From 389e209e851921611505088ba721b51c10d65a59 Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 16:45:10 -0700 Subject: [PATCH 1/8] made autos take less time --- src/main/java/frc/robot/RobotContainer.java | 20 +++++++++---------- .../robot/commands/states/ShootingOnFly.java | 12 +++++++++++ .../java/frc/robot/constants/ConstAuto.java | 5 +++-- 3 files changed, 25 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b91f266..a8b230b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -236,7 +236,7 @@ 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); @@ -245,7 +245,7 @@ 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); @@ -253,7 +253,7 @@ 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); @@ -261,7 +261,7 @@ 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); @@ -270,7 +270,7 @@ 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); @@ -281,7 +281,7 @@ 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); @@ -289,7 +289,7 @@ 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); @@ -298,7 +298,7 @@ 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); @@ -306,7 +306,7 @@ 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); @@ -315,7 +315,7 @@ 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); diff --git a/src/main/java/frc/robot/commands/states/ShootingOnFly.java b/src/main/java/frc/robot/commands/states/ShootingOnFly.java index f467b3f..7d9d35e 100644 --- a/src/main/java/frc/robot/commands/states/ShootingOnFly.java +++ b/src/main/java/frc/robot/commands/states/ShootingOnFly.java @@ -57,12 +57,24 @@ public void execute() { RobotContainer.freeSpinInstance .setFlywheelVelocity(RobotContainer.freeSpinInstance.getMappedFlywheelSpeed(distanceToTarget)); + + RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(1); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(1); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(1); + RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(1); + RobotContainer.freeSpinInstance.setTransferRampPercentOutput(1); } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { TOF = Seconds.zero(); + RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(0); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(0); + RobotContainer.freeSpinInstance.setAgitatorPercentOutput(0); + RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(0); + RobotContainer.freeSpinInstance.setTransferRampPercentOutput(0); + RobotContainer.freeSpinInstance.setFlywheelPercentOutput(0); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/constants/ConstAuto.java b/src/main/java/frc/robot/constants/ConstAuto.java index b836fe8..e7c78a9 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 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(7); public static final Time OUTPOST_SHOOTING_TIMEOUT = Seconds.of(7); } From 84c859452bbf68e7c2825d8d1564ee1521b0ce03 Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 20:07:26 -0700 Subject: [PATCH 2/8] made autos faster --- .../deploy/choreo/DSideAllianceToDepot.traj | 168 +++--- .../deploy/choreo/DSideAllianceToTrench.traj | 106 ++-- src/main/deploy/choreo/DSideBumpToDepot.traj | 94 ++-- .../choreo/DSideCornerToDSideTrench.traj | 130 ++--- .../deploy/choreo/DSideTrenchToNeutral.traj | 156 +++--- src/main/deploy/choreo/DepotToCorner.traj | 42 +- src/main/deploy/choreo/DepotToOutpost.traj | 156 +++--- .../choreo/FirstDSideNeutralToAlliance.traj | 138 ++--- .../choreo/FirstOSideNeutralToAlliance.traj | 138 ++--- .../deploy/choreo/OSideAllianceToOutpost.traj | 130 +++-- .../deploy/choreo/OSideAllianceToTrench.traj | 104 ++-- .../deploy/choreo/OSidePreloadAndBackup.traj | 84 +-- .../deploy/choreo/OSideTrenchToNeutral.traj | 156 +++--- .../deploy/choreo/PreloadAndBackupTower.traj | 42 +- .../choreo/SecondDSideNeutralToAlliance.traj | 190 +++---- .../choreo/SecondOSideNeutralToAlliance.traj | 194 +++---- .../xPreview4414DSideTrenchNeutral.traj | 482 +++++++++--------- .../xPreviewFirstDSideTrenchNeutral.traj | 242 ++++----- .../xPreviewFirstOSideTrenchNeutral.traj | 242 ++++----- .../xPreviewOSideTrenchNeutralOutpost.traj | 388 +++++++------- .../choreo/xPreviewPreloadDepotOutpost.traj | 4 +- .../xPreviewSecondDSideTrenchNeutral.traj | 310 +++++------ .../xPreviewSecondOSideTrenchNeutral.traj | 310 +++++------ src/main/java/frc/robot/RobotContainer.java | 1 + .../robot/commands/states/ShootingOnFly.java | 4 +- .../java/frc/robot/constants/ChoreoTraj.java | 50 +- .../java/frc/robot/subsystems/FreeSpin.java | 34 ++ 27 files changed, 2108 insertions(+), 1987 deletions(-) diff --git a/src/main/deploy/choreo/DSideAllianceToDepot.traj b/src/main/deploy/choreo/DSideAllianceToDepot.traj index d7283c9..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, "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":0.02385, "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]}, - {"t":0.0954, "x":3.27545, "y":5.37381, "heading":0.48069, "vx":-0.81108, "vy":0.03973, "omega":-0.8923, "ax":-8.53776, "ay":0.36602, "alpha":-9.0594, "fx":[-151.21611,-132.65344,-151.93573,-145.09413], "fy":[-22.8222,76.62612,20.44255,-49.34319]}, - {"t":0.11925, "x":3.25368, "y":5.37486, "heading":0.45684, "vx":-1.0147, "vy":0.04846, "omega":-1.10836, "ax":-8.55299, "ay":0.34009, "alpha":-8.93484, "fx":[-150.87004,-133.62453,-151.84832,-145.5929], "fy":[-24.88124,74.86282,20.95273,-47.7948]}, - {"t":0.14309, "x":3.22705, "y":5.37612, "heading":0.42786, "vx":-1.21868, "vy":0.05657, "omega":-1.32145, "ax":-8.56996, "ay":0.31172, "alpha":-8.79116, "fx":[-150.46614,-134.73872,-151.74314,-146.1421], "fy":[-27.09445,72.76967,21.55543,-46.02187]}, - {"t":0.16694, "x":3.19555, "y":5.37755, "heading":0.39385, "vx":-1.42306, "vy":0.06401, "omega":-1.53111, "ax":-8.5897, "ay":0.28054, "alpha":-8.61361, "fx":[-150.0281,-136.04419,-151.62682,-146.73432], "fy":[-29.30183,70.21501,22.1925,-44.01782]}, - {"t":0.19079, "x":3.15917, "y":5.37916, "heading":0.35488, "vx":-1.62792, "vy":0.0707, "omega":-1.73653, "ax":-8.6135, "ay":0.24554, "alpha":-8.38226, "fx":[-149.59096,-137.59118,-151.5097,-147.36082], "fy":[-31.33363,67.02932,22.78547,-41.77521]}, - {"t":0.21464, "x":3.11789, "y":5.38092, "heading":0.31108, "vx":-1.83334, "vy":0.07656, "omega":-1.93644, "ax":-8.64277, "ay":0.20463, "alpha":-8.07127, "fx":[-149.20058,-139.42499,-151.4076,-148.01104], "fy":[-33.01171,62.9958,23.22534,-39.28649]}, - {"t":0.23849, "x":3.07171, "y":5.3828, "heading":0.26261, "vx":-2.03946, "vy":0.08144, "omega":-2.12894, "ax":-8.67885, "ay":0.15438, "alpha":-7.64876, "fx":[-148.91102,-141.57194,-151.34398,-148.67208], "fy":[-34.14916,57.84192,23.35609,-36.5451]}, - {"t":0.26234, "x":3.0206, "y":5.38479, "heading":0.20966, "vx":-2.24645, "vy":0.08512, "omega":-2.31135, "ax":-8.72258, "ay":0.08952, "alpha":-7.07738, "fx":[-148.78001,-144.01404,-151.35186,-149.32816], "fy":[-34.54638,51.23728,22.94661,-33.54653]}, - {"t":0.28619, "x":2.96455, "y":5.38684, "heading":0.15252, "vx":-2.45447, "vy":0.08725, "omega":-2.48014, "ax":-8.77358, "ay":0.00264, "alpha":-6.31575, "fx":[-148.86234,-146.64858,-151.4735,-149.95994], "fy":[-33.98077,42.80905,21.64067,-30.28925]}, - {"t":0.31004, "x":2.90351, "y":5.38892, "heading":0.09158, "vx":-2.66371, "vy":0.08732, "omega":-2.63076, "ax":-8.82923, "ay":-0.11616, "alpha":-5.31955, "fx":[-149.20098,-149.23505,-151.75081,-150.54361], "fy":[-32.18509,32.1944,18.86168,-26.77466]}, - {"t":0.33389, "x":2.83748, "y":5.39097, "heading":0.02732, "vx":-2.87428, "vy":0.08454, "omega":-2.75763, "ax":-8.88305, "ay":-0.2798, "alpha":-4.03666, "fx":[-149.813,-151.34867,-152.18176,-151.04896], "fy":[-28.80592,19.15323,13.61987,-23.00435]}, - {"t":0.35774, "x":2.7664, "y":5.39291, "heading":-0.03959, "vx":-3.08613, "vy":0.07787, "omega":-2.8539, "ax":-8.92189, "ay":-0.50634, "alpha":-2.37984, "fx":[-150.66156,-152.39008,-152.54984,-151.43387], "fy":[-23.3254,3.74508,4.09977,-18.97003]}, - {"t":0.38158, "x":2.69026, "y":5.39462, "heading":-0.10833, "vx":-3.29891, "vy":0.0658, "omega":-2.91066, "ax":-8.9167, "ay":-0.82663, "alpha":-0.13602, "fx":[-151.58625,-151.71691,-151.753,-151.62612], "fy":[-14.91412,-13.49403,-13.21353,-14.62132]}, - {"t":0.40543, "x":2.60905, "y":5.39596, "heading":-0.17779, "vx":-3.51157, "vy":0.04608, "omega":-2.9139, "ax":-8.7835, "ay":-1.29645, "alpha":3.24613, "fx":[-152.10695,-148.90036,-145.16407,-151.44772], "fy":[-2.16402,-31.53058,-44.77118,-9.74329]}, - {"t":0.42928, "x":2.52281, "y":5.39669, "heading":-0.24636, "vx":-3.72104, "vy":0.01516, "omega":-2.83648, "ax":-8.26685, "ay":-1.91829, "alpha":8.69905, "fx":[-150.85325,-143.95569,-117.54943,-150.10844], "fy":[17.27034,-49.10038,-95.45003,-3.23794]}, - {"t":0.45313, "x":2.43171, "y":5.3965, "heading":-0.31153, "vx":-3.9182, "vy":-0.03059, 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"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":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "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":true}], "targetDt":0.05 }, "params":{ @@ -18,9 +18,9 @@ {"x":{"exp":"2.684748649597168 m", "val":2.684748649597168}, "y":{"exp":"6.5911078453063965 m", "val":6.5911078453063965}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, 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b/src/main/deploy/choreo/DSideBumpToDepot.traj @@ -3,30 +3,34 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.644417905807495, "y":5.959388732910156, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.644417905807495, "y":5.959388732910156, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7336405515670776, "y":5.979073524475098, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.6834254264831543, "y":5.979073524475098, "heading":0.0, "intervals":22, "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", 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"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":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}, 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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":"d_side_neutral_wall.x", "val":7.843740940093994}, "y":{"exp":"d_side_neutral_wall.y", "val":7.658281326293945}, "heading":{"exp":"d_side_neutral_wall.heading", "val":1.5707963267948966}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"d_side_neutral_middle.x", "val":7.843740940093994}, 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b/src/main/deploy/choreo/DepotToOutpost.traj @@ -4,29 +4,35 @@ "snapshot":{ "waypoints":[ {"x":0.7868813872337341, "y":5.952774524688721, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0952138900756836, "y":3.793390989303589, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.7487748861312866, "y":0.8210626244544983, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.0952138900756836, "y":3.793390989303589, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.0952138900756836, "y":0.6685811877250671, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.3974081575870514, "y":0.6685811877250671, "heading":0.0, 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"intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.314097738265991, "y":2.6981318664550784, "heading":-0.5235987755982988, "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":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 @@ 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a/src/main/deploy/choreo/OSideAllianceToOutpost.traj b/src/main/deploy/choreo/OSideAllianceToOutpost.traj index 8dcf4dd..ffc885a 100644 --- a/src/main/deploy/choreo/OSideAllianceToOutpost.traj +++ b/src/main/deploy/choreo/OSideAllianceToOutpost.traj @@ -4,29 +4,31 @@ "snapshot":{ "waypoints":[ {"x":3.314097738265991, "y":2.6981318664550784, "heading":-0.5235987755982988, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.070143699645996, "y":0.6799603700637817, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.070143699645996, "y":0.6799603700637817, "heading":0.0, "intervals":36, "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":[ - 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"events":[] diff --git a/src/main/deploy/choreo/OSideAllianceToTrench.traj b/src/main/deploy/choreo/OSideAllianceToTrench.traj index 0b563ca..79a2a40 100644 --- 