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot.path +++ b/src/main/deploy/pathplanner/paths/Preloaded Right-Shoot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.030113171337454, - "y": 4.546467981824852 + "x": 0.7426336086361384, + "y": 4.421139470985942 }, "prevControl": { - "x": 2.170293229475348, - "y": 4.0333869556628 + "x": 1.6329865690932401, + "y": 4.090256136546601 }, "nextControl": null, "isLocked": false, @@ -51,7 +51,7 @@ "reversed": false, "folder": null, "previewStartingState": { - "rotation": 180.0, + "rotation": 1.38468903014112, "velocity": 0 }, "useDefaultConstraints": false diff --git a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path index 67633e72..3c66c3dd 100644 --- a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path +++ b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 7.873369436306303, - "y": 0.7395730439609034 + "x": 8.116213463908409, + "y": 0.886175532730662 }, "prevControl": { - "x": 7.4426164639366315, - "y": 0.5811355233821586 + "x": 7.685460491538737, + "y": 0.7277380121519171 }, "nextControl": { - "x": 9.151657743672557, - "y": 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5.1529714820360875 + "x": 5.911144933120088, + "y": 5.866375491665207 }, "nextControl": { - "x": 8.966182066623393, - "y": 6.191534021956934 + "x": 8.961668219896346, + "y": 5.7844864444177295 }, "isLocked": false, "linkedName": null @@ -81,27 +81,27 @@ { "anchor": { "x": 8.116213463908409, - "y": 7.419187268930094 + "y": 7.099142454512667 }, "prevControl": { - "x": 6.405248568351148, - "y": 7.386855034749728 + "x": 8.28973292584782, + "y": 6.806996674491571 }, "nextControl": { - "x": 8.61587362063613, - "y": 7.428629385036548 + "x": 7.861009083425049, + "y": 7.5288169242683685 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.144144112362299, - "y": 7.419187268930094 + "x": 4.1607392348829775, + "y": 6.953069564502119 }, "prevControl": { - "x": 7.549033269362834, - "y": 7.339255896104387 + "x": 6.614763787060195, + "y": 7.157571610516888 }, "nextControl": null, "isLocked": false, @@ -110,14 +110,29 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.2, - "rotationDegrees": -27.46845470186196, + "waypointRelativePos": 0.6000000000000001, + "rotationDegrees": -10.585482314336682, "rotateFast": false }, { - "waypointRelativePos": 4.6000000000000005, - "rotationDegrees": -24.269999999999982, + "waypointRelativePos": 5.0, + "rotationDegrees": 76.91013864205064, "rotateFast": true + }, + { + "waypointRelativePos": 1.9500000000000002, + "rotationDegrees": 25.178604751827088, + "rotateFast": false + }, + { + "waypointRelativePos": 2.9499999999999997, + "rotationDegrees": 7.466482317915436, + "rotateFast": false + }, + { + "waypointRelativePos": 4.050000000000001, + "rotationDegrees": 0, + "rotateFast": false } ], "constraintZones": [], @@ -130,7 +145,7 @@ }, "goalEndState": { "velocity": 1000.0, - "rotation": -163.22542599405483, + "rotation": -178.53119928561424, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right-Pickup.path b/src/main/deploy/pathplanner/paths/Right-Pickup.path index 2d4967ce..db0de53c 100644 --- a/src/main/deploy/pathplanner/paths/Right-Pickup.path +++ b/src/main/deploy/pathplanner/paths/Right-Pickup.path @@ -61,7 +61,7 @@ }, "goalEndState": { "velocity": 0.0, - "rotation": -66.12079139727523, + "rotation": -1.0230301886678064, "rotateFast": false }, "reversed": false, diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index aa4bbc5e..781a1a9a 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -106,12 +106,16 @@ public class RobotContainer { "Left-Shoot For Left Subwoofer", "Right-Shoot For Right Subwoofer", + "Test 4 piece", + "Left Auton 4 piece total", + "Preloaded Center Auton 4 piece total", + "Preloaded Left Auton 3 piece total", + "Preloaded Center Auton 3 piece total", + "Preloaded Right Auton 3 piece total", // "Preloaded Left-Pickup Subwoofer", // "Preloaded Right-Pickup Subwoofer", - "Left-Amp", - "Shoot on Right", - "Shoot Center" + "Left-Amp", }; DigitalInput[] autoSelectors = new DigitalInput[Math.min(autoNames.length, 10)]; @@ -348,6 +352,13 @@ private void registerAutoCommands(){ NamedCommands.registerCommand("SwitchRPMShoot", new SwitchRPMShootNEO(intakeShooter)); + // NamedCommands.registerCommand("AutonRuinerShoot", new + // AutonRuinerShoot(intakeShooter)); + // NamedCommands.registerCommand("IntakeAutonRuiner", new + // IntakeAutonRuiner(intakeShooter)); + + NamedCommands.registerCommand("AutonRuinerShootAndIntake", new AutonRuinerShootAndIntake(intakeShooter)); + NamedCommands.registerCommand("PassToOuttake", new PassToOuttake(intakeShooter)); NamedCommands.registerCommand("StopIntake", new InstantCommand(intakeShooter::stopIntake)); diff --git a/src/main/java/org/carlmontrobotics/commands/AutonRuinerShootAndIntake.java b/src/main/java/org/carlmontrobotics/commands/AutonRuinerShootAndIntake.java new file mode 100644 index 00000000..e4134966 --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/AutonRuinerShootAndIntake.java @@ -0,0 +1,41 @@ +package org.carlmontrobotics.commands; + +import static org.carlmontrobotics.Constants.Armc.SMART_CURRENT_LIMIT_TIMEOUT; +import static org.carlmontrobotics.Constants.Effectorc.*; +import org.carlmontrobotics.subsystems.Arm; +import org.carlmontrobotics.subsystems.IntakeShooter; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; + +public class AutonRuinerShootAndIntake extends Command { + private IntakeShooter intakeShooter; + + public AutonRuinerShootAndIntake(IntakeShooter intakeShooter) { + this.intakeShooter = intakeShooter; + addRequirements(intakeShooter); + } + + @Override + public void initialize() { + intakeShooter.setRPMIntake(INTAKE_RPM); + intakeShooter.motorSetOutake(0.3); + + } + + @Override + public void execute() { + } + + @Override + public void end(boolean interrupted) { + intakeShooter.stopOuttake(); + intakeShooter.stopIntake(); + + } + + @Override + public boolean isFinished() { + return false; + } +}