diff --git a/src/main/deploy/choreo/DSideAllianceToDepot.traj b/src/main/deploy/choreo/DSideAllianceToDepot.traj index f36d997..9c35b75 100644 --- a/src/main/deploy/choreo/DSideAllianceToDepot.traj +++ b/src/main/deploy/choreo/DSideAllianceToDepot.traj @@ -8,8 +8,8 @@ {"x":0.4103829860687256, "y":5.058903789520264, "heading":-1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.4003106951713562, "y":6.92300271987915, "heading":-1.5707963267948966, "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":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0001}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, @@ -24,8 +24,8 @@ {"x":{"exp":"between_tower_depot.x", "val":0.4103829860687256}, "y":{"exp":"between_tower_depot.y", "val":5.058903789520264}, "heading":{"exp":"between_tower_depot.heading", "val":-1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"d_side_corner.x", "val":0.4003106951713562}, "y":{"exp":"d_side_corner.y", "val":6.92300271987915}, "heading":{"exp":"d_side_corner.heading", "val":-1.5707963267948966}, "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":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1e-4 rad / s", "val":0.0001}}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, @@ -61,87 +61,87 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.59623,1.1743,2.50806], + "waypoints":[0.0,0.31551,0.93278,2.17645], "samples":[ - {"t":0.0, "x":3.3141, 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"data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0001}}, "enabled":true}], "targetDt":0.05 @@ -22,7 +22,7 @@ {"x":{"exp":"d_side_trench.x", "val":4.12706184387207}, "y":{"exp":"d_side_trench.y", "val":7.658281326293945}, "heading":{"exp":"d_side_trench.heading", "val":1.5707963267948966}, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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", 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--git a/src/main/deploy/choreo/DepotToCorner.traj b/src/main/deploy/choreo/DepotToCorner.traj index 52c59be..29113b5 100644 --- a/src/main/deploy/choreo/DepotToCorner.traj +++ b/src/main/deploy/choreo/DepotToCorner.traj @@ -7,7 +7,7 @@ {"x":0.5922702550888062, "y":7.600440979003906, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0001}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, 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"enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.524}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, @@ -21,8 +21,8 @@ {"x":{"exp":"d_side_neutral_bump.x", "val":5.859498023986816}, "y":{"exp":"d_side_neutral_bump.y", "val":5.371868133544922}, "heading":{"exp":"d_side_neutral_bump.heading", "val":0.5235987755982988}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"d_side_alliance_bump.x", "val":3.314097738265991}, 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a/src/main/deploy/choreo/OSideAllianceToTrench.traj +++ b/src/main/deploy/choreo/OSideAllianceToTrench.traj @@ -7,8 +7,8 @@ {"x":2.684748649597168, "y":1.4788921546936038, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":4.12706184387207, "y":0.41171867370605497, "heading":-1.5707963267948966, "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":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], "targetDt":0.05 }, @@ -18,8 +18,8 @@ {"x":{"exp":"2.684748649597168 m", "val":2.684748649597168}, "y":{"exp":"8.07 m - 6.5911078453063965 m", "val":1.4788921546936038}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"o_side_trench.x", "val":4.12706184387207}, "y":{"exp":"o_side_trench.y", "val":0.41171867370605497}, "heading":{"exp":"o_side_trench.heading", "val":-1.5707963267948966}, "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":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", 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+++ b/src/main/deploy/choreo/OSidePreloadAndBackup.traj @@ -8,7 +8,7 @@ {"x":0.440599650144577, "y":1.9271416664123535, "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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], "targetDt":0.05 }, @@ -19,7 +19,7 @@ {"x":{"exp":"between_tower_outpost.x", "val":0.440599650144577}, "y":{"exp":"between_tower_outpost.y", "val":1.9271416664123535}, "heading":{"exp":"between_tower_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":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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}], "targetDt":{ "exp":"0.05 s", @@ -51,47 +51,47 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.61853,1.33437], + "waypoints":[0.0,0.61854,1.06225], "samples":[ - {"t":0.0, "x":3.58253, "y":4.02943, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.79813, "ay":-6.90431, "alpha":0.0, "fx":[-98.62455,-98.62455,-98.62455,-98.62455], "fy":[-117.44042,-117.44042,-117.44042,-117.44042]}, - {"t":0.03436, "x":3.5791, "y":4.02535, "heading":0.0, "vx":-0.19924, "vy":-0.23725, 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{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.524}}, "enabled":true}], @@ -20,8 +20,8 @@ {"x":{"exp":"7.873512268066406 m", "val":7.873512268066406}, "y":{"exp":"0.39548152685165405 m", "val":0.39548152685165405}, "heading":{"exp":"o_side_neutral_wall.heading", "val":-1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"o_side_neutral_middle.x", "val":7.843740940093994}, 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"fy":[-0.1151,-0.1151,-0.1151,-0.1151]}, + {"t":3.035, "x":7.84374, "y":3.53413, "heading":-1.5708, "vx":-0.12253, "vy":1.51842, "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/deploy/choreo/PreloadAndBackupTower.traj b/src/main/deploy/choreo/PreloadAndBackupTower.traj index 7a3a341..3bf9578 100644 --- a/src/main/deploy/choreo/PreloadAndBackupTower.traj +++ b/src/main/deploy/choreo/PreloadAndBackupTower.traj @@ -8,7 +8,7 @@ "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -18,7 +18,7 @@ "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":"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":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -51,25 +51,25 @@ "sampleType":"Swerve", "waypoints":[0.0,0.95141], "samples":[ - {"t":0.0, "x":3.58253, "y":4.02943, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.01922, "ay":0.0, "alpha":0.0, "fx":[-153.41438,-153.41438,-153.41438,-153.41438], 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"enabled":true}, + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.524}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, @@ -23,8 +23,8 @@ {"x":{"exp":"d_side_neutral_bump.x", "val":5.859498023986816}, "y":{"exp":"d_side_neutral_bump.y", "val":5.371868133544922}, "heading":{"exp":"d_side_neutral_bump.heading", "val":0.5235987755982988}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"d_side_alliance_bump.x", "val":3.314097738265991}, "y":{"exp":"d_side_alliance_bump.y", "val":5.371868133544922}, 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a/src/main/deploy/choreo/xPreview4414DSideTrenchNeutral.traj b/src/main/deploy/choreo/xPreview4414DSideTrenchNeutral.traj index 2a31930..bfd2870 100644 --- a/src/main/deploy/choreo/xPreview4414DSideTrenchNeutral.traj +++ b/src/main/deploy/choreo/xPreview4414DSideTrenchNeutral.traj @@ -77,248 +77,248 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.16937,3.29552,4.64038,5.59656,6.25673,6.57167,7.18679,8.52061], + "waypoints":[0.0,1.16937,3.29552,4.64038,5.59656,6.25673,6.5717,7.18561,8.51942], "samples":[ - {"t":0.0, "x":4.12706, "y":7.65828, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.01806, "ay":-0.00026, "alpha":-0.00226, "fx":[153.3947,153.39464,153.39464,153.3947], "fy":[0.00774,0.00774,-0.01646,-0.01646]}, - {"t":0.04331, "x":4.13552, "y":7.65828, "heading":1.57079, "vx":0.39057, "vy":-0.00001, "omega":-0.0001, "ax":9.01727, "ay":-0.00032, "alpha":-0.00225, "fx":[153.38117,153.38111,153.38111,153.38117], 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"fx":[153.33891,153.33891,153.33891,153.33891], "fy":[0.16208,0.16208,0.16208,0.16208]}, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index fe26e84..679dd7a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -255,7 +255,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.FirstDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToTrench, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.FIRST_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutral, ChoreoTraj.DSideTrenchToNeutral); @@ -264,7 +264,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.SecondDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToTrench, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideDoubleNeutral, ChoreoTraj.DSideTrenchToNeutral); @@ -272,7 +272,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.FirstDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToDepot, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.FIRST_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); @@ -280,7 +280,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.SecondDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToDepot, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); autoStartingPoses.put(SecondDSideNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); @@ -289,7 +289,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.SecondDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToDepot, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideDoubleNeutralWithDepot, ChoreoTraj.DSideTrenchToNeutral); @@ -300,7 +300,7 @@ public void configAutonomous() { ChoreoTraj.DSideTrenchToNeutral, ChoreoTraj.SecondDSideNeutralToAlliance, ChoreoTraj.DSideAllianceToTrench, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.DEPOT_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutralWithDepotThenNeutral, ChoreoTraj.DSideTrenchToNeutral); @@ -308,7 +308,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, ChoreoTraj.FirstOSideNeutralToAlliance, ChoreoTraj.OSideAllianceToTrench, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.FIRST_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(OSideNeutral, ChoreoTraj.OSideTrenchToNeutral); @@ -317,7 +317,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, ChoreoTraj.SecondOSideNeutralToAlliance, ChoreoTraj.OSideAllianceToTrench, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(OSideDoubleNeutral, ChoreoTraj.OSideTrenchToNeutral); @@ -325,7 +325,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, ChoreoTraj.FirstOSideNeutralToAlliance, ChoreoTraj.OSideAllianceToOutpost, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.FIRST_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); autoStartingPoses.put(OSideNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral); @@ -334,7 +334,7 @@ public void configAutonomous() { IntakeAndShootOnTheFly(ChoreoTraj.OSideTrenchToNeutral, ChoreoTraj.SecondOSideNeutralToAlliance, ChoreoTraj.OSideAllianceToOutpost, - ConstAuto.NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, + ConstAuto.SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT, ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); autoStartingPoses.put(OSideDoubleNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral); @@ -432,6 +432,7 @@ Command IntakeAndShootOnTheFly(ChoreoTraj intakingPath, ChoreoTraj travelingPath ConstField.isRedAlliance(), ConstField.FIELD_LENGTH)), TRY_NONE.asProxy().withTimeout(0.001), TRY_SHOOTING_ON_FLY.asProxy().withTimeout(shootingOnTravelTime))), + TRY_NONE.asProxy().withTimeout(0.001), runPath(shootingPath).asProxy().alongWith(TRY_SHOOTING_ON_FLY.asProxy().withTimeout(shootingTime)), TRY_NONE.asProxy().withTimeout(0.001)); } diff --git a/src/main/java/frc/robot/commands/states/ShootingOnFly.java b/src/main/java/frc/robot/commands/states/ShootingOnFly.java index f467b3f..73f2546 100644 --- a/src/main/java/frc/robot/commands/states/ShootingOnFly.java +++ b/src/main/java/frc/robot/commands/states/ShootingOnFly.java @@ -14,6 +14,7 @@ import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.RobotContainer; +import frc.robot.constants.ConstFreeSpin; import frc.robot.subsystems.StateMachine.RobotState; public class ShootingOnFly extends Command { @@ -57,12 +58,24 @@ public void execute() { RobotContainer.freeSpinInstance .setFlywheelVelocity(RobotContainer.freeSpinInstance.getMappedFlywheelSpeed(distanceToTarget)); + + RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(ConstFreeSpin.TRANSFER_BELT_PERCENT_OUTPUT); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(ConstFreeSpin.AGITATOR_PERCENT_OUTPUT); + RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(ConstFreeSpin.INTAKE_ROLLER_PERCENT_OUTPUT); + RobotContainer.freeSpinInstance.setTransferRampPercentOutput(ConstFreeSpin.TRANSFER_RAMP_PERCENT_OUTPUT); + RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(ConstFreeSpin.HOTDOG_ROLLERS_PERCENT_OUTPUT); } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { TOF = Seconds.zero(); + RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(ConstFreeSpin.STOP); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(ConstFreeSpin.STOP); + RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(ConstFreeSpin.STOP); + RobotContainer.freeSpinInstance.setTransferRampPercentOutput(ConstFreeSpin.STOP); + RobotContainer.freeSpinInstance.setFlywheelPercentOutput(ConstFreeSpin.STOP); + RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(ConstFreeSpin.STOP); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index 9bd8ed9..17ad767 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; @@ -6,10 +6,10 @@ 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. @@ -25,243 +25,243 @@ public record ChoreoTraj( 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)) - ); + "AutoPIDTuning", + OptionalInt.empty(), + 1.15674, + new Pose2d(3.573, 6.052, Rotation2d.fromRadians(0)), + new Pose2d(3.573, 3.052, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DepotToCorner = new ChoreoTraj( + "DepotToCorner", + OptionalInt.empty(), + 0.60364, + new Pose2d(0.683, 5.979, Rotation2d.fromRadians(0)), + new Pose2d(0.592, 7.6, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DepotToOutpost = new ChoreoTraj( + "DepotToOutpost", + OptionalInt.empty(), + 3.36206, + new Pose2d(0.787, 5.953, Rotation2d.fromRadians(0)), + new Pose2d(0.397, 0.669, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( + "DSideAllianceToDepot", + OptionalInt.empty(), + 2.17645, + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)), + new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)) + ); + public static final ChoreoTraj DSideAllianceToTrench = new ChoreoTraj( + "DSideAllianceToTrench", + OptionalInt.empty(), + 1.16872, + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)), + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)) + ); + public static final ChoreoTraj DSideBumpToDepot = new ChoreoTraj( + "DSideBumpToDepot", + OptionalInt.empty(), + 1.9323, + new Pose2d(3.644, 5.959, Rotation2d.fromRadians(0)), + new Pose2d(0.683, 5.979, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj DSideCornerToDSideTrench = new ChoreoTraj( + "DSideCornerToDSideTrench", + OptionalInt.empty(), + 1.34803, + new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)), + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)) + ); + public static final ChoreoTraj DSideTrenchToNeutral = new ChoreoTraj( + "DSideTrenchToNeutral", + OptionalInt.empty(), + 3.01616, + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)), + new Pose2d(7.844, 4.536, Rotation2d.fromRadians(1.571)) + ); + public static final ChoreoTraj FirstDSideNeutralToAlliance = new ChoreoTraj( + "FirstDSideNeutralToAlliance", + OptionalInt.empty(), + 2.06375, + new Pose2d(7.844, 4.536, Rotation2d.fromRadians(1.571)), + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)) + ); + public static final ChoreoTraj FirstOSideNeutralToAlliance = new ChoreoTraj( + "FirstOSideNeutralToAlliance", + OptionalInt.empty(), + 2.06375, + new Pose2d(7.844, 3.534, Rotation2d.fromRadians(-1.571)), + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)) + ); + public static final ChoreoTraj HubToDepot = new ChoreoTraj( + "HubToDepot", + OptionalInt.empty(), + 1.53201, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(0.683, 5.979, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj HubToOutpost = new ChoreoTraj( + "HubToOutpost", + OptionalInt.empty(), + 1.85264, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(0.397, 0.669, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideAllianceToOutpost = new ChoreoTraj( + "OSideAllianceToOutpost", + OptionalInt.empty(), + 2.35462, + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)), + new Pose2d(0.397, 0.669, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideAllianceToTrench = new ChoreoTraj( + "OSideAllianceToTrench", + OptionalInt.empty(), + 0.95616, + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)), + new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)) + ); + public static final ChoreoTraj OSidePreloadAndBackup = new ChoreoTraj( + "OSidePreloadAndBackup", + OptionalInt.empty(), + 1.06225, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(0.441, 1.927, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj OSideTrenchToNeutral = new ChoreoTraj( + "OSideTrenchToNeutral", + OptionalInt.empty(), + 3.035, + new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), + new Pose2d(7.844, 3.534, Rotation2d.fromRadians(-1.571)) + ); + public static final ChoreoTraj PreloadAndBackupTower = new ChoreoTraj( + "PreloadAndBackupTower", + OptionalInt.empty(), + 0.95141, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(1.549, 4.029, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( + "SecondDSideNeutralToAlliance", + OptionalInt.empty(), + 2.95501, + new Pose2d(7.844, 4.536, Rotation2d.fromRadians(1.571)), + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)) + ); + public static final ChoreoTraj SecondOSideNeutralToAlliance = new ChoreoTraj( + "SecondOSideNeutralToAlliance", + OptionalInt.empty(), + 2.99336, + new Pose2d(7.844, 3.534, Rotation2d.fromRadians(-1.571)), + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)) + ); + public static final ChoreoTraj xPreview4414DSideTrenchNeutral = new ChoreoTraj( + "xPreview4414DSideTrenchNeutral", + OptionalInt.empty(), + 8.51942, + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)), + new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)) + ); + public static final ChoreoTraj xPreviewFirstDSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstDSideTrenchNeutral", + OptionalInt.empty(), + 5.67607, + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)), + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)) + ); + public static final ChoreoTraj xPreviewFirstOSideTrenchNeutral = new ChoreoTraj( + "xPreviewFirstOSideTrenchNeutral", + OptionalInt.empty(), + 5.67607, + new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)) + ); + public static final ChoreoTraj xPreviewOSidePreloadAndBackup = new ChoreoTraj( + "xPreviewOSidePreloadAndBackup", + OptionalInt.empty(), + 1.33437, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(0.441, 1.927, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewOSideTrenchNeutralOutpost = new ChoreoTraj( + "xPreviewOSideTrenchNeutralOutpost", + OptionalInt.empty(), + 8.00154, + new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), + new Pose2d(0.397, 0.669, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadAndBackup = new ChoreoTraj( + "xPreviewPreloadAndBackup", + OptionalInt.empty(), + 0.95141, + new Pose2d(3.583, 4.029, Rotation2d.fromRadians(0)), + new Pose2d(1.549, 4.029, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadDepot = new ChoreoTraj( + "xPreviewPreloadDepot", + OptionalInt.empty(), + 1.93922, + new Pose2d(3.744, 5.959, Rotation2d.fromRadians(0)), + new Pose2d(0.678, 7.447, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewPreloadDepotOutpost = new ChoreoTraj( + "xPreviewPreloadDepotOutpost", + OptionalInt.empty(), + 2.9149, + new Pose2d(3.644, 5.959, Rotation2d.fromRadians(0)), + new Pose2d(0.749, 0.821, Rotation2d.fromRadians(0)) + ); + public static final ChoreoTraj xPreviewSecondDSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondDSideTrenchNeutral", + OptionalInt.empty(), + 6.52944, + new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)), + new Pose2d(3.314, 5.372, Rotation2d.fromRadians(0.524)) + ); + public static final ChoreoTraj xPreviewSecondOSideTrenchNeutral = new ChoreoTraj( + "xPreviewSecondOSideTrenchNeutral", + OptionalInt.empty(), + 6.5858, + new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), + new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)) + ); /** * 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) + 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) ); /** @@ -288,4 +288,3 @@ public AutoTrajectory asAutoTraj(AutoRoutine routine) { 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 9a68e0d..ee2da39 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; @@ -12,31 +12,34 @@ */ 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(0.5235988); + public static final Angle over_bump_heading = Units.Radians.of(0.524); public static final class 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)); + 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() {} } -} -// spotless:on + + private ChoreoVars() {} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/constants/ConstAuto.java b/src/main/java/frc/robot/constants/ConstAuto.java index b836fe8..50ac16a 100644 --- a/src/main/java/frc/robot/constants/ConstAuto.java +++ b/src/main/java/frc/robot/constants/ConstAuto.java @@ -10,8 +10,9 @@ /** Add your docs here. */ 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 NEUTRAL_SHOOTING_TIMEOUT = Seconds.of(1.5); + public static final Time FIRST_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT = Seconds.of(1); + public static final Time SECOND_NEUTRAL_TO_ALLIANCE_TRAVELING_SHOOTING_TIMEOUT = Seconds.of(1); + public static final Time DEPOT_SHOOTING_TIMEOUT = Seconds.of(2); public static final Time OUTPOST_SHOOTING_TIMEOUT = Seconds.of(7); } diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index e0e1c23..86338e9 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -22,9 +22,14 @@ public class ConstFreeSpin { public static final double REVERSING_TRANSFER_RAMP_PERCENT_OUTPUT = -1; public static final double REVERSING_AGITATOR_PERCENT_OUTPUT = -1; public static final double REVERSING_HOTDOG_ROLLERS_PERCENT_OUTPUT = -1; - public static final double INTAKE_ROLLER_PERCENT_OUTPUT = 1; public static final double REVERSING_INTAKE_PERCENT_OUTPUT = -1; + public static final double TRANSFER_BELT_PERCENT_OUTPUT = 1; + public static final double TRANSFER_RAMP_PERCENT_OUTPUT = 1; + public static final double AGITATOR_PERCENT_OUTPUT = 1; + public static final double HOTDOG_ROLLERS_PERCENT_OUTPUT = 1; + public static final double INTAKE_ROLLER_PERCENT_OUTPUT = 1; + // FLYWHEEL TOLERANCE public static final AngularVelocity FLYWHEEL_TOLERANCE = RPM.of(100); diff --git a/src/main/java/frc/robot/subsystems/FreeSpin.java b/src/main/java/frc/robot/subsystems/FreeSpin.java index 2a182b2..4560a84 100644 --- a/src/main/java/frc/robot/subsystems/FreeSpin.java +++ b/src/main/java/frc/robot/subsystems/FreeSpin.java @@ -4,6 +4,8 @@ package frc.robot.subsystems; +import static edu.wpi.first.units.Units.RPM; + import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage; import com.ctre.phoenix6.hardware.TalonFX; @@ -16,6 +18,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.DeviceIDs; import frc.robot.constants.ConstFreeSpin; +import frc.robot.Robot; @Logged public class FreeSpin extends SubsystemBase { @@ -31,6 +34,13 @@ public class FreeSpin extends SubsystemBase { final TalonFX agitator = new TalonFX(DeviceIDs.freeSpinIDs.AGITATOR_CAN); final TalonFX transferRamp = new TalonFX(DeviceIDs.freeSpinIDs.TRANSFER_RAMP_CAN); + public AngularVelocity lastDesiredFlywheelVelocity = RPM.zero(); + public AngularVelocity lastDesiredIntakeRollerVelocity = RPM.zero(); + public AngularVelocity lastDesiredHotdogRollersVelocity = RPM.zero(); + public AngularVelocity lastDesiredTransferBeltVelocity = RPM.zero(); + public AngularVelocity lastDesiredAgitatorVelocity = RPM.zero(); + public AngularVelocity lastDesiredTransferRampVelocity = RPM.zero(); + Follower flywheelFollower = new Follower(westFlywheelLeader.getDeviceID(), MotorAlignmentValue.Opposed); Follower intakeFollower = new Follower(intakeRollerWestLeader.getDeviceID(), MotorAlignmentValue.Opposed); @@ -57,9 +67,13 @@ public FreeSpin() { public void setIntakeRollersPercentOutput(double percentOutput) { intakeRollerWestLeader.set(percentOutput); intakeRollerEastFollower.setControl(intakeFollower); + lastDesiredIntakeRollerVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getIntakeRollersVelocity() { + if (Robot.isSimulation()) { + return lastDesiredIntakeRollerVelocity; + } return intakeRollerWestLeader.getVelocity().getValue(); } @@ -71,9 +85,13 @@ public void setFlywheelVelocity(AngularVelocity velocity) { public void setFlywheelPercentOutput(double percentOutput) { westFlywheelLeader.set(percentOutput); eastFlywheelFollower.setControl(flywheelFollower); + lastDesiredFlywheelVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getFlywheelVelocity() { + if (Robot.isSimulation()) { + return lastDesiredFlywheelVelocity; + } return westFlywheelLeader.getVelocity().getValue(); } @@ -83,9 +101,13 @@ public void setHotdogRollersVelocity(AngularVelocity velocity) { public void setHotdogRollersPercentOutput(double percentOutput) { hotdogRollers.set(percentOutput); + lastDesiredHotdogRollersVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getHotdogRollersVelocity() { + if (Robot.isSimulation()) { + return lastDesiredHotdogRollersVelocity; + } return hotdogRollers.getVelocity().getValue(); } @@ -95,9 +117,13 @@ public void setTransferBeltVelocity(AngularVelocity velocity) { public void setTransferBeltPercentOutput(double percentOutput) { transferBelt.set(percentOutput); + lastDesiredTransferBeltVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getTransferBeltVelocity() { + if (Robot.isSimulation()) { + return lastDesiredTransferBeltVelocity; + } return transferBelt.getVelocity().getValue(); } @@ -107,9 +133,13 @@ public void setAgitatorVelocity(AngularVelocity velocity) { public void setAgitatorPercentOutput(double percentOutput) { agitator.set(percentOutput); + lastDesiredAgitatorVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getAgitatorVelocity() { + if (Robot.isSimulation()) { + return lastDesiredAgitatorVelocity; + } return agitator.getVelocity().getValue(); } @@ -119,9 +149,13 @@ public void setTransferRampVelocity(AngularVelocity velocity) { public void setTransferRampPercentOutput(double percentOutput) { transferRamp.set(percentOutput); + lastDesiredTransferRampVelocity = Units.RPM.of(percentOutput * 6000); } public AngularVelocity getTransferRampVelocity() { + if (Robot.isSimulation()) { + return lastDesiredTransferRampVelocity; + } return transferRamp.getVelocity().getValue(); }