From f9272cba58a94ffffb3f7f965928d83348c74f81 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 15:05:10 -0700 Subject: [PATCH 1/8] created PreloadOutpost and PreloadDepot --- src/main/deploy/choreo/HubToOutpost.traj | 108 ++++++++ src/main/java/frc/robot/RobotContainer.java | 22 ++ .../java/frc/robot/constants/ChoreoTraj.java | 254 +++++++++--------- .../java/frc/robot/constants/ConstAuto.java | 1 + 4 files changed, 262 insertions(+), 123 deletions(-) create mode 100644 src/main/deploy/choreo/HubToOutpost.traj diff --git a/src/main/deploy/choreo/HubToOutpost.traj b/src/main/deploy/choreo/HubToOutpost.traj new file mode 100644 index 0000000..35e3b53 --- /dev/null +++ b/src/main/deploy/choreo/HubToOutpost.traj @@ -0,0 +1,108 @@ +{ + "name":"HubToOutpost", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.5825273990631104, "y":4.0294270515441895, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0986666679382324, "y":0.6685811877250671, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.3974081575870514, "y":0.6685811877250671, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0001}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"against_hub.x", "val":3.5825273990631104}, "y":{"exp":"against_hub.y", "val":4.0294270515441895}, "heading":{"exp":"against_hub.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.0986666679382324 m", "val":2.0986666679382324}, "y":{"exp":"against_outpost.y", "val":0.6685811877250671}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"against_outpost.x", "val":0.3974081575870514}, "y":{"exp":"against_outpost.y", "val":0.6685811877250671}, "heading":{"exp":"against_outpost.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1e-4 rad / s", "val":0.0001}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":68.0388555, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.5, + "bumper":{ + "front":0.3937, + "side":0.3937, + "back":0.3937 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.20613,1.85264], + "samples":[ + {"t":0.0, "x":3.58253, "y":4.02943, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, 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"x":0.60674, "y":0.66889, "heading":0.0, "vx":-1.94242, "vy":-0.00226, "omega":0.0, "ax":9.00967, "ay":0.00248, "alpha":0.0, "fx":[153.25185,153.25185,153.25185,153.25185], "fy":[0.04214,0.04214,0.04214,0.04214]}, + {"t":1.67305, "x":0.54278, "y":0.66881, "heading":0.0, "vx":-1.61881, "vy":-0.00217, "omega":0.0, "ax":9.01153, "ay":0.00673, "alpha":0.0, "fx":[153.28355,153.28355,153.28355,153.28355], "fy":[0.11447,0.11447,0.11447,0.11447]}, + {"t":1.70897, "x":0.49045, "y":0.66873, "heading":0.0, "vx":-1.29514, "vy":-0.00193, "omega":0.0, "ax":9.01303, "ay":0.01, "alpha":0.0, "fx":[153.30901,153.30901,153.30901,153.30901], "fy":[0.17002,0.17002,0.17002,0.17002]}, + {"t":1.74489, "x":0.44975, "y":0.66867, "heading":0.0, "vx":-0.97141, "vy":-0.00157, "omega":0.0, "ax":9.01426, "ay":0.01259, "alpha":0.0, "fx":[153.3299,153.3299,153.3299,153.3299], "fy":[0.21414,0.21414,0.21414,0.21414]}, + {"t":1.78081, "x":0.42067, "y":0.66862, "heading":0.0, "vx":-0.64764, "vy":-0.00112, "omega":0.0, "ax":9.01528, "ay":0.01471, "alpha":0.0, "fx":[153.34736,153.34736,153.34736,153.34736], "fy":[0.25027,0.25027,0.25027,0.25027]}, + {"t":1.81672, "x":0.40322, "y":0.66859, "heading":0.0, "vx":-0.32384, "vy":-0.00059, "omega":0.0, "ax":9.01615, "ay":0.0165, "alpha":0.0, "fx":[153.36216,153.36216,153.36216,153.36216], "fy":[0.28064,0.28064,0.28064,0.28064]}, + {"t":1.85264, "x":0.39741, "y":0.66858, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f0166d6..4444b10 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -25,6 +25,8 @@ import frc.robot.DeviceIDs.controllerIDs; import frc.robot.commands.AddVisionMeasurement; import frc.robot.commands.ResetPose; +import frc.robot.commands.states.ShootingOnFly; +import frc.robot.commands.states.ShootingOnPreset; import frc.robot.constants.ChoreoTraj; import frc.robot.constants.ConstAuto; import frc.robot.constants.ConstField; @@ -257,6 +259,23 @@ public void configAutonomous() { ConstAuto.DEPOT_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); + Command PreloadOutpost = Commands.sequence( + ShootingOnMove( + ChoreoTraj.HubToOutpost, + ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + autoStartingPoses.put(PreloadOutpost, ChoreoTraj.HubToOutpost); + + Command PreloadDepot = Commands.sequence( + ShootingOnMove(ChoreoTraj.DSideBumpToDepot, + ConstAuto.DEPOT_SHOOTING_TIMEOUT)); + autoStartingPoses.put(PreloadDepot, ChoreoTraj.DSideBumpToDepot); + + Command PreloadDepotOutpost = Commands.sequence( + PreloadDepot.asProxy(), + ShootingOnMove(ChoreoTraj.DepotToOutpost, + ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + autoStartingPoses.put(PreloadDepotOutpost, ChoreoTraj.DepotToOutpost); + // Example: Add autonomous routines to the chooser // Add more autonomous routines as needed, e.g.:\ // autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave")); @@ -265,6 +284,9 @@ public void configAutonomous() { autoChooser.addOption("DSideNeutral", DSideNeutral); autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); autoChooser.addOption("DSideNeutralWithDepot", DSideNeutralWithDepot); + autoChooser.addOption("PreloadOutpost", PreloadOutpost); + autoChooser.addOption("PreloadDepot", PreloadDepot); + autoChooser.addOption("PreloadDepotOutpost", PreloadDepotOutpost); // enter which we want to do based on name autoChooser.onChange(selectedAuto -> { diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index f7f0700..643e662 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -24,47 +24,33 @@ public record ChoreoTraj( Pose2d initialPoseBlue, Pose2d endPoseBlue ) { - public static final ChoreoTraj xPreviewPreloadDepotOutpost = new ChoreoTraj( - "xPreviewPreloadDepotOutpost", - OptionalInt.empty(), - 2.9149, - new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), - new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) - ); - public static final ChoreoTraj xPreviewFirstDSideTrenchNeutral = new ChoreoTraj( - "xPreviewFirstDSideTrenchNeutral", - OptionalInt.empty(), - 5.67607, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) - ); - public static final ChoreoTraj FirstDSideNeutralToAlliance = new ChoreoTraj( - "FirstDSideNeutralToAlliance", + public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( + "AutoPIDTuning", OptionalInt.empty(), - 2.42112, - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + 1.15674, + new Pose2d(3.57341, 6.05182, Rotation2d.fromRadians(0)), + new Pose2d(3.57341, 3.05182, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj OSideAllianceToOutpost = new ChoreoTraj( - "OSideAllianceToOutpost", + public static final ChoreoTraj DepotToCorner = new ChoreoTraj( + "DepotToCorner", OptionalInt.empty(), - 1.57579, - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), - new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) + 0.8504, + new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)), + new Pose2d(0.59227, 7.60044, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj SecondOSideNeutralToAlliance = new ChoreoTraj( - "SecondOSideNeutralToAlliance", + public static final ChoreoTraj DepotToOutpost = new ChoreoTraj( + "DepotToOutpost", OptionalInt.empty(), - 3.35108, - new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + 1.76382, + new Pose2d(0.78688, 5.95277, Rotation2d.fromRadians(0)), + new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj xPreviewSecondOSideTrenchNeutral = new ChoreoTraj( - "xPreviewSecondOSideTrenchNeutral", + public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( + "DSideAllianceToDepot", OptionalInt.empty(), - 6.5858, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + 2.50806, + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), + new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)) ); public static final ChoreoTraj DSideAllianceToTrench = new ChoreoTraj( "DSideAllianceToTrench", @@ -80,40 +66,47 @@ public record ChoreoTraj( new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj xPreviewOSidePreloadAndBackup = new ChoreoTraj( - "xPreviewOSidePreloadAndBackup", + public static final ChoreoTraj DSideTrenchToNeutral = new ChoreoTraj( + "DSideTrenchToNeutral", OptionalInt.empty(), - 1.33437, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0)) + 3.37498, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)) ); - public static final ChoreoTraj xPreviewPreloadDepot = new ChoreoTraj( - "xPreviewPreloadDepot", + public static final ChoreoTraj FirstDSideNeutralToAlliance = new ChoreoTraj( + "FirstDSideNeutralToAlliance", OptionalInt.empty(), - 1.93922, - new Pose2d(3.74442, 5.95939, Rotation2d.fromRadians(0)), - new Pose2d(0.67815, 7.4473, Rotation2d.fromRadians(0)) + 2.42112, + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) ); - public static final ChoreoTraj DepotToOutpost = new ChoreoTraj( - "DepotToOutpost", + public static final ChoreoTraj FirstOSideNeutralToAlliance = new ChoreoTraj( + "FirstOSideNeutralToAlliance", OptionalInt.empty(), - 1.76382, - new Pose2d(0.78688, 5.95277, Rotation2d.fromRadians(0)), - new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) + 2.42112, + new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) ); - public static final ChoreoTraj xPreview4414DSideTrenchNeutral = new ChoreoTraj( - "xPreview4414DSideTrenchNeutral", + public static final ChoreoTraj HubToOutpost = new ChoreoTraj( + "HubToOutpost", OptionalInt.empty(), - 8.52061, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)) + 1.85264, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( - "SecondDSideNeutralToAlliance", + public static final ChoreoTraj OSideAllianceToOutpost = new ChoreoTraj( + "OSideAllianceToOutpost", OptionalInt.empty(), - 3.31265, - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + 1.57579, + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), + new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideAllianceToTrench = new ChoreoTraj( + "OSideAllianceToTrench", + OptionalInt.empty(), + 1.41441, + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)) ); public static final ChoreoTraj OSidePreloadAndBackup = new ChoreoTraj( "OSidePreloadAndBackup", @@ -129,68 +122,54 @@ public record ChoreoTraj( new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)) ); - public static final ChoreoTraj OSideAllianceToTrench = new ChoreoTraj( - "OSideAllianceToTrench", + public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( + "PreloadAndBackupTower", OptionalInt.empty(), - 1.41441, - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)) + 0.95141, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0)) ); - public static final ChoreoTraj xPreviewSecondDSideTrenchNeutral = new ChoreoTraj( - "xPreviewSecondDSideTrenchNeutral", + public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( + "SecondDSideNeutralToAlliance", OptionalInt.empty(), - 6.52944, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + 3.31265, + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) ); - public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( - "AutoPIDTuning", - OptionalInt.empty(), - 1.15674, - new Pose2d(3.57341, 6.05182, Rotation2d.fromRadians(0)), - new Pose2d(3.57341, 3.05182, Rotation2d.fromRadians(0)) - ); - public static final ChoreoTraj FirstOSideNeutralToAlliance = new ChoreoTraj( - "FirstOSideNeutralToAlliance", + public static final ChoreoTraj SecondOSideNeutralToAlliance = new ChoreoTraj( + "SecondOSideNeutralToAlliance", OptionalInt.empty(), - 2.42112, + 3.35108, new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) ); - public static final ChoreoTraj xPreviewFirstOSideTrenchNeutral = new ChoreoTraj( - "xPreviewFirstOSideTrenchNeutral", - OptionalInt.empty(), - 5.67607, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) - ); - public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( - "DSideAllianceToDepot", + public static final ChoreoTraj xPreview4414DSideTrenchNeutral = new ChoreoTraj( + "xPreview4414DSideTrenchNeutral", OptionalInt.empty(), - 2.50806, - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), + 8.52061, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)) ); - public static final ChoreoTraj DSideTrenchToNeutral = new ChoreoTraj( - "DSideTrenchToNeutral", + public static final ChoreoTraj xPreviewFirstDSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstDSideTrenchNeutral", OptionalInt.empty(), - 3.37498, + 5.67607, new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)) + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) ); - public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( - "PreloadAndBackupTower", + public static final ChoreoTraj xPreviewFirstOSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstOSideTrenchNeutral", OptionalInt.empty(), - 0.95141, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0)) + 5.67607, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) ); - public static final ChoreoTraj DepotToCorner = new ChoreoTraj( - "DepotToCorner", + public static final ChoreoTraj xPreviewOSidePreloadAndBackup = new ChoreoTraj( + "xPreviewOSidePreloadAndBackup", OptionalInt.empty(), - 0.8504, - new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)), - new Pose2d(0.59227, 7.60044, Rotation2d.fromRadians(0)) + 1.33437, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0)) ); public static final ChoreoTraj xPreviewOSideTrenchNeutralOutpost = new ChoreoTraj( "xPreviewOSideTrenchNeutralOutpost", @@ -206,38 +185,67 @@ public record ChoreoTraj( new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0)) ); + public static final ChoreoTraj xPreviewPreloadDepot = new ChoreoTraj( + "xPreviewPreloadDepot", + OptionalInt.empty(), + 1.93922, + new Pose2d(3.74442, 5.95939, Rotation2d.fromRadians(0)), + new Pose2d(0.67815, 7.4473, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadDepotOutpost = new ChoreoTraj( + "xPreviewPreloadDepotOutpost", + OptionalInt.empty(), + 2.9149, + new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), + new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewSecondDSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondDSideTrenchNeutral", + OptionalInt.empty(), + 6.52944, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + ); + public static final ChoreoTraj xPreviewSecondOSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondOSideTrenchNeutral", + OptionalInt.empty(), + 6.5858, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + ); /** * A map between trajectory names and their corresponding data. * This allows for trajectory data to be looked up with strings during runtime. */ public static final Map ALL_TRAJECTORIES = Map.ofEntries( - Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), - Map.entry("xPreviewFirstDSideTrenchNeutral", xPreviewFirstDSideTrenchNeutral), - Map.entry("FirstDSideNeutralToAlliance", FirstDSideNeutralToAlliance), - Map.entry("OSideAllianceToOutpost", OSideAllianceToOutpost), - Map.entry("SecondOSideNeutralToAlliance", SecondOSideNeutralToAlliance), - Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral), + Map.entry("AutoPIDTuning", AutoPIDTuning), + Map.entry("DepotToCorner", DepotToCorner), + Map.entry("DepotToOutpost", DepotToOutpost), + Map.entry("DSideAllianceToDepot", DSideAllianceToDepot), Map.entry("DSideAllianceToTrench", DSideAllianceToTrench), Map.entry("DSideBumpToDepot", DSideBumpToDepot), - Map.entry("xPreviewOSidePreloadAndBackup", xPreviewOSidePreloadAndBackup), - Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), - Map.entry("DepotToOutpost", DepotToOutpost), - Map.entry("xPreview4414DSideTrenchNeutral", xPreview4414DSideTrenchNeutral), - Map.entry("SecondDSideNeutralToAlliance", SecondDSideNeutralToAlliance), + Map.entry("DSideTrenchToNeutral", DSideTrenchToNeutral), + Map.entry("FirstDSideNeutralToAlliance", FirstDSideNeutralToAlliance), + Map.entry("FirstOSideNeutralToAlliance", FirstOSideNeutralToAlliance), + Map.entry("HubToOutpost", HubToOutpost), + Map.entry("OSideAllianceToOutpost", OSideAllianceToOutpost), + Map.entry("OSideAllianceToTrench", OSideAllianceToTrench), Map.entry("OSidePreloadAndBackup", OSidePreloadAndBackup), Map.entry("OSideTrenchToNeutral", OSideTrenchToNeutral), - Map.entry("OSideAllianceToTrench", OSideAllianceToTrench), - Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), - Map.entry("AutoPIDTuning", AutoPIDTuning), - Map.entry("FirstOSideNeutralToAlliance", FirstOSideNeutralToAlliance), - Map.entry("xPreviewFirstOSideTrenchNeutral", xPreviewFirstOSideTrenchNeutral), - Map.entry("DSideAllianceToDepot", DSideAllianceToDepot), - Map.entry("DSideTrenchToNeutral", DSideTrenchToNeutral), Map.entry("PreloadAndBackupTower", PreloadAndBackupTower), - Map.entry("DepotToCorner", DepotToCorner), + Map.entry("SecondDSideNeutralToAlliance", SecondDSideNeutralToAlliance), + Map.entry("SecondOSideNeutralToAlliance", SecondOSideNeutralToAlliance), + Map.entry("xPreview4414DSideTrenchNeutral", xPreview4414DSideTrenchNeutral), + Map.entry("xPreviewFirstDSideTrenchNeutral", xPreviewFirstDSideTrenchNeutral), + Map.entry("xPreviewFirstOSideTrenchNeutral", xPreviewFirstOSideTrenchNeutral), + Map.entry("xPreviewOSidePreloadAndBackup", xPreviewOSidePreloadAndBackup), Map.entry("xPreviewOSideTrenchNeutralOutpost", xPreviewOSideTrenchNeutralOutpost), - Map.entry("xPreviewPreloadAndBackup", xPreviewPreloadAndBackup) + Map.entry("xPreviewPreloadAndBackup", xPreviewPreloadAndBackup), + Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), + Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), + Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), + Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral) ); /** diff --git a/src/main/java/frc/robot/constants/ConstAuto.java b/src/main/java/frc/robot/constants/ConstAuto.java index 71496c9..458b5b3 100644 --- a/src/main/java/frc/robot/constants/ConstAuto.java +++ b/src/main/java/frc/robot/constants/ConstAuto.java @@ -13,4 +13,5 @@ public class ConstAuto { public static final Time NEUTRAL_SHOOTING_TIMEOUT = Seconds.of(6.5); public static final Time NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT = Seconds.of(6.5); public static final Time DEPOT_SHOOTING_TIMEOUT = Seconds.of(7); + public static final Time OUTPOST_SHOOTING_TIMEOUT = Seconds.of(6); } From fcf949a586ed8b5da61af772aef14562d8d44824 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 15:23:17 -0700 Subject: [PATCH 2/8] Fixxed paths and created PreloadDepotOutpost --- src/main/deploy/choreo/HubToDepot.traj | 118 ++++++++++++++++++ src/main/java/frc/robot/RobotContainer.java | 8 +- .../java/frc/robot/constants/ChoreoTraj.java | 10 +- 3 files changed, 131 insertions(+), 5 deletions(-) create mode 100644 src/main/deploy/choreo/HubToDepot.traj diff --git a/src/main/deploy/choreo/HubToDepot.traj b/src/main/deploy/choreo/HubToDepot.traj new file mode 100644 index 0000000..38aa7f5 --- /dev/null +++ b/src/main/deploy/choreo/HubToDepot.traj @@ -0,0 +1,118 @@ +{ + "name":"HubToDepot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.5825273990631104, "y":4.0294270515441895, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.2482879161834717, "y":5.979073524475098, "heading":0.0, 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"val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.2482879161834717 m", "val":2.2482879161834717}, "y":{"exp":"depot.y", "val":5.979073524475098}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"depot.x", "val":0.6834254264831543}, "y":{"exp":"depot.y", "val":5.979073524475098}, "heading":{"exp":"depot.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 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"heading":0.0, "vx":-0.86168, "vy":-0.00141, "omega":0.0, "ax":9.00927, "ay":0.01477, "alpha":0.0, "fx":[153.24504,153.24504,153.24504,153.24504], "fy":[0.25116,0.25116,0.25116,0.25116]}, + {"t":2.51864, "x":0.69373, "y":5.97909, "heading":0.0, "vx":-0.43105, "vy":-0.0007, "omega":0.0, "ax":9.01802, "ay":0.01474, "alpha":0.0, "fx":[153.39399,153.39399,153.39399,153.39399], "fy":[0.25074,0.25074,0.25074,0.25074]}, + {"t":2.56644, "x":0.68343, "y":5.97907, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4444b10..7426830 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -266,15 +266,15 @@ public void configAutonomous() { autoStartingPoses.put(PreloadOutpost, ChoreoTraj.HubToOutpost); Command PreloadDepot = Commands.sequence( - ShootingOnMove(ChoreoTraj.DSideBumpToDepot, + ShootingOnMove(ChoreoTraj.HubToDepot, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); - autoStartingPoses.put(PreloadDepot, ChoreoTraj.DSideBumpToDepot); + autoStartingPoses.put(PreloadDepot, ChoreoTraj.HubToDepot); Command PreloadDepotOutpost = Commands.sequence( PreloadDepot.asProxy(), ShootingOnMove(ChoreoTraj.DepotToOutpost, ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); - autoStartingPoses.put(PreloadDepotOutpost, ChoreoTraj.DepotToOutpost); + autoStartingPoses.put(PreloadDepotOutpost, ChoreoTraj.HubToDepot); // Example: Add autonomous routines to the chooser // Add more autonomous routines as needed, e.g.:\ @@ -321,7 +321,7 @@ Command ShootingOnMove(ChoreoTraj shootingPath, Time shootingTime) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), runPath(shootingPath).deadlineFor(TRY_SHOOTING_ON_FLY.asProxy()), - TRY_NONE.asProxy()); + TRY_NONE.asProxy().withTimeout(0.001)); } Command IntakeAndShootOnTheFly(ChoreoTraj intakingPath, ChoreoTraj travelingPath, ChoreoTraj shootingPath, diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index 643e662..319c1e1 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -213,6 +213,13 @@ public record ChoreoTraj( new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) ); + public static final ChoreoTraj HubToDepot = new ChoreoTraj( + "HubToDepot", + OptionalInt.empty(), + 2.56644, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)) + ); /** * A map between trajectory names and their corresponding data. @@ -245,7 +252,8 @@ public record ChoreoTraj( Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), - Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral) + Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral), + Map.entry("HubToDepot", HubToDepot) ); /** From c749ea2062a6da38d8f0a21f6ff4252c4481e2f5 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 16:05:26 -0700 Subject: [PATCH 3/8] resolved merge + created PreloadDepot, PreloadOutpost, PreloadDepotOutpost --- src/main/java/frc/robot/RobotContainer.java | 95 ++++++++++++++++--- .../java/frc/robot/constants/ChoreoTraj.java | 8 ++ 2 files changed, 91 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7426830..272488c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -251,29 +251,91 @@ public void configAutonomous() { autoStartingPoses.put(DSideDoubleNeutral, ChoreoTraj.DSideTrenchToNeutral); Command DSideNeutralWithDepot = Commands.sequence( + IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, + ChoreoTraj.FirstDSideNeutralToAlliance, + ChoreoTraj.DSideAllianceToDepot, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.DEPOT_SHOOTING_TIMEOUT)); + autoStartingPoses.put(DSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); + + Command SecondDSideNeutralWithDepot = Commands.sequence( + IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, + ChoreoTraj.SecondDSideNeutralToAlliance, + ChoreoTraj.DSideAllianceToDepot, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.DEPOT_SHOOTING_TIMEOUT)); + autoStartingPoses.put(SecondDSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); + + Command DSideDoubleNeutralWithDepot = Commands.sequence( DSideNeutral.asProxy(), IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.SecondDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToDepot, ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); - autoStartingPoses.put(DSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); + autoStartingPoses.put(DSideDoubleNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); + + Command DSideNeutralWithDepotThenNeutral = Commands.sequence( + SecondDSideNeutralWithDepot.asProxy(), + ShootingOnMove(ChoreoTraj.DSideCornerToDSideTrench), + IntakeAndShootOnTheFly( + ChoreoTraj.DSideTrenchToNeutral, + ChoreoTraj.SecondDSideNeutralToAlliance, + ChoreoTraj.DSideAllianceToTrench, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.DEPOT_SHOOTING_TIMEOUT)); + autoStartingPoses.put(DSideNeutralWithDepotThenNeutral, ChoreoTraj.DSideTrenchToNeutral); + + Command OSideNeutral = Commands.sequence( + IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, + ChoreoTraj.FirstOSideNeutralToAlliance, + ChoreoTraj.OSideAllianceToTrench, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); + autoStartingPoses.put(OSideNeutral, ChoreoTraj.OSideTrenchToNeutral); + + Command OSideDoubleNeutral = Commands.sequence( + OSideNeutral.asProxy(), + IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, + ChoreoTraj.SecondOSideNeutralToAlliance, + ChoreoTraj.OSideAllianceToTrench, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); + autoStartingPoses.put(OSideDoubleNeutral, ChoreoTraj.OSideTrenchToNeutral); + + Command OSideNeutralWithOutpost = Commands.sequence( + IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, + ChoreoTraj.FirstOSideNeutralToAlliance, + ChoreoTraj.OSideAllianceToOutpost, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + autoStartingPoses.put(OSideNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral); + + Command OSideDoubleNeutralWithOutpost = Commands.sequence( + OSideNeutral.asProxy(), + IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, + ChoreoTraj.SecondOSideNeutralToAlliance, + ChoreoTraj.OSideAllianceToOutpost, + ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + autoStartingPoses.put(OSideDoubleNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral); + + Command OSidePreloadAndBackup = Commands.sequence( + ShootingOnMove(ChoreoTraj.OSidePreloadAndBackup)); + autoStartingPoses.put(OSidePreloadAndBackup, ChoreoTraj.OSidePreloadAndBackup); Command PreloadOutpost = Commands.sequence( ShootingOnMove( - ChoreoTraj.HubToOutpost, - ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + ChoreoTraj.HubToOutpost)); autoStartingPoses.put(PreloadOutpost, ChoreoTraj.HubToOutpost); Command PreloadDepot = Commands.sequence( - ShootingOnMove(ChoreoTraj.HubToDepot, - ConstAuto.DEPOT_SHOOTING_TIMEOUT)); + ShootingOnMove(ChoreoTraj.HubToDepot)); autoStartingPoses.put(PreloadDepot, ChoreoTraj.HubToDepot); Command PreloadDepotOutpost = Commands.sequence( PreloadDepot.asProxy(), - ShootingOnMove(ChoreoTraj.DepotToOutpost, - ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + ShootingOnMove(ChoreoTraj.DepotToOutpost)); autoStartingPoses.put(PreloadDepotOutpost, ChoreoTraj.HubToDepot); // Example: Add autonomous routines to the chooser @@ -287,6 +349,14 @@ public void configAutonomous() { autoChooser.addOption("PreloadOutpost", PreloadOutpost); autoChooser.addOption("PreloadDepot", PreloadDepot); autoChooser.addOption("PreloadDepotOutpost", PreloadDepotOutpost); + autoChooser.addOption("SecondDSideNeutralWithDepot", SecondDSideNeutralWithDepot); + autoChooser.addOption("DSideDoubleNeutralWithDepot", DSideDoubleNeutralWithDepot); + autoChooser.addOption("DSideNeutralWithDepotThenNeutral", DSideNeutralWithDepotThenNeutral); + autoChooser.addOption("OSideNeutral", OSideNeutral); + autoChooser.addOption("OSideDoubleNeutral", OSideDoubleNeutral); + autoChooser.addOption("OSideNeutralWithOutpost", OSideNeutralWithOutpost); + autoChooser.addOption("OSideDoubleNeutralWithOutpost", OSideDoubleNeutralWithOutpost); + autoChooser.addOption("OSidePreloadAndBackup", OSidePreloadAndBackup); // enter which we want to do based on name autoChooser.onChange(selectedAuto -> { @@ -302,26 +372,27 @@ public void configAutonomous() { } // START OF AUTO COMMANDS + Command ShootOnly(Command prepPreset, Time shootingTime, Time preppingTime) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), prepPreset.asProxy().withTimeout(preppingTime), TRY_SHOOTING_ON_PRESET.asProxy().withTimeout(shootingTime), - TRY_NONE.asProxy()); + TRY_NONE.asProxy().withTimeout(0.001)); } Command IntakeOnly(ChoreoTraj intakingPath, Time intakingTime) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), runPath(intakingPath).deadlineFor(TRY_INTAKING.asProxy()), - TRY_NONE.asProxy()); + TRY_NONE.asProxy().withTimeout(0.001)); } - Command ShootingOnMove(ChoreoTraj shootingPath, Time shootingTime) { + Command ShootingOnMove(ChoreoTraj shootingPath) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), - runPath(shootingPath).deadlineFor(TRY_SHOOTING_ON_FLY.asProxy()), - TRY_NONE.asProxy().withTimeout(0.001)); + runPath(shootingPath).asProxy().deadlineFor(TRY_SHOOTING_ON_FLY.asProxy()), + TRY_NONE.asProxy().withTimeout(0.001).withTimeout(0.001)); } Command IntakeAndShootOnTheFly(ChoreoTraj intakingPath, ChoreoTraj travelingPath, ChoreoTraj shootingPath, diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index 3c35e6b..1a69df9 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -109,6 +109,14 @@ public record ChoreoTraj( 3.39378, new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708))); + + public static final ChoreoTraj DSideCornerToDSideTrench = new ChoreoTraj( + "DSideCornerToDSideTrench", + OptionalInt.empty(), + 1.61481, + new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)), + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571))); + public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( "PreloadAndBackupTower", OptionalInt.empty(), From 79845147f102716e6a0cdaa9de399de8a50ecce1 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 16:48:58 -0700 Subject: [PATCH 4/8] readded PreloadThenBackUp --- src/main/java/frc/robot/RobotContainer.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 272488c..daf4b26 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -233,6 +233,11 @@ public void configAutonomous() { Command DoNothing = Commands.none(); + Command PreloadThenBackUp = Commands.sequence( + ShootingOnMove( + ChoreoTraj.PreloadAndBackupTower)); + autoStartingPoses.put(PreloadThenBackUp, ChoreoTraj.PreloadAndBackupTower); + Command DSideNeutral = Commands.sequence( IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.FirstDSideNeutralToAlliance, @@ -342,6 +347,7 @@ public void configAutonomous() { // Add more autonomous routines as needed, e.g.:\ // autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave")); autoChooser.setDefaultOption("Do Nothing", DoNothing); + autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); autoChooser.addOption("AutoPIDTuning", AutoPIDTuning); autoChooser.addOption("DSideNeutral", DSideNeutral); autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); From 63b46e57048df9aa39bda774c47d7447eb86ce72 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 16:54:28 -0700 Subject: [PATCH 5/8] generated all paths --- .../deploy/choreo/DSideAllianceToDepot.traj | 58 +- .../choreo/DSideCornerToDSideTrench.traj | 126 ++--- .../deploy/choreo/DSideTrenchToNeutral.traj | 26 +- src/main/deploy/choreo/DepotToCorner.traj | 18 +- .../choreo/FirstDSideNeutralToAlliance.traj | 80 +-- .../choreo/FirstOSideNeutralToAlliance.traj | 82 +-- src/main/deploy/choreo/HubToDepot.traj | 104 ++-- .../deploy/choreo/OSideTrenchToNeutral.traj | 12 +- .../choreo/SecondDSideNeutralToAlliance.traj | 124 ++--- .../choreo/SecondOSideNeutralToAlliance.traj | 128 ++--- .../xPreview4414DSideTrenchNeutral.traj | 404 +++++++------- .../xPreviewFirstDSideTrenchNeutral.traj | 198 +++---- .../xPreviewFirstOSideTrenchNeutral.traj | 222 ++++---- .../xPreviewOSideTrenchNeutralOutpost.traj | 270 +++++----- .../choreo/xPreviewPreloadDepotOutpost.traj | 4 +- .../xPreviewSecondDSideTrenchNeutral.traj | 262 ++++----- .../xPreviewSecondOSideTrenchNeutral.traj | 272 +++++----- .../java/frc/robot/constants/ChoreoTraj.java | 504 +++++++++--------- .../java/frc/robot/constants/ChoreoVars.java | 55 +- 19 files changed, 1478 insertions(+), 1471 deletions(-) diff --git a/src/main/deploy/choreo/DSideAllianceToDepot.traj b/src/main/deploy/choreo/DSideAllianceToDepot.traj index d7283c9..f36d997 100644 --- a/src/main/deploy/choreo/DSideAllianceToDepot.traj +++ b/src/main/deploy/choreo/DSideAllianceToDepot.traj @@ -63,7 +63,7 @@ "sampleType":"Swerve", "waypoints":[0.0,0.59623,1.1743,2.50806], "samples":[ - {"t":0.0, "x":3.3141, "y":5.37187, "heading":0.5236, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-8.48062, "ay":0.44001, "alpha":-9.53901, "fx":[-151.8318,-129.42034,-152.03526,-143.7246], "fy":[-18.89991,82.11302,20.08691,-53.3622]}, + {"t":0.0, "x":3.3141, "y":5.37187, "heading":0.5236, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-8.48062, "ay":0.44001, "alpha":-9.53902, "fx":[-151.8318,-129.42034,-152.03526,-143.7246], "fy":[-18.89991,82.11302,20.08691,-53.3622]}, {"t":0.02385, "x":3.31169, "y":5.37199, "heading":0.52089, "vx":-0.20225, "vy":0.01049, "omega":-0.2275, "ax":-8.49534, "ay":0.42687, "alpha":-9.4099, "fx":[-151.80253,-130.19512,-152.05356,-143.96213], "fy":[-18.9902,80.85011,19.86563,-52.68188]}, {"t":0.0477, "x":3.30445, "y":5.37236, "heading":0.51278, "vx":-0.40486, "vy":0.02067, "omega":-0.45191, "ax":-8.50948, "ay":0.40982, "alpha":-9.29032, "fx":[-151.6873,-130.97342,-152.04121,-144.2731], "fy":[-19.74797,79.5491,19.86755,-51.78468]}, {"t":0.07155, "x":3.29237, "y":5.37297, "heading":0.49936, "vx":-0.6078, "vy":0.03045, "omega":-0.67348, "ax":-8.52346, "ay":0.38938, "alpha":-9.17538, "fx":[-151.49071,-131.78223,-152.00106,-144.65225], "fy":[-21.0659,78.16174,20.06922,-50.6721]}, @@ -71,48 +71,48 @@ {"t":0.11925, "x":3.25368, "y":5.37486, "heading":0.45684, "vx":-1.0147, 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b/src/main/deploy/choreo/xPreviewPreloadDepotOutpost.traj @@ -72,9 +72,9 @@ {"t":0.28999, "x":3.26527, "y":5.96186, "heading":0.0, "vx":-2.61459, "vy":0.01697, "omega":0.0, "ax":-9.00957, "ay":0.05738, "alpha":0.0, "fx":[-153.25023,-153.25023,-153.25023,-153.25023], "fy":[0.97594,0.97594,0.97594,0.97594]}, {"t":0.33832, "x":3.12838, "y":5.96275, "heading":0.0, "vx":-3.05003, "vy":0.01974, "omega":0.0, "ax":-9.00528, "ay":0.05686, "alpha":0.0, "fx":[-153.17727,-153.17727,-153.17727,-153.17727], "fy":[0.96724,0.96724,0.96724,0.96724]}, {"t":0.38665, "x":2.97045, "y":5.96377, "heading":0.0, "vx":-3.48527, "vy":0.02249, "omega":0.0, "ax":-8.99811, "ay":0.05627, "alpha":0.0, "fx":[-153.05528,-153.05528,-153.05528,-153.05528], "fy":[0.95713,0.95713,0.95713,0.95713]}, - {"t":0.43498, "x":2.79149, "y":5.96492, "heading":0.0, "vx":-3.92016, "vy":0.02521, "omega":0.0, "ax":-8.9837, "ay":0.05562, "alpha":0.0, "fx":[-152.81014,-152.81014,-152.81014,-152.81014], 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"fy":[58.51028,57.74949,57.64361,58.40864]}, + {"t":5.51143, "x":6.02128, "y":2.8221, "heading":-0.5233, "vx":-0.72016, "vy":-1.34171, "omega":-0.00497, "ax":-7.07068, "ay":5.56431, "alpha":0.0504, "fx":[-120.13009,-120.45939,-120.41101,-120.08038], "fy":[94.82711,94.40805,94.46694,94.88727]}, + {"t":5.54679, "x":5.9914, "y":2.77814, "heading":-0.52344, "vx":-0.97017, "vy":-1.14496, "omega":-0.00319, "ax":-5.58501, "ay":7.06707, "alpha":0.0365, "fx":[-94.91407,-95.1986,-95.08511,-94.7998], "fy":[120.27701,120.05154,120.14046,120.36612]}, + {"t":5.58215, "x":5.9536, "y":2.74207, "heading":-0.52353, "vx":-1.16765, "vy":-0.89508, "omega":-0.0019, "ax":-4.73887, "ay":7.66633, "alpha":0.02906, "fx":[-80.55315,-80.78617,-80.66061,-80.42715], "fy":[130.43571,130.29124,130.36851,130.51294]}, + {"t":5.61751, "x":5.90935, "y":2.71522, "heading":-0.52358, "vx":-1.33521, "vy":-0.62401, "omega":-0.00087, "ax":-4.22804, "ay":7.96294, "alpha":0.02463, "fx":[-71.88085,-72.07838,-71.95465,-71.75685], "fy":[135.46715,135.36196,135.42746,135.53256]}, {"t":5.65287, "x":5.8595, "y":2.69813, "heading":-0.5236, "vx":-1.48471, "vy":-0.34245, "omega":0.0, "ax":-6.65774, "ay":6.08246, "alpha":0.0, "fx":[-113.24625,-113.24625,-113.24625,-113.24625], "fy":[103.46089,103.46089,103.46089,103.46089]}, {"t":5.69527, "x":5.79055, "y":2.68908, "heading":-0.5236, "vx":-1.76704, "vy":-0.08451, "omega":0.0, "ax":-8.52012, "ay":2.94248, "alpha":0.0, "fx":[-144.92478,-144.92478,-144.92478,-144.92478], "fy":[50.05078,50.05078,50.05078,50.05078]}, {"t":5.73768, "x":5.70796, "y":2.68814, "heading":-0.5236, "vx":-2.12834, "vy":0.04027, "omega":0.0, "ax":-9.01116, "ay":0.02578, "alpha":0.0, "fx":[-153.27729,-153.27729,-153.27729,-153.27729], "fy":[0.43845,0.43845,0.43845,0.43845]}, diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index 1a69df9..9bd8ed9 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -1,4 +1,4 @@ - +// spotless:off package frc.robot.constants; import edu.wpi.first.math.geometry.Pose2d; @@ -6,14 +6,13 @@ import java.util.Map; import java.util.OptionalInt; -// If these imports cause errors because you're not using ChoreoLib, -// turn off "Include ChoreoLib-specific Helpers" in Choreo's codegen settings. import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; +// If the 2 imports above cause errors because you're not using ChoreoLib, +// turn off "Include ChoreoLib-specific Helpers" in Choreo's codegen settings. /** - * A class containing the name, start pose, end pose, and total time of every - * Choreo trajectory. + * A class containing the name, start pose, end pose, and total time of every Choreo trajectory. * This prevents your code from referencing deleted or misspelled trajectories, * and removes the need for JSON parsing to load a trajectory's essential data. * DO NOT MODIFY THIS FILE YOURSELF! It is automatically generated by Choreo. @@ -23,241 +22,270 @@ public record ChoreoTraj( OptionalInt segment, double totalTimeSecs, Pose2d initialPoseBlue, - Pose2d endPoseBlue) { - - public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( - "AutoPIDTuning", - OptionalInt.empty(), - 1.15674, - new Pose2d(3.57341, 6.05182, Rotation2d.fromRadians(0)), - new Pose2d(3.57341, 3.05182, Rotation2d.fromRadians(0))); - public static final ChoreoTraj DepotToCorner = new ChoreoTraj( - "DepotToCorner", - OptionalInt.empty(), - 0.8504, - new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)), - new Pose2d(0.59227, 7.60044, Rotation2d.fromRadians(0))); - public static final ChoreoTraj DepotToOutpost = new ChoreoTraj( - "DepotToOutpost", - OptionalInt.empty(), - 1.76382, - new Pose2d(0.78688, 5.95277, Rotation2d.fromRadians(0)), - new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0))); - public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( - "DSideAllianceToDepot", - OptionalInt.empty(), - 2.50806, - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), - new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708))); - public static final ChoreoTraj DSideAllianceToTrench = new ChoreoTraj( - "DSideAllianceToTrench", - OptionalInt.empty(), - 1.41441, - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708))); - public static final ChoreoTraj DSideBumpToDepot = new ChoreoTraj( - "DSideBumpToDepot", - OptionalInt.empty(), - 1.14827, - new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), - new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0))); - public static final ChoreoTraj DSideTrenchToNeutral = new ChoreoTraj( - "DSideTrenchToNeutral", - OptionalInt.empty(), - 3.37498, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708))); - public static final ChoreoTraj FirstDSideNeutralToAlliance = new ChoreoTraj( - "FirstDSideNeutralToAlliance", - OptionalInt.empty(), - 2.42112, - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236))); - public static final ChoreoTraj FirstOSideNeutralToAlliance = new ChoreoTraj( - "FirstOSideNeutralToAlliance", - OptionalInt.empty(), - 2.42112, - new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236))); - public static final ChoreoTraj HubToOutpost = new ChoreoTraj( - "HubToOutpost", - OptionalInt.empty(), - 1.85264, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0))); - public static final ChoreoTraj OSideAllianceToOutpost = new ChoreoTraj( - "OSideAllianceToOutpost", - OptionalInt.empty(), - 1.57579, - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), - new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0))); - public