From 0457c0c9271efb70037155d60f5700386511b946 Mon Sep 17 00:00:00 2001 From: pep233 Date: Sun, 24 Mar 2024 21:56:44 -0700 Subject: [PATCH 01/21] named commands: aim, start shooter, feed pathplanner autonomous --- src/main/java/org/rambots/RobotContainer.kt | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/rambots/RobotContainer.kt b/src/main/java/org/rambots/RobotContainer.kt index be6a67c..02a93f2 100644 --- a/src/main/java/org/rambots/RobotContainer.kt +++ b/src/main/java/org/rambots/RobotContainer.kt @@ -13,6 +13,7 @@ package org.rambots import com.pathplanner.lib.auto.AutoBuilder +import com.pathplanner.lib.auto.NamedCommands import edu.wpi.first.math.geometry.* import edu.wpi.first.wpilibj2.command.Command import edu.wpi.first.wpilibj2.command.Commands @@ -20,7 +21,6 @@ import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller import edu.wpi.first.wpilibj2.command.button.CommandXboxController import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine import org.littletonrobotics.junction.networktables.LoggedDashboardChooser -import org.rambots.RobotContainer.driveController import org.rambots.commands.* import org.rambots.subsystems.* import org.rambots.subsystems.drive.* @@ -126,6 +126,12 @@ object RobotContainer { aprilTagVisionTwo = AprilTagVision(object: AprilTagVisionIO{}) } } + + // Registering named commands + NamedCommands.registerCommand("aim", AutoAimCommand(driveController) {drive.pose} ) + NamedCommands.registerCommand("startShooter", Commands.runOnce({ ShooterSubsystem.shoot() }, ShooterSubsystem)) + NamedCommands.registerCommand("feedToShooter", Commands.runOnce({ShooterSubsystem.intake()}, ShooterSubsystem)) + // Set up auto routines // NamedCommands.registerCommand( // "Run Flywheel", From 42b8326128753fc01f9bcab78755f53a623b81d4 Mon Sep 17 00:00:00 2001 From: pep233 Date: Sun, 24 Mar 2024 22:22:42 -0700 Subject: [PATCH 02/21] added more named commands --- src/main/java/org/rambots/RobotContainer.kt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/rambots/RobotContainer.kt b/src/main/java/org/rambots/RobotContainer.kt index 02a93f2..7888930 100644 --- a/src/main/java/org/rambots/RobotContainer.kt +++ b/src/main/java/org/rambots/RobotContainer.kt @@ -130,7 +130,11 @@ object RobotContainer { // Registering named commands NamedCommands.registerCommand("aim", AutoAimCommand(driveController) {drive.pose} ) NamedCommands.registerCommand("startShooter", Commands.runOnce({ ShooterSubsystem.shoot() }, ShooterSubsystem)) - NamedCommands.registerCommand("feedToShooter", Commands.runOnce({ShooterSubsystem.intake()}, ShooterSubsystem)) + NamedCommands.registerCommand("intakeToShooter", Commands.runOnce({ShooterSubsystem.intake()}, ShooterSubsystem)) + NamedCommands.registerCommand("stopShooter", Commands.runOnce({ShooterSubsystem.stopShooter()}, ShooterSubsystem)) + NamedCommands.registerCommand("stopIntake", Commands.runOnce({ShooterSubsystem.stopIntake()}, ShooterSubsystem)) + NamedCommands.registerCommand("groundIntake", SuperStructure.intakeCommand) + NamedCommands.registerCommand("homeFromIntake", SuperStructure.homeCommandFromIntake) // Set up auto routines // NamedCommands.registerCommand( From b6e757e00e6bf4cb31da78db0dddbbfdbd0cc493 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:26:13 -0700 Subject: [PATCH 03/21] Start 1 3rd Pickup Yes Auto modified with named commands --- .../autos/Start 1 3rd Pickup Yes Auto.auto | 85 +++++++++++++++++++ 1 file changed, 85 insertions(+) create mode 100644 src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto new file mode 100644 index 0000000..1b58b5e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -0,0 +1,85 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 2, + "y": 2 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start 3 to Speaker" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + }, + { + "type": "path", + "data": { + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + }, + { + "type": "path", + "data": { + "pathName": "Ring 3 Shoot" + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.25 + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "Ring 8 Pickup" + } + }, + { + "type": "named", + "data": { + "name": "groundIntake" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file From e937c2f4bbeda4c8c495cd0b8bc65579f87b4c21 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:37:41 -0700 Subject: [PATCH 04/21] sequential cmd group -> parallel cmd group --- .../autos/Start 1 3rd Pickup Yes Auto.auto | 58 ++++++++++++------- 1 file changed, 36 insertions(+), 22 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto index 1b58b5e..c51a05d 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -24,15 +24,22 @@ } }, { - "type": "path", + "type": "parallel", "data": { - "pathName": "3 start shoot" - } - }, - { - "type": "named", - "data": { - "name": "aim" + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + } + ] } }, { @@ -54,21 +61,28 @@ } }, { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopIntake" - } - }, - { - "type": "path", + "type": "parallel", "data": { - "pathName": "Ring 8 Pickup" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Ring 8 Pickup" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + } + ] } }, { From 5467728f1aadf9b4c4c0acfa1e9cb6e2880a4850 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:51:47 -0700 Subject: [PATCH 05/21] Start 1 1st Ring Yes Auto w/ named cmds modified with named commands and parallel command groups --- .../autos/Start 1 1st Ring Yes Auto.auto | 130 ++++++++++++++++++ 1 file changed, 130 insertions(+) create mode 100644 src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto diff --git a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto new file mode 100644 index 0000000..a145176 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto @@ -0,0 +1,130 @@ +{ + "version": 1.0, + "startingPose": null, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start 3 to Speaker" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.25 + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "Ring 1 pickup" + } + }, + { + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Ring 1 shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Ring 8 Pickup" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "groundIntake" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file From 26a1af64fa6e17a3c105ca6742592ad07a0fc79f Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:59:22 -0700 Subject: [PATCH 06/21] amp score & home named cmds --- src/main/java/org/rambots/RobotContainer.kt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/org/rambots/RobotContainer.kt b/src/main/java/org/rambots/RobotContainer.kt index 7888930..ea14ff5 100644 --- a/src/main/java/org/rambots/RobotContainer.kt +++ b/src/main/java/org/rambots/RobotContainer.kt @@ -135,6 +135,8 @@ object RobotContainer { NamedCommands.registerCommand("stopIntake", Commands.runOnce({ShooterSubsystem.stopIntake()}, ShooterSubsystem)) NamedCommands.registerCommand("groundIntake", SuperStructure.intakeCommand) NamedCommands.registerCommand("homeFromIntake", SuperStructure.homeCommandFromIntake) + NamedCommands.registerCommand("ampScore", SuperStructure.ampCommand) + NamedCommands.registerCommand("homeFromAmp", SuperStructure.ampHomingCommand) // Set up auto routines // NamedCommands.registerCommand( From 42504039af7829214d8ca88bd6820720d18a7874 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 16:04:54 -0700 Subject: [PATCH 07/21] amp cycle auto w/named commands --- .../deploy/pathplanner/autos/Amp Cycle.auto | 87 +++++++++++++++++++ 1 file changed, 87 insertions(+) create mode 100644 src/main/deploy/pathplanner/autos/Amp Cycle.auto diff --git a/src/main/deploy/pathplanner/autos/Amp Cycle.auto b/src/main/deploy/pathplanner/autos/Amp Cycle.auto new file mode 100644 index 0000000..68c7e37 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Amp Cycle.auto @@ -0,0 +1,87 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.8393012850426425, + "y": 2.4671946302747707 + }, + "rotation": 54.1178627537958 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Amp" + } + }, + { + "type": "named", + "data": { + "name": "ampScore" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Note" + } + }, + { + "type": "named", + "data": { + "name": "homeFromAmp" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "Amp" + } + }, + { + "type": "named", + "data": { + "name": "ampScore" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Park" + } + }, + { + "type": "named", + "data": { + "name": "homeFromAmp" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file From 703a9424326955ba5b0c38921960b5d3d4cfc57b Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 18:24:43 -0700 Subject: [PATCH 08/21] troll left center 3 notes --- .../paths/Troll Left Center 3.path | 65 +++++++++++++++++++ 1 file changed, 65 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/Troll Left Center 3.path diff --git a/src/main/deploy/pathplanner/paths/Troll Left Center 3.path b/src/main/deploy/pathplanner/paths/Troll Left Center 3.path new file mode 100644 index 0000000..ea86af8 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Troll Left Center 3.path @@ -0,0 +1,65 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 4.49, + "y": 6.87 + }, + "prevControl": null, + "nextControl": { + "x": 7.713587380878466, + "y": 7.767357877308347 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.707945864965804, + "y": 5.008834749150981 + }, + "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 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": "Autonomous", + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file From 1378b7698c8d93a94d55ba4e11e835f50efded52 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 19:58:24 -0700 Subject: [PATCH 09/21] start 1 shoot ring 1, 2, 3 path --- .../autos/Start 1 Ring 1 2 3 Shoot.auto | 61 +++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100644 src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto diff --git a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto new file mode 100644 index 0000000..54d1592 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 2, + "y": 2 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "1start - speaker" + } + }, + { + "type": "path", + "data": { + "pathName": "Ring 3 Pickup" + } + }, + { + "type": "path", + "data": { + "pathName": "ring#3-speaker" + } + }, + { + "type": "path", + "data": { + "pathName": "ring#2pickup" + } + }, + { + "type": "path", + "data": { + "pathName": "ring#2-speaker" + } + }, + { + "type": "path", + "data": { + "pathName": "Ring 1 pickup" + } + }, + { + "type": "path", + "data": { + "pathName": "ring#1-speaker" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file From 2c544eefec0090a824b7a99ce2cb65245c97ef49 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 20:04:27 -0700 Subject: [PATCH 10/21] new named cmd: closeToSpeakerWristPosition sets wrist position for autonomous when robot is set up closely to speaker --- src/main/java/org/rambots/RobotContainer.kt | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/org/rambots/RobotContainer.kt b/src/main/java/org/rambots/RobotContainer.kt index ea14ff5..4efc5ee 100644 --- a/src/main/java/org/rambots/RobotContainer.kt +++ b/src/main/java/org/rambots/RobotContainer.kt @@ -137,6 +137,7 @@ object RobotContainer { NamedCommands.registerCommand("homeFromIntake", SuperStructure.homeCommandFromIntake) NamedCommands.registerCommand("ampScore", SuperStructure.ampCommand) NamedCommands.registerCommand("homeFromAmp", SuperStructure.ampHomingCommand) + NamedCommands.registerCommand("closeToSpeakerWristPosition", Commands.runOnce({WristPositionCommand({-75.0}, {it < -70.0})})) // Set up auto routines // NamedCommands.registerCommand( From c9b9fb36072ddb2fe7b41412af8dd21ad2ab18de Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 20:20:57 -0700 Subject: [PATCH 11/21] start 1 shoot ring 1, 2, 3 w/cmds --- .../autos/Start 1 Ring 1 2 3 Shoot.auto | 200 +++++++++++++++++- 1 file changed, 192 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto index 54d1592..1ef0880 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto @@ -12,9 +12,52 @@ "data": { "commands": [ { - "type": "path", + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "1start - speaker" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "named", "data": { - "pathName": "1start - speaker" + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" } }, { @@ -24,9 +67,64 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#3-speaker" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", "data": { - "pathName": "ring#3-speaker" + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" } }, { @@ -36,9 +134,52 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#2-speaker" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", "data": { - "pathName": "ring#2-speaker" + "name": "stopIntake" } }, { @@ -48,9 +189,52 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#1-speaker" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", "data": { - "pathName": "ring#1-speaker" + "name": "stopIntake" } } ] From 87b8f997f70e92247aa3332038f5160df01a942f Mon Sep 17 00:00:00 2001 From: pep233 Date: Wed, 27 Mar 2024 14:24:07 -0700 Subject: [PATCH 12/21] gradle 3.2 --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index a649aa1..4a43b88 100644 --- a/build.gradle +++ b/build.gradle @@ -3,7 +3,7 @@ import groovy.json.JsonSlurper plugins { id "java" id "org.jetbrains.kotlin.jvm" version "1.9.22" - id "edu.wpi.first.GradleRIO" version "2024.3.1" + id "edu.wpi.first.GradleRIO" version "2024.3.2" id "com.peterabeles.gversion" version "1.10.2" id "com.diffplug.spotless" version "6.25.0" id "idea" From 989e8d58b759d29a51175864ee2714e1077faec1 Mon Sep 17 00:00:00 2001 From: pep233 Date: Wed, 27 Mar 2024 14:40:27 -0700 Subject: [PATCH 13/21] amp command check moved from execute to end --- src/main/java/org/rambots/commands/AmpScoring.kt | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/src/main/java/org/rambots/commands/AmpScoring.kt b/src/main/java/org/rambots/commands/AmpScoring.kt index a4f25d0..776c7d1 100644 --- a/src/main/java/org/rambots/commands/AmpScoring.kt +++ b/src/main/java/org/rambots/commands/AmpScoring.kt @@ -18,14 +18,8 @@ class AmpScoring: Command() { scoreCommand.schedule() } - override fun execute() { - super.execute() - if (scoreCommand.isFinished) { - SuperStructure.ampCommand.schedule() - } - } - override fun end(interrupted: Boolean) { + if(!interrupted) SuperStructure.ampCommand.schedule() super.end(interrupted) scoreCommand.cancel() } From e3b84216764d2512ff7750d919a856a22873a6db Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:26:13 -0700 Subject: [PATCH 14/21] Start 1 3rd Pickup Yes Auto modified with named commands --- .../autos/Start 1 3rd Pickup Yes Auto.auto | 58 +++++++------------ 1 file changed, 22 insertions(+), 36 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto index c51a05d..1b58b5e 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -24,22 +24,15 @@ } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "3 start shoot" - } - }, - { - "type": "named", - "data": { - "name": "aim" - } - } - ] + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" } }, { @@ -61,28 +54,21 @@ } }, { - "type": "parallel", + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + }, + { + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Ring 8 Pickup" - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopIntake" - } - } - ