Work april 2

src/main/deploy/pathplanner/paths/a5CollectLoop2(loopie).path → src/main/deploy/pathplanner/paths/a7CollectLoop.path

@@ -8,56 +8,72 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.9234084117797794,
-        "y": 5.258754148807581
+        "x": 3.362907698818017,
+        "y": 5.328997170250767
       },
       "isLocked": false,
       "linkedName": "a5LoopShoot"
     },
     {
       "anchor": {
-        "x": 7.792755323561947,
+        "x": 6.708995782632744,
         "y": 5.368689988938053
       },
       "prevControl": {
-        "x": 7.373079525779589,
-        "y": 6.539593022210406
+        "x": 5.36582152527449,
+        "y": 6.343308618284048
       },
       "nextControl": {
-        "x": 8.004585274377915,
-        "y": 4.777680611559139
+        "x": 7.359081995435712,
+        "y": 4.896981921121975
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.970961939988938,
-        "y": 4.465526721515486
+        "x": 6.708995782632744,
+        "y": 2.9864684043141585
       },
       "prevControl": {
-        "x": 8.193042254437715,
-        "y": 3.511669505878289
+        "x": 7.697838255014892,
+        "y": 2.580282702370341
       },
       "nextControl": {
-        "x": 6.101025719026548,
-        "y": 5.144528691924779
+        "x": 5.825374028251257,
+        "y": 3.349432711148226
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.681115182522125,
-        "y": 5.668036573561946
+        "x": 6.129280835176992,
+        "y": 4.461494607300884
       },
       "prevControl": {
-        "x": 5.639121266592921,
-        "y": 5.64160045630531
+        "x": 6.156139549466578,
+        "y": 4.0372859451716305
       },
       "nextControl": {
-        "x": 3.728392890984115,
-        "y": 5.694326884898057
+        "x": 6.1024221208874065,
+        "y": 4.885703269430138
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.654466848727876,
+        "y": 5.592790652654867
+      },
+      "prevControl": {
+        "x": 5.071713567647901,
+        "y": 5.52944676656619
+      },
+      "nextControl": {
+        "x": 4.067828395426444,
+        "y": 5.681850572544342
       },
       "isLocked": false,
       "linkedName": null
@@ -68,33 +84,37 @@
         "y": 5.368689988938053
       },
       "prevControl": {
-        "x": 2.8778707569951325,
-        "y": 5.292815724664674
+        "x": 2.8839161907194075,
+        "y": 5.275951112520585
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "a5LoopShoot"
+      "linkedName": null
     }
   ],
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5972188995215311,
       "rotationDegrees": -22.77253519883315
     },
+    {
+      "waypointRelativePos": 1.0519386574074077,
+      "rotationDegrees": -56.98406371610071
+    },
     {
       "waypointRelativePos": 1.7967115097160609,
-      "rotationDegrees": -102.12464780763888
+      "rotationDegrees": 165.52779753636696
     },
     {
-      "waypointRelativePos": 2.5,
-      "rotationDegrees": -38.095099380259605
+      "waypointRelativePos": 3.0,
+      "rotationDegrees": 134.27333953270954
     }
   ],
   "constraintZones": [
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 2.5812305900621126,
-      "maxWaypointRelativePos": 3.46074340062112,
+      "minWaypointRelativePos": 3.15,
+      "maxWaypointRelativePos": 4.46074340062112,
       "constraints": {
         "maxVelocity": 2.0,
         "maxAcceleration": 3.0,
@@ -118,19 +138,21 @@
       }
     }
   ],
-  "pointTowardsZones": [
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "startintake",
+      "waypointRelativePos": 0.6701276077291383,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
     {
-      "fieldPosition": {
-        "x": 4.5974,
-        "y": 4.035
-      },
-      "rotationOffset": 0.0,
-      "minWaypointRelativePos": 3.339334239130434,
-      "maxWaypointRelativePos": 4.0,
-      "name": "Point Towards Zone"
+      "name": "stopintake",
+      "waypointRelativePos": 3.584024452804379,
+      "endWaypointRelativePos": null,
+      "command": null
     }
   ],
-  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 2.5,
     "maxAcceleration": 3.0,
@@ -141,13 +163,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -41.428979515269766
+    "rotation": -41.79210441429713
   },
   "reversed": false,
-  "folder": "T2NZ2TSameAlt",
+  "folder": "CooperativeDepot",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -41.428979515269766
+    "rotation": -41.42897951526977
   },
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/a7DepotCollectFast.path

@@ -0,0 +1,107 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.682,
+        "y": 7.15
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.6820000000000002,
+        "y": 6.15
+      },
+      "isLocked": false,
+      "linkedName": "CollectDepotStart"
+    },
+    {
+      "anchor": {
+        "x": 0.668,
+        "y": 5.6
+      },
+      "prevControl": {
+        "x": 0.668,
+        "y": 6.209319597164331
+      },
+      "nextControl": {
+        "x": 0.668,
+        "y": 4.990680402835668
+      },
+      "isLocked": false,
+      "linkedName": "CollectDepotInner"
+    },
+    {
+      "anchor": {
+        "x": 3.116,
+        "y": 5.369
+      },
+      "prevControl": {
+        "x": 2.1735160398230096,
+        "y": 4.853859513274335
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "a5LoopShoot"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": -119.99999999999999
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Intake",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.800786593707251,
+      "constraints": {
+        "maxVelocity": 0.8,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 4.5974,
+        "y": 4.034536
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 1.7439722982216141,
+      "maxWaypointRelativePos": 2.0,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [
+    {
+      "name": "stopintake",
+      "waypointRelativePos": 1.4608947503419971,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -41.42897951526977
+  },
+  "reversed": false,
+  "folder": "CooperativeDepot",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -119.99999999999999
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/a7StartToCollect.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6584133711283187,
+        "y": 6.005278968473451
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2699642563357614,
+        "y": 6.63784165139431
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.682,
+        "y": 7.15
+      },
+      "prevControl": {
+        "x": 1.6802532288177803,
+        "y": 6.773093005718346
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "CollectDepotStart"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -119.99999999999999
+  },
+  "reversed": false,
+  "folder": "CooperativeDepot",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/settings.json

@@ -4,11 +4,12 @@
   "holonomicMode": true,
   "pathFolders": [
     "DepotAuto",
-    "Trench NZ Depot",
+    "CooperativeDepot",
     "PreloadOnly",
     "T2NZ2TSame",
     "T2NZ2TSameAlt",
     "TestCollect",
+    "Trench NZ Depot",
     "Trench2Trench"
   ],
   "autoFolders": [],

src/main/java/frc/robot/RobotContainer.java

@@ -249,6 +249,7 @@ public RobotContainer() {
         autoChooser_ = new LoggedDashboardChooser<>("Auto Choices");
 
         autoChooser_.addDefaultOption("Neutral Zone Loop W/ Depot", AutoCommands.a6CollectNZDepot(drivebase_, shooter_, intake_, hopper_));
+        autoChooser_.addOption("Cooperative Depot Auto", AutoCommands.a7CoopDepot(drivebase_, shooter_, intake_, hopper_));
         autoChooser_.addOption("Neutral Zone Loop - Left Trench", AutoCommands.a5CollectNZ(drivebase_, shooter_, intake_, hopper_, false));
         autoChooser_.addOption("Neutral Zone Loop - Right Trench", AutoCommands.a5CollectNZ(drivebase_, shooter_, intake_, hopper_, true));
         autoChooser_.addOption("Preload Only (untested)", AutoCommands.a4OnlyPreload(drivebase_, shooter_, intake_, hopper_));
@@ -304,8 +305,8 @@ private void configureBindings() {
 
         // When the shooter isnt shooting, get it ready to shoot.
         shooter_.setDefaultCommand(shooter_.spinUpVelocityCommand(() -> {
-            var shift = HubShiftUtil.getOfficialShiftInfo();
-            return shift.active() ? RotationsPerSecond.of(50) : RotationsPerSecond.zero();
+            return RotationsPerSecond.zero();
+            // return HubShiftUtil.getOfficialShiftInfo().active() ? RotationsPerSecond.of(50) : RotationsPerSecond.zero();
         }));
 
         //While the X button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.

src/main/java/frc/robot/RobotState.java

@@ -70,7 +70,6 @@ public static void periodic() {
         inAllianceZone = currentPose.getMeasureX().minus(allianceWall).abs(Meters) < ShooterConstants.Positions.spinUpZone.in(Meters);
 
         // Other logging
-
         Logger.recordOutput("ShiftInfo", HubShiftUtil.getOfficialShiftInfo());
 
         LoggedTracer.record("RobotState");