static final ChoreoTraj OSideAllianceToTrench = new ChoreoTraj( - "OSideAllianceToTrench", - OptionalInt.empty(), - 1.41441, - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708))); - public static final ChoreoTraj OSidePreloadAndBackup = new ChoreoTraj( - "OSidePreloadAndBackup", - OptionalInt.empty(), - 1.33437, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0))); - public static final ChoreoTraj OSideTrenchToNeutral = new ChoreoTraj( - "OSideTrenchToNeutral", - OptionalInt.empty(), - 3.39378, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708))); + Pose2d endPoseBlue +) { + public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( + "AutoPIDTuning", + OptionalInt.empty(), + 1.15674, + new Pose2d(3.57341, 6.05182, Rotation2d.fromRadians(0)), + new Pose2d(3.57341, 3.05182, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DepotToCorner = new ChoreoTraj( + "DepotToCorner", + OptionalInt.empty(), + 0.8504, + new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)), + new Pose2d(0.59227, 7.60044, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DepotToOutpost = new ChoreoTraj( + "DepotToOutpost", + OptionalInt.empty(), + 1.76382, + new Pose2d(0.78688, 5.95277, Rotation2d.fromRadians(0)), + new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( + "DSideAllianceToDepot", + OptionalInt.empty(), + 2.50806, + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), + new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)) + ); + public static final ChoreoTraj DSideAllianceToTrench = new ChoreoTraj( + "DSideAllianceToTrench", + OptionalInt.empty(), + 1.41441, + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)), + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)) + ); + public static final ChoreoTraj DSideBumpToDepot = new ChoreoTraj( + "DSideBumpToDepot", + OptionalInt.empty(), + 1.14827, + new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), + new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DSideCornerToDSideTrench = new ChoreoTraj( + "DSideCornerToDSideTrench", + OptionalInt.empty(), + 1.62285, + new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)), + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)) + ); + public static final ChoreoTraj DSideTrenchToNeutral = new ChoreoTraj( + "DSideTrenchToNeutral", + OptionalInt.empty(), + 3.37498, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)) + ); + public static final ChoreoTraj FirstDSideNeutralToAlliance = new ChoreoTraj( + "FirstDSideNeutralToAlliance", + OptionalInt.empty(), + 2.42112, + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + ); + public static final ChoreoTraj FirstOSideNeutralToAlliance = new ChoreoTraj( + "FirstOSideNeutralToAlliance", + OptionalInt.empty(), + 2.42112, + new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + ); + public static final ChoreoTraj HubToDepot = new ChoreoTraj( + "HubToDepot", + OptionalInt.empty(), + 1.53201, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj HubToOutpost = new ChoreoTraj( + "HubToOutpost", + OptionalInt.empty(), + 1.85264, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideAllianceToOutpost = new ChoreoTraj( + "OSideAllianceToOutpost", + OptionalInt.empty(), + 1.57579, + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), + new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideAllianceToTrench = new ChoreoTraj( + "OSideAllianceToTrench", + OptionalInt.empty(), + 1.41441, + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)), + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)) + ); + public static final ChoreoTraj OSidePreloadAndBackup = new ChoreoTraj( + "OSidePreloadAndBackup", + OptionalInt.empty(), + 1.33437, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideTrenchToNeutral = new ChoreoTraj( + "OSideTrenchToNeutral", + OptionalInt.empty(), + 3.39378, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)) + ); + public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( + "PreloadAndBackupTower", + OptionalInt.empty(), + 0.95141, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( + "SecondDSideNeutralToAlliance", + OptionalInt.empty(), + 3.31265, + new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + ); + public static final ChoreoTraj SecondOSideNeutralToAlliance = new ChoreoTraj( + "SecondOSideNeutralToAlliance", + OptionalInt.empty(), + 3.35108, + new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + ); + public static final ChoreoTraj xPreview4414DSideTrenchNeutral = new ChoreoTraj( + "xPreview4414DSideTrenchNeutral", + OptionalInt.empty(), + 8.52061, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708)) + ); + public static final ChoreoTraj xPreviewFirstDSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstDSideTrenchNeutral", + OptionalInt.empty(), + 5.67607, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + ); + public static final ChoreoTraj xPreviewFirstOSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstOSideTrenchNeutral", + OptionalInt.empty(), + 5.67607, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + ); + public static final ChoreoTraj xPreviewOSidePreloadAndBackup = new ChoreoTraj( + "xPreviewOSidePreloadAndBackup", + OptionalInt.empty(), + 1.33437, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewOSideTrenchNeutralOutpost = new ChoreoTraj( + "xPreviewOSideTrenchNeutralOutpost", + OptionalInt.empty(), + 8.00154, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadAndBackup = new ChoreoTraj( + "xPreviewPreloadAndBackup", + OptionalInt.empty(), + 0.95141, + new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), + new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadDepot = new ChoreoTraj( + "xPreviewPreloadDepot", + OptionalInt.empty(), + 1.93922, + new Pose2d(3.74442, 5.95939, Rotation2d.fromRadians(0)), + new Pose2d(0.67815, 7.4473, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadDepotOutpost = new ChoreoTraj( + "xPreviewPreloadDepotOutpost", + OptionalInt.empty(), + 2.9149, + new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), + new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewSecondDSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondDSideTrenchNeutral", + OptionalInt.empty(), + 6.52944, + new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), + new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236)) + ); + public static final ChoreoTraj xPreviewSecondOSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondOSideTrenchNeutral", + OptionalInt.empty(), + 6.5858, + new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), + new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236)) + ); - public static final ChoreoTraj DSideCornerToDSideTrench = new ChoreoTraj( - "DSideCornerToDSideTrench", - OptionalInt.empty(), - 1.61481, - new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)), - new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571))); + /** + * A map between trajectory names and their corresponding data. + * This allows for trajectory data to be looked up with strings during runtime. + */ + public static final Map ALL_TRAJECTORIES = Map.ofEntries( + Map.entry("AutoPIDTuning", AutoPIDTuning), + Map.entry("DepotToCorner", DepotToCorner), + Map.entry("DepotToOutpost", DepotToOutpost), + Map.entry("DSideAllianceToDepot", DSideAllianceToDepot), + Map.entry("DSideAllianceToTrench", DSideAllianceToTrench), + Map.entry("DSideBumpToDepot", DSideBumpToDepot), + Map.entry("DSideCornerToDSideTrench", DSideCornerToDSideTrench), + Map.entry("DSideTrenchToNeutral", DSideTrenchToNeutral), + Map.entry("FirstDSideNeutralToAlliance", FirstDSideNeutralToAlliance), + Map.entry("FirstOSideNeutralToAlliance", FirstOSideNeutralToAlliance), + Map.entry("HubToDepot", HubToDepot), + Map.entry("HubToOutpost", HubToOutpost), + Map.entry("OSideAllianceToOutpost", OSideAllianceToOutpost), + Map.entry("OSideAllianceToTrench", OSideAllianceToTrench), + Map.entry("OSidePreloadAndBackup", OSidePreloadAndBackup), + Map.entry("OSideTrenchToNeutral", OSideTrenchToNeutral), + Map.entry("PreloadAndBackupTower", PreloadAndBackupTower), + Map.entry("SecondDSideNeutralToAlliance", SecondDSideNeutralToAlliance), + Map.entry("SecondOSideNeutralToAlliance", SecondOSideNeutralToAlliance), + Map.entry("xPreview4414DSideTrenchNeutral", xPreview4414DSideTrenchNeutral), + Map.entry("xPreviewFirstDSideTrenchNeutral", xPreviewFirstDSideTrenchNeutral), + Map.entry("xPreviewFirstOSideTrenchNeutral", xPreviewFirstOSideTrenchNeutral), + Map.entry("xPreviewOSidePreloadAndBackup", xPreviewOSidePreloadAndBackup), + Map.entry("xPreviewOSideTrenchNeutralOutpost", xPreviewOSideTrenchNeutralOutpost), + Map.entry("xPreviewPreloadAndBackup", xPreviewPreloadAndBackup), + Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), + Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), + Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), + Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral) + ); - public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( - "PreloadAndBackupTower", - OptionalInt.empty(), - 0.95141, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0))); - public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( - "SecondDSideNeutralToAlliance", - OptionalInt.empty(), - 3.31265, - new Pose2d(7.84374, 4.53587, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236))); - public static final ChoreoTraj SecondOSideNeutralToAlliance = new ChoreoTraj( - "SecondOSideNeutralToAlliance", - OptionalInt.empty(), - 3.35108, - new Pose2d(7.84374, 3.53413, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236))); - public static final ChoreoTraj xPreview4414DSideTrenchNeutral = new ChoreoTraj( - "xPreview4414DSideTrenchNeutral", - OptionalInt.empty(), - 8.52061, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(0.40031, 6.923, Rotation2d.fromRadians(-1.5708))); - public static final ChoreoTraj xPreviewFirstDSideTrenchNeutral = new ChoreoTraj( - "xPreviewFirstDSideTrenchNeutral", - OptionalInt.empty(), - 5.67607, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236))); - public static final ChoreoTraj xPreviewFirstOSideTrenchNeutral = new ChoreoTraj( - "xPreviewFirstOSideTrenchNeutral", - OptionalInt.empty(), - 5.67607, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236))); - public static final ChoreoTraj xPreviewOSidePreloadAndBackup = new ChoreoTraj( - "xPreviewOSidePreloadAndBackup", - OptionalInt.empty(), - 1.33437, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(0.4406, 1.92714, Rotation2d.fromRadians(0))); - public static final ChoreoTraj xPreviewOSideTrenchNeutralOutpost = new ChoreoTraj( - "xPreviewOSideTrenchNeutralOutpost", - OptionalInt.empty(), - 8.00154, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(0.39741, 0.66858, Rotation2d.fromRadians(0))); - public static final ChoreoTraj xPreviewPreloadAndBackup = new ChoreoTraj( - "xPreviewPreloadAndBackup", - OptionalInt.empty(), - 0.95141, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(1.54855, 4.02943, Rotation2d.fromRadians(0))); - public static final ChoreoTraj xPreviewPreloadDepot = new ChoreoTraj( - "xPreviewPreloadDepot", - OptionalInt.empty(), - 1.93922, - new Pose2d(3.74442, 5.95939, Rotation2d.fromRadians(0)), - new Pose2d(0.67815, 7.4473, Rotation2d.fromRadians(0))); - public static final ChoreoTraj xPreviewPreloadDepotOutpost = new ChoreoTraj( - "xPreviewPreloadDepotOutpost", - OptionalInt.empty(), - 2.9149, - new Pose2d(3.64442, 5.95939, Rotation2d.fromRadians(0)), - new Pose2d(0.74877, 0.82106, Rotation2d.fromRadians(0))); - public static final ChoreoTraj xPreviewSecondDSideTrenchNeutral = new ChoreoTraj( - "xPreviewSecondDSideTrenchNeutral", - OptionalInt.empty(), - 6.52944, - new Pose2d(4.12706, 7.65828, Rotation2d.fromRadians(1.5708)), - new Pose2d(3.3141, 5.37187, Rotation2d.fromRadians(0.5236))); - public static final ChoreoTraj xPreviewSecondOSideTrenchNeutral = new ChoreoTraj( - "xPreviewSecondOSideTrenchNeutral", - OptionalInt.empty(), - 6.5858, - new Pose2d(4.12706, 0.41172, Rotation2d.fromRadians(-1.5708)), - new Pose2d(3.3141, 2.69813, Rotation2d.fromRadians(-0.5236))); - public static final ChoreoTraj HubToDepot = new ChoreoTraj( - "HubToDepot", - OptionalInt.empty(), - 2.56644, - new Pose2d(3.58253, 4.02943, Rotation2d.fromRadians(0)), - new Pose2d(0.68343, 5.97907, Rotation2d.fromRadians(0))); - - /** - * A map between trajectory names and their corresponding data. - * This allows for trajectory data to be looked up with strings during runtime. - */ - public static final Map ALL_TRAJECTORIES = Map.ofEntries( - Map.entry("AutoPIDTuning", AutoPIDTuning), - Map.entry("DepotToCorner", DepotToCorner), - Map.entry("DepotToOutpost", DepotToOutpost), - Map.entry("DSideAllianceToDepot", DSideAllianceToDepot), - Map.entry("DSideAllianceToTrench", DSideAllianceToTrench), - Map.entry("DSideBumpToDepot", DSideBumpToDepot), - Map.entry("DSideTrenchToNeutral", DSideTrenchToNeutral), - Map.entry("FirstDSideNeutralToAlliance", FirstDSideNeutralToAlliance), - Map.entry("FirstOSideNeutralToAlliance", FirstOSideNeutralToAlliance), - Map.entry("HubToOutpost", HubToOutpost), - Map.entry("OSideAllianceToOutpost", OSideAllianceToOutpost), - Map.entry("OSideAllianceToTrench", OSideAllianceToTrench), - Map.entry("OSidePreloadAndBackup", OSidePreloadAndBackup), - Map.entry("OSideTrenchToNeutral", OSideTrenchToNeutral), - Map.entry("PreloadAndBackupTower", PreloadAndBackupTower), - Map.entry("SecondDSideNeutralToAlliance", SecondDSideNeutralToAlliance), - Map.entry("SecondOSideNeutralToAlliance", SecondOSideNeutralToAlliance), - Map.entry("xPreview4414DSideTrenchNeutral", xPreview4414DSideTrenchNeutral), - Map.entry("xPreviewFirstDSideTrenchNeutral", xPreviewFirstDSideTrenchNeutral), - Map.entry("xPreviewFirstOSideTrenchNeutral", xPreviewFirstOSideTrenchNeutral), - Map.entry("xPreviewOSidePreloadAndBackup", xPreviewOSidePreloadAndBackup), - Map.entry("xPreviewOSideTrenchNeutralOutpost", xPreviewOSideTrenchNeutralOutpost), - Map.entry("xPreviewPreloadAndBackup", xPreviewPreloadAndBackup), - Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), - Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), - Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), - Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral), - Map.entry("HubToDepot", HubToDepot)); - - /** - * Looks up the ChoreoTraj segment of the given overall ChoreoTraj. - * WARNING: will raise an exception if not called with a valid segment index. - */ - public ChoreoTraj segment(int segment) { - var traj = ChoreoTraj.ALL_TRAJECTORIES.get(this.name + "$" + segment); - if (traj == null) { - throw new NullPointerException("Trajectory " + this.name + " does not have segment #" + segment + "."); + /** + * Looks up the ChoreoTraj segment of the given overall ChoreoTraj. + * WARNING: will raise an exception if not called with a valid segment index. + */ + public ChoreoTraj segment(int segment) { + var traj = ChoreoTraj.ALL_TRAJECTORIES.get(this.name + "$" + segment); + if (traj == null) { + throw new NullPointerException("Trajectory " + this.name + " does not have segment #" + segment + "."); + } + return traj; } - return traj; - } - - // If these methods cause errors because you're not using ChoreoLib, - // turn off "Include ChoreoLib-specific Helpers" in Choreo's codegen settings. - /** - * Load an AutoTrajectory directly from a ChoreoTraj, which may be a segment of - * a larger trajectory. - */ - public AutoTrajectory asAutoTraj(AutoRoutine routine) { - if (this.segment.isPresent()) { - return routine.trajectory(this.name, this.segment.getAsInt()); + + // If these methods cause errors because you're not using ChoreoLib, + // turn off "Include ChoreoLib-specific Helpers" in Choreo's codegen settings. + /** + * Load an AutoTrajectory directly from a ChoreoTraj, which may be a segment of a larger trajectory. + */ + public AutoTrajectory asAutoTraj(AutoRoutine routine) { + if (this.segment.isPresent()) { + return routine.trajectory(this.name, this.segment.getAsInt()); + } + return routine.trajectory(this.name); } - return routine.trajectory(this.name); - } } +// spotless:on diff --git a/src/main/java/frc/robot/constants/ChoreoVars.java b/src/main/java/frc/robot/constants/ChoreoVars.java index ee2da39..9a68e0d 100644 --- a/src/main/java/frc/robot/constants/ChoreoVars.java +++ b/src/main/java/frc/robot/constants/ChoreoVars.java @@ -1,5 +1,5 @@ +// spotless:off package frc.robot.constants; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.Units; @@ -12,34 +12,31 @@ */ public final class ChoreoVars { public static final LinearVelocity intaking_velocity = Units.MetersPerSecond.of(1.524); - public static final Angle over_bump_heading = Units.Radians.of(0.524); + public static final Angle over_bump_heading = Units.Radians.of(0.5235988); public static final class Poses { - public static final Pose2d against_hub = new Pose2d(3.583, 4.029, Rotation2d.kZero); - public static final Pose2d against_hub_neutral = new Pose2d(5.91, 4.062, Rotation2d.kZero); - public static final Pose2d against_outpost = new Pose2d(0.397, 0.669, Rotation2d.kZero); - public static final Pose2d against_tower_inline_hub = new Pose2d(1.549, 4.029, Rotation2d.kZero); - public static final Pose2d aligned_oside_wall = new Pose2d(1.672, 0.657, Rotation2d.kZero); - public static final Pose2d between_tower_depot = new Pose2d(0.41, 5.059, Rotation2d.fromRadians(-1.571)); - public static final Pose2d between_tower_outpost = new Pose2d(0.441, 1.927, Rotation2d.kZero); - public static final Pose2d d_side_alliance_bump = new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)); - public static final Pose2d d_side_bump = new Pose2d(3.644, 5.959, Rotation2d.kZero); - public static final Pose2d d_side_corner = new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)); - public static final Pose2d d_side_neutral_bump = new Pose2d(5.859, 5.372, Rotation2d.fromRadians(0.524)); - public static final Pose2d d_side_neutral_middle = new Pose2d(7.844, 4.536, Rotation2d.fromRadians(1.571)); - public static final Pose2d d_side_neutral_wall = new Pose2d(7.844, 7.658, Rotation2d.fromRadians(1.571)); - public static final Pose2d d_side_trench = new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)); - public static final Pose2d depot = new Pose2d(0.683, 5.979, Rotation2d.kZero); - public static final Pose2d o_side_alliance_bump = new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)); - public static final Pose2d o_side_neutral_bump = new Pose2d(5.859, 2.698, Rotation2d.fromRadians(-0.524)); - public static final Pose2d o_side_neutral_middle = new Pose2d(7.844, 3.534, Rotation2d.fromRadians(-1.571)); - public static final Pose2d o_side_neutral_wall = new Pose2d(7.844, 0.412, Rotation2d.fromRadians(-1.571)); - public static final Pose2d o_side_trench = new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)); - public static final Pose2d pid_end = new Pose2d(3.573, 3.052, Rotation2d.kZero); - public static final Pose2d pid_start = new Pose2d(3.573, 6.052, Rotation2d.kZero); - - private Poses() {} + public static final Pose2d against_hub = new Pose2d(3.5825274, 4.0294271, Rotation2d.fromRadians(0)); + public static final Pose2d against_hub_neutral = new Pose2d(5.9098597, 4.062469, Rotation2d.fromRadians(0)); + public static final Pose2d against_outpost = new Pose2d(0.3974082, 0.6685812, Rotation2d.fromRadians(0)); + public static final Pose2d against_tower_inline_hub = new Pose2d(1.5485528, 4.0294271, Rotation2d.fromRadians(0)); + public static final Pose2d aligned_oside_wall = new Pose2d(1.6718733, 0.6572021, Rotation2d.fromRadians(0)); + public static final Pose2d between_tower_depot = new Pose2d(0.410383, 5.0589038, Rotation2d.fromRadians(-1.5707963)); + public static final Pose2d between_tower_outpost = new Pose2d(0.4405997, 1.9271417, Rotation2d.fromRadians(0)); + public static final Pose2d d_side_alliance_bump = new Pose2d(3.3140977, 5.3718681, Rotation2d.fromRadians(0.5235988)); + public static final Pose2d d_side_bump = new Pose2d(3.6444179, 5.9593887, Rotation2d.fromRadians(0)); + public static final Pose2d d_side_corner = new Pose2d(0.4003107, 6.9230027, Rotation2d.fromRadians(-1.5707963)); + public static final Pose2d d_side_neutral_bump = new Pose2d(5.859498, 5.3718681, Rotation2d.fromRadians(0.5235988)); + public static final Pose2d d_side_neutral_middle = new Pose2d(7.8437409, 4.5358677, Rotation2d.fromRadians(1.5707963)); + public static final Pose2d d_side_neutral_wall = new Pose2d(7.8437409, 7.6582813, Rotation2d.fromRadians(1.5707963)); + public static final Pose2d d_side_trench = new Pose2d(4.1270618, 7.6582813, Rotation2d.fromRadians(1.5707963)); + public static final Pose2d depot = new Pose2d(0.6834254, 5.9790735, Rotation2d.fromRadians(0)); + public static final Pose2d o_side_alliance_bump = new Pose2d(3.3140977, 2.6981319, Rotation2d.fromRadians(-0.5235988)); + public static final Pose2d o_side_neutral_bump = new Pose2d(5.859498, 2.6981319, Rotation2d.fromRadians(-0.5235988)); + public static final Pose2d o_side_neutral_middle = new Pose2d(7.8437409, 3.5341323, Rotation2d.fromRadians(-1.5707963)); + public static final Pose2d o_side_neutral_wall = new Pose2d(7.8437409, 0.4117187, Rotation2d.fromRadians(-1.5707963)); + public static final Pose2d o_side_trench = new Pose2d(4.1270618, 0.4117187, Rotation2d.fromRadians(-1.5707963)); + public static final Pose2d pid_end = new Pose2d(3.57341, 3.051815, Rotation2d.fromRadians(0)); + public static final Pose2d pid_start = new Pose2d(3.57341, 6.051815, Rotation2d.fromRadians(0)); } - - private ChoreoVars() {} -} \ No newline at end of file +} +// spotless:on From 9b835c84bf15591b2ee079458448e1466f6caea7 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 18:53:07 -0700 Subject: [PATCH 6/8] added autochooser for PreloadThenPackup --- src/main/java/frc/robot/RobotContainer.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index daf4b26..19ab49c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -349,6 +349,7 @@ public void configAutonomous() { autoChooser.setDefaultOption("Do Nothing", DoNothing); autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); autoChooser.addOption("AutoPIDTuning", AutoPIDTuning); + autoChooser.addOption("PreloadThenBackUp", PreloadThenBackUp); autoChooser.addOption("DSideNeutral", DSideNeutral); autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); autoChooser.addOption("DSideNeutralWithDepot", DSideNeutralWithDepot); From a30694f6909c7378ce68bb5d4b010ef9088b53bd Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 19:48:13 -0700 Subject: [PATCH 7/8] Removed DSideDoubleNeutral autochooser --- src/main/java/frc/robot/RobotContainer.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9121bd2..4b896a2 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -347,7 +347,6 @@ public void configAutonomous() { // Add more autonomous routines as needed, e.g.:\ // autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave")); autoChooser.setDefaultOption("Do Nothing", DoNothing); - autoChooser.addOption("DSideDoubleNeutral", DSideDoubleNeutral); autoChooser.addOption("PreloadThenBackUp", PreloadThenBackUp); autoChooser.addOption("AutoPIDTuning", AutoPIDTuning); autoChooser.addOption("PreloadThenBackUp", PreloadThenBackUp); From 7be3f4ae5f27e582cfadb3128bf75fe6a0640f2d Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 15 Aug 2026 20:04:12 -0700 Subject: [PATCH 8/8] removed extra PreloadThenBackup autochooser --- src/main/java/frc/robot/RobotContainer.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4b896a2..97b2743 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -347,7 +347,6 @@ public void configAutonomous() { // Add more autonomous routines as needed, e.g.:\ // autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave")); autoChooser.setDefaultOption("Do Nothing", DoNothing); - autoChooser.addOption("PreloadThenBackUp", PreloadThenBackUp); autoChooser.addOption("AutoPIDTuning", AutoPIDTuning); autoChooser.addOption("PreloadThenBackUp", PreloadThenBackUp); autoChooser.addOption("DSideNeutral", DSideNeutral);