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":{}}, 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diff --git a/src/main/deploy/choreo/OSidePreloadAndBackup.traj b/src/main/deploy/choreo/OSidePreloadAndBackup.traj index 04456f0..acd27fb 100644 --- a/src/main/deploy/choreo/OSidePreloadAndBackup.traj +++ 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, 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"x":7.84955, "y":3.46219, "heading":-1.5708, "vx":-0.12256, "vy":1.51874, "omega":0.0, "ax":0.00055, "ay":-0.00677, "alpha":0.0, "fx":[0.00929,0.00929,0.00929,0.00929], "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, 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"omega":0.0, "ax":9.01922, "ay":0.00001, "alpha":0.0, "fx":[153.41443,153.41443,153.41443,153.41443], "fy":[0.00009,0.00009,0.00009,0.00009]}, {"t":0.95141, "x":1.54855, "y":4.02943, "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] }, diff --git a/src/main/deploy/choreo/SecondDSideNeutralToAlliance.traj b/src/main/deploy/choreo/SecondDSideNeutralToAlliance.traj index 49fa37e..0345f52 100644 --- a/src/main/deploy/choreo/SecondDSideNeutralToAlliance.traj +++ b/src/main/deploy/choreo/SecondDSideNeutralToAlliance.traj @@ -8,8 +8,8 @@ {"x":5.859498023986816, "y":5.371868133544922, "heading":0.5235987755982988, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.314097738265991, "y":5.371868133544922, "heading":0.5235987755982988, "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":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, 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"y":3.1875, "heading":-0.44699, "vx":0.3772, "vy":-1.47614, "omega":-0.82769, "ax":-0.00083, "ay":-0.00021, "alpha":4.95477, "fx":[-6.2755,-17.74634,6.24415,17.72092], "fy":[17.73596,-6.26255,-17.74525,6.25733]}, + {"t":5.29928, "x":6.01361, "y":3.1353, "heading":-0.47626, "vx":0.37717, "vy":-1.47614, "omega":-0.6525, "ax":-0.0169, "ay":-0.00431, "alpha":5.98847, "fx":[-7.23059,-21.91799,6.63838,21.36066], "fy":[21.5826,-7.00462,-21.73813,6.86669]}, + {"t":5.33464, "x":6.02694, "y":3.08311, "heading":-0.49933, "vx":0.37657, "vy":-1.4763, "omega":-0.44075, "ax":-0.33953, "ay":-0.08513, "alpha":7.15978, "fx":[-13.65517,-31.59532,1.75317,20.39576], "fy":[24.62437,-9.08197,-27.64921,6.31438]}, + {"t":5.37, "x":6.04004, "y":3.03085, "heading":-0.51492, "vx":0.36457, "vy":-1.47931, "omega":-0.18759, "ax":-4.93228, "ay":-0.91453, "alpha":4.52992, "fx":[-89.18594,-95.11494,-79.01035,-72.27524], "fy":[5.86301,-19.43998,-37.54502,-11.10152]}, + {"t":5.40536, "x":6.04985, "y":2.97797, "heading":-0.52155, "vx":0.19017, "vy":-1.51164, "omega":-0.02742, "ax":-8.66774, "ay":-0.20993, "alpha":0.42175, "fx":[-147.52491,-147.55132,-147.32079,-147.3459], "fy":[-0.59617,-4.2906,-6.57305,-2.82337]}, + {"t":5.44071, "x":6.05115, "y":2.92439, "heading":-0.52252, "vx":-0.11631, "vy":-1.51907, "omega":-0.0125, "ax":-8.77569, "ay":1.6015, "alpha":0.14237, "fx":[-149.10342,-149.36604,-149.43932,-149.17915], "fy":[28.18835,26.79517,26.28761,27.69293]}, + {"t":5.47607, "x":6.04156, "y":2.87168, "heading":-0.52296, "vx":-0.42661, "vy":-1.46244, "omega":-0.00747, "ax":-8.30187, "ay":3.4144, "alpha":0.07551, "fx":[-141.04218,-141.34618,-141.38321,-141.07816], "fy":[58.49665,57.75977,57.65738,58.39825]}, + {"t":5.51143, "x":6.02128, "y":2.8221, "heading":-0.52323, "vx":-0.72016, "vy":-1.34171, "omega":-0.0048, "ax":-7.07071, "ay":5.56427, "alpha":0.04875, "fx":[-120.13523,-120.45376,-120.40694,-120.08715], "fy":[94.82052,94.41516,94.47218,94.87873]}, + {"t":5.54679, "x":5.9914, "y":2.77814, "heading":-0.5234, "vx":-0.97017, "vy":-1.14496, "omega":-0.00308, "ax":-5.585, "ay":7.06707, "alpha":0.03526, "fx":[-94.9169,-95.19173,-95.08208,-94.80652], "fy":[120.27475,120.05697,120.14288,120.36082]}, + {"t":5.58215, "x":5.9536, "y":2.74207, "heading":-0.5235, "vx":-1.16765, "vy":-0.89508, "omega":-0.00183, "ax":-4.73885, "ay":7.66634, "alpha":0.02803, "fx":[-80.55469,-80.77948,-80.65834,-80.43315], "fy":[130.43474,130.29539,130.36993,130.50924]}, + {"t":5.61751, "x":5.90935, "y":2.71522, "heading":-0.52357, "vx":-1.33521, "vy":-0.62401, "omega":-0.00084, "ax":-4.22801, "ay":7.96295, "alpha":0.02373, "fx":[-71.88173,-72.07207,-71.95285,-71.76226], "fy":[135.46667,135.36532,135.42843,135.52971]}, + {"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":6.08245, "alpha":0.0, "fx":[-113.24634,-113.24634,-113.24634,-113.24634], "fy":[103.4608,103.46079,103.46079,103.4608]}, + {"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":[-144.9248,-144.9248,-144.9248,-144.9248], "fy":[50.05072,50.05072,50.05072,50.05072]}, + {"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":[0.43847,0.43847,0.43847,0.43847]}, + {"t":5.78009, "x":5.6096, "y":2.68987, "heading":-0.5236, "vx":-2.51047, "vy":0.04136, "omega":0.0, "ax":-9.00856, "ay":-0.01411, "alpha":0.0, "fx":[-153.23301,-153.23301,-153.23301,-153.23301], "fy":[-0.24002,-0.24002,-0.24002,-0.24002]}, + {"t":5.82249, "x":5.49504, "y":2.69161, "heading":-0.5236, "vx":-2.89249, "vy":0.04076, "omega":0.0, "ax":-9.0048, "ay":-0.03696, "alpha":0.0, "fx":[-153.16908,-153.16908,-153.16908,-153.16908], "fy":[-0.62867,-0.62867,-0.62867,-0.62867]}, + {"t":5.8649, "x":5.36428, "y":2.69331, "heading":-0.5236, "vx":-3.27435, "vy":0.0392, "omega":0.0, "ax":-8.99916, "ay":-0.05175, "alpha":0.0, "fx":[-153.07316,-153.07316,-153.07316,-153.07316], "fy":[-0.88031,-0.88031,-0.88031,-0.88031]}, + {"t":5.90731, "x":5.21734, "y":2.69492, "heading":-0.5236, "vx":-3.65597, "vy":0.037, "omega":0.0, "ax":-8.98975, "ay":-0.06185, "alpha":0.0, "fx":[-152.91314,-152.91314,-152.91314,-152.91314], "fy":[-1.05197,-1.05197,-1.05197,-1.05197]}, + {"t":5.94971, "x":5.05422, "y":2.69644, "heading":-0.5236, "vx":-4.03719, "vy":0.03438, "omega":0.0, "ax":-8.97077, "ay":-0.07019, "alpha":0.0, "fx":[-152.59028,-152.59028,-152.59028,-152.59028], "fy":[-1.19387,-1.19387,-1.19387,-1.19387]}, {"t":5.99212, "x":4.87495, "y":2.69783, "heading":-0.5236, "vx":-4.41761, "vy":0.0314, "omega":0.0, "ax":-8.91225, "ay":-0.086, "alpha":0.0, "fx":[-151.59485,-151.59485,-151.59485,-151.59485], "fy":[-1.46288,-1.46288,-1.46288,-1.46288]}, - {"t":6.03452, "x":4.67961, "y":2.69909, "heading":-0.5236, "vx":-4.79554, "vy":0.02775, "omega":0.0, "ax":5.0981, "ay":-0.81078, "alpha":0.0, "fx":[86.71714,86.71714,86.71714,86.71714], "fy":[-13.79119,-13.79119,-13.79119,-13.79119]}, - {"t":6.07693, "x":4.48083, "y":2.69953, "heading":-0.5236, "vx":-4.57935, "vy":-0.00663, "omega":0.0, "ax":8.92012, "ay":0.01131, "alpha":0.0, "fx":[151.72863,151.72863,151.72863,151.72863], "fy":[0.19233,0.19233,0.19233,0.19233]}, - {"t":6.11934, "x":4.29466, "y":2.69926, "heading":-0.5236, "vx":-4.20108, "vy":-0.00615, "omega":0.0, "ax":8.97294, "ay":0.02021, "alpha":0.0, "fx":[152.62718,152.62718,152.62718,152.62718], "fy":[0.34374,0.34374,0.34374,0.34374]}, - {"t":6.16174, "x":4.12457, "y":2.69902, "heading":-0.5236, "vx":-3.82058, "vy":-0.00529, "omega":0.0, "ax":8.9908, "ay":0.02024, "alpha":0.0, "fx":[152.93099,152.93099,152.93099,152.93099], "fy":[0.3443,0.3443,0.3443,0.3443]}, - {"t":6.20415, "x":3.97064, "y":2.69881, "heading":-0.5236, "vx":-3.43931, "vy":-0.00443, "omega":0.0, "ax":8.99978, "ay":0.01853, "alpha":0.0, "fx":[153.08362,153.08362,153.08362,153.08362], "fy":[0.31511,0.31511,0.31511,0.31511]}, + {"t":6.03452, "x":4.67961, "y":2.69909, "heading":-0.5236, "vx":-4.79554, "vy":0.02775, "omega":0.0, "ax":5.0981, "ay":-0.81078, "alpha":0.0, "fx":[86.71728,86.71728,86.71728,86.71728], "fy":[-13.79117,-13.79117,-13.79117,-13.79117]}, + {"t":6.07693, "x":4.48083, "y":2.69953, "heading":-0.5236, "vx":-4.57935, "vy":-0.00663, "omega":0.0, "ax":8.92012, "ay":0.01131, "alpha":0.0, "fx":[151.72863,151.72863,151.72863,151.72863], "fy":[0.19232,0.19232,0.19232,0.19232]}, + {"t":6.11934, "x":4.29466, "y":2.69926, "heading":-0.5236, "vx":-4.20108, "vy":-0.00615, "omega":0.0, "ax":8.97294, "ay":0.02021, "alpha":0.0, "fx":[152.62718,152.62718,152.62718,152.62718], "fy":[0.34373,0.34373,0.34373,0.34373]}, + {"t":6.16174, "x":4.12457, "y":2.69902, "heading":-0.5236, "vx":-3.82057, "vy":-0.00529, "omega":0.0, "ax":8.9908, "ay":0.02024, "alpha":0.0, "fx":[152.93099,152.93099,152.93099,152.93099], "fy":[0.3443,0.3443,0.3443,0.3443]}, + {"t":6.20415, "x":3.97064, "y":2.69881, "heading":-0.5236, "vx":-3.43931, "vy":-0.00443, "omega":0.0, "ax":8.99978, "ay":0.01852, "alpha":0.0, "fx":[153.08362,153.08362,153.08362,153.08362], "fy":[0.3151,0.3151,0.3151,0.3151]}, {"t":6.24656, "x":3.83288, "y":2.69864, "heading":-0.5236, "vx":-3.05766, "vy":-0.00365, "omega":0.0, "ax":9.00517, "ay":0.01644, "alpha":0.0, "fx":[153.17541,153.17541,153.17541,153.17541], "fy":[0.27967,0.27967,0.27967,0.27967]}, - {"t":6.28896, "x":3.71132, "y":2.6985, "heading":-0.5236, "vx":-2.67579, "vy":-0.00295, "omega":0.0, "ax":9.00877, "ay":0.01441, "alpha":0.0, "fx":[153.23668,153.23668,153.23668,153.23668], "fy":[0.24503,0.24503,0.24503,0.24503]}, + {"t":6.28896, "x":3.71132, "y":2.6985, "heading":-0.5236, "vx":-2.67579, "vy":-0.00295, "omega":0.0, "ax":9.00877, "ay":0.0144, "alpha":0.0, "fx":[153.23668,153.23668,153.23668,153.23668], "fy":[0.24502,0.24502,0.24502,0.24502]}, {"t":6.33137, "x":3.60595, "y":2.69839, "heading":-0.5236, "vx":-2.29376, "vy":-0.00234, "omega":0.0, "ax":9.01135, "ay":0.01255, "alpha":0.0, "fx":[153.28048,153.28048,153.28048,153.28048], "fy":[0.21353,0.21353,0.21353,0.21353]}, {"t":6.37377, "x":3.51678, "y":2.6983, "heading":-0.5236, "vx":-1.91162, "vy":-0.00181, "omega":0.0, "ax":9.01328, "ay":0.01093, "alpha":0.0, "fx":[153.31334,153.31334,153.31334,153.31334], "fy":[0.18588,0.18588,0.18588,0.18588]}, {"t":6.41618, "x":3.44382, "y":2.69824, "heading":-0.5236, "vx":-1.5294, "vy":-0.00134, "omega":0.0, "ax":9.01478, "ay":0.00953, "alpha":0.0, "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 a8b230b..2e54ba6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -395,6 +395,7 @@ 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 7d9d35e..36a6534 100644 --- a/src/main/java/frc/robot/commands/states/ShootingOnFly.java +++ b/src/main/java/frc/robot/commands/states/ShootingOnFly.java @@ -60,9 +60,9 @@ public void execute() { RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(1); RobotContainer.freeSpinInstance.setAgitatorPercentOutput(1); - RobotContainer.freeSpinInstance.setAgitatorPercentOutput(1); RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(1); RobotContainer.freeSpinInstance.setTransferRampPercentOutput(1); + RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(1); } // Called once the command ends or is interrupted. @@ -71,10 +71,10 @@ public void end(boolean interrupted) { TOF = Seconds.zero(); RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(0); RobotContainer.freeSpinInstance.setAgitatorPercentOutput(0); - RobotContainer.freeSpinInstance.setAgitatorPercentOutput(0); RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(0); RobotContainer.freeSpinInstance.setTransferRampPercentOutput(0); RobotContainer.freeSpinInstance.setFlywheelPercentOutput(0); + RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(0); } // 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 ef29915..b1c3400 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -34,84 +34,91 @@ public record ChoreoTraj( public static final ChoreoTraj DepotToCorner = new ChoreoTraj( "DepotToCorner", OptionalInt.empty(), - 0.8504, + 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(), - 1.76382, + 3.36206, new Pose2d(0.787, 5.953, Rotation2d.fromRadians(0)), - new Pose2d(0.749, 0.821, Rotation2d.fromRadians(0)) + new Pose2d(0.397, 0.669, Rotation2d.fromRadians(0)) ); public static final ChoreoTraj DSideAllianceToDepot = new ChoreoTraj( "DSideAllianceToDepot", OptionalInt.empty(), - 2.50806, + 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(), - 1.41441, + 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(), - 1.14827, + 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(), - 3.37498, + 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(), - 2.42112, + 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(), - 2.42112, + 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 OSideAllianceToOutpost = new ChoreoTraj( "OSideAllianceToOutpost", OptionalInt.empty(), - 1.57579, + 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(), - 1.41441, + 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(), - 1.33437, + 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(), - 3.39378, + 3.035, new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), new Pose2d(7.844, 3.534, Rotation2d.fromRadians(-1.571)) ); @@ -125,21 +132,21 @@ public record ChoreoTraj( public static final ChoreoTraj SecondDSideNeutralToAlliance = new ChoreoTraj( "SecondDSideNeutralToAlliance", OptionalInt.empty(), - 3.31265, + 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(), - 3.35108, + 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(), - 8.52061, + 8.51942, new Pose2d(4.127, 7.658, Rotation2d.fromRadians(1.571)), new Pose2d(0.4, 6.923, Rotation2d.fromRadians(-1.571)) ); @@ -206,13 +213,6 @@ public record ChoreoTraj( new Pose2d(4.127, 0.412, Rotation2d.fromRadians(-1.571)), new Pose2d(3.314, 2.698, Rotation2d.fromRadians(-0.524)) ); - 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. @@ -225,6 +225,7 @@ public record ChoreoTraj( 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), @@ -244,8 +245,7 @@ public record ChoreoTraj( Map.entry("xPreviewPreloadDepot", xPreviewPreloadDepot), Map.entry("xPreviewPreloadDepotOutpost", xPreviewPreloadDepotOutpost), Map.entry("xPreviewSecondDSideTrenchNeutral", xPreviewSecondDSideTrenchNeutral), - Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral), - Map.entry("DSideCornerToDSideTrench", DSideCornerToDSideTrench) + Map.entry("xPreviewSecondOSideTrenchNeutral", xPreviewSecondOSideTrenchNeutral) ); /** 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(); } From 8b55d965d7218aeed8381d9b988d1e99c24d300f Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 20:14:33 -0700 Subject: [PATCH 3/8] fixed conflicts --- .../java/frc/robot/constants/ChoreoTraj.java | 475 +++++++++--------- .../java/frc/robot/constants/ChoreoVars.java | 55 +- 2 files changed, 278 insertions(+), 252 deletions(-) diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index bebdfd3..b1c3400 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. @@ -23,229 +22,253 @@ public record ChoreoTraj( OptionalInt segment, double totalTimeSecs, Pose2d initialPoseBlue, - Pose2d endPoseBlue) { + Pose2d endPoseBlue +) { + public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( + "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 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)) + ); - public static final ChoreoTraj AutoPIDTuning = new ChoreoTraj( - "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 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("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) + ); - /** - * 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)); - - /** - * 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 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 From f81cfef75192726370d748c1eb1e435910be4154 Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 20:31:56 -0700 Subject: [PATCH 4/8] regenerated paths --- .../java/frc/robot/constants/ChoreoTraj.java | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/src/main/java/frc/robot/constants/ChoreoTraj.java b/src/main/java/frc/robot/constants/ChoreoTraj.java index b1c3400..17ad767 100644 --- a/src/main/java/frc/robot/constants/ChoreoTraj.java +++ b/src/main/java/frc/robot/constants/ChoreoTraj.java @@ -94,6 +94,20 @@ public record ChoreoTraj( 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(), @@ -229,6 +243,8 @@ public record ChoreoTraj( 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), From 4dfa994a63d465c6277c1560b354b360e6239974 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 13:28:23 -0700 Subject: [PATCH 5/8] changed values to constants --- .../robot/commands/states/ShootingOnFly.java | 23 ++++++++++--------- .../frc/robot/constants/ConstFreeSpin.java | 8 +++++++ 2 files changed, 20 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/commands/states/ShootingOnFly.java b/src/main/java/frc/robot/commands/states/ShootingOnFly.java index 36a6534..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 { @@ -58,23 +59,23 @@ public void execute() { RobotContainer.freeSpinInstance .setFlywheelVelocity(RobotContainer.freeSpinInstance.getMappedFlywheelSpeed(distanceToTarget)); - RobotContainer.freeSpinInstance.setTransferBeltPercentOutput(1); - RobotContainer.freeSpinInstance.setAgitatorPercentOutput(1); - RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(1); - RobotContainer.freeSpinInstance.setTransferRampPercentOutput(1); - RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(1); + 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(0); - RobotContainer.freeSpinInstance.setAgitatorPercentOutput(0); - RobotContainer.freeSpinInstance.setIntakeRollersPercentOutput(0); - RobotContainer.freeSpinInstance.setTransferRampPercentOutput(0); - RobotContainer.freeSpinInstance.setFlywheelPercentOutput(0); - RobotContainer.freeSpinInstance.setHotdogRollersPercentOutput(0); + 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/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index e0e1c23..1f89644 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -25,6 +25,14 @@ public class ConstFreeSpin { public static final double INTAKE_ROLLER_PERCENT_OUTPUT = 1; public static final double REVERSING_INTAKE_PERCENT_OUTPUT = -1; + public static final double FLYWHEEL_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 = 1; + public static final double INTAKE_PERCENT_OUTPUT = 1; + // FLYWHEEL TOLERANCE public static final AngularVelocity FLYWHEEL_TOLERANCE = RPM.of(100); From 0fed779a4b3d2e99c2ba875ddf20aaa4b30a6eaf Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 14:56:05 -0700 Subject: [PATCH 6/8] deleted the unused consts --- src/main/java/frc/robot/constants/ConstFreeSpin.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index 1f89644..0d110dd 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -25,13 +25,11 @@ public class ConstFreeSpin { public static final double INTAKE_ROLLER_PERCENT_OUTPUT = 1; public static final double REVERSING_INTAKE_PERCENT_OUTPUT = -1; - public static final double FLYWHEEL_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 = 1; - public static final double INTAKE_PERCENT_OUTPUT = 1; + public static final double INTAKE_ROLLER_PERCENT_OUTPOST = 1; // FLYWHEEL TOLERANCE public static final AngularVelocity FLYWHEEL_TOLERANCE = RPM.of(100); From 22c45be7f322f2a6108eb426149d3fca0ce8afdb Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 15:52:48 -0700 Subject: [PATCH 7/8] made autos shorter and fixxed consts --- src/main/java/frc/robot/constants/ConstAuto.java | 2 +- src/main/java/frc/robot/constants/ConstFreeSpin.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/ConstAuto.java b/src/main/java/frc/robot/constants/ConstAuto.java index e7c78a9..50ac16a 100644 --- a/src/main/java/frc/robot/constants/ConstAuto.java +++ b/src/main/java/frc/robot/constants/ConstAuto.java @@ -13,6 +13,6 @@ public class ConstAuto { 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(7); + 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 0d110dd..60890bb 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -22,14 +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_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_OUTPOST = 1; + public static final double INTAKE_ROLLER_PERCENT_OUTPUT = 1; // FLYWHEEL TOLERANCE public static final AngularVelocity FLYWHEEL_TOLERANCE = RPM.of(100); From c1841c6533e038d5a0337da2df776906323a18d6 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 18:23:27 -0700 Subject: [PATCH 8/8] removed unused const in freespin --- src/main/java/frc/robot/constants/ConstFreeSpin.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index 60890bb..86338e9 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -22,7 +22,6 @@ 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 REVERSING_INTAKE_ROLLER_PERCENT_OUTPUT = -1; public static final double REVERSING_INTAKE_PERCENT_OUTPUT = -1; public static final double TRANSFER_BELT_PERCENT_OUTPUT = 1;