Sync changes from 4/2/2024

frc2204 · Apr 3, 2024 · bb6994e · bb6994e
1 parent 0ae7e8c
commit bb6994e
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Showing 52 changed files with 1,362 additions and 1,661 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Troll Right.auto b/src/main/deploy/pathplanner/autos/Troll Right.auto
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
diff --git a/...athplanner/paths/Troll Left Center 3.path → ...ain/deploy/pathplanner/paths/#2 Note.path b/...athplanner/paths/Troll Left Center 3.path → ...ain/deploy/pathplanner/paths/#2 Note.path
@@ -3,41 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.49,
-        "y": 6.87
+        "x": 1.9113560946263224,
+        "y": 6.285472034271439
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.713587380878466,
-        "y": 7.767357877308347
+        "x": 1.550088309478945,
+        "y": 5.9623870231640295
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.707945864965804,
-        "y": 5.008834749150981
+        "x": 2.316680926742892,
+        "y": 5.565873600441298
       },
       "prevControl": {
-        "x": 8.011288207941806,
-        "y": 5.923686308384761
-      },
-      "nextControl": {
-        "x": 7.319631417040612,
-        "y": 3.8377154300604905
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.0,
-        "y": 1.12
-      },
-      "prevControl": {
-        "x": 8.97283311696253,
-        "y": 0.2231071082512538
+        "x": 1.2945574370576298,
+        "y": 5.521816553472107
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,11 +39,14 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
-    "rotateFast": false
+    "rotation": 180.0,
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "Autonomous",
-  "previewStartingState": null,
-  "useDefaultConstraints": false
+  "previewStartingState": {
+    "rotation": -127.92965517984241,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
 }
diff --git a/...deploy/pathplanner/paths/Troll Right.path → ...ain/deploy/pathplanner/paths/#3 Note.path b/...deploy/pathplanner/paths/Troll Right.path → ...ain/deploy/pathplanner/paths/#3 Note.path
@@ -3,41 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.980663700146722,
-        "y": 0.9105123040299752
+        "x": 1.86729904765713,
+        "y": 5.477759506502913
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.98066370014671,
-        "y": 0.9105123040299752
+        "x": 1.8085563183648736,
+        "y": 5.0371890368109895
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.242258777891271,
-        "y": 1.2335973151375008
+        "x": 2.3372408819951813,
+        "y": 4.376333332273105
       },
       "prevControl": {
-        "x": 6.586981820925471,
-        "y": 0.4782086008521783
-      },
-      "nextControl": {
-        "x": 8.299627905144566,
-        "y": 2.4525089479519377
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.021973543052633,
-        "y": 7.3722125261782985
-      },
-      "prevControl": {
-        "x": 7.947171529405674,
-        "y": 7.0638131973939515
+        "x": 1.6470138128111684,
+        "y": 4.670046978734387
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,8 +39,8 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
-    "rotateFast": false
+    "rotation": 156.80060338532698,
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "Autonomous",

diff --git a/src/main/java/org/rambots/Robot.kt b/src/main/java/org/rambots/Robot.kt
@@ -1,5 +1,6 @@
 package org.rambots
 
+import com.pathplanner.lib.commands.PathfindingCommand
 import com.pathplanner.lib.pathfinding.Pathfinding
 import edu.wpi.first.hal.FRCNetComm.tInstances
 import edu.wpi.first.hal.FRCNetComm.tResourceType
@@ -13,6 +14,7 @@ import org.littletonrobotics.junction.Logger
 import org.littletonrobotics.junction.networktables.NT4Publisher
 import org.littletonrobotics.junction.wpilog.WPILOGReader
 import org.littletonrobotics.junction.wpilog.WPILOGWriter
+import org.rambots.subsystems.LightingSubsystem
 import org.rambots.util.LocalADStarAK
 
 
@@ -30,13 +32,12 @@ object Robot : LoggedRobot() {
 
     private var autonomousCommand: Command? = null
 
-
     override fun robotInit() {
         // Report the use of the Kotlin Language for "FRC Usage Report" statistics
         HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Kotlin, 0, WPILibVersion.Version)
 
-
-        Pathfinding.setPathfinder(LocalADStarAK());
+        Pathfinding.setPathfinder(LocalADStarAK())
+        PathfindingCommand.warmupCommand().schedule()
         // Record metadata
         Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
         Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
@@ -76,18 +77,25 @@ object Robot : LoggedRobot() {
     }
 
 
+
     override fun robotPeriodic() {
         CommandScheduler.getInstance().run()
     }
 
     override fun disabledInit() {
-
+        RobotContainer.unlockAllMotors()
+        LightingSubsystem.clearLL()
     }
 
     override fun disabledPeriodic() {
 
     }
 
+    override fun disabledExit() {
+        RobotContainer.lockAllMotors()
+        LightingSubsystem.clearLL()
+    }
+
     override fun autonomousInit() {
         autonomousCommand = RobotContainer.autonomousCommand
         autonomousCommand?.schedule()
@@ -122,4 +130,5 @@ object Robot : LoggedRobot() {
     override fun simulationPeriodic() {
 
     }
+
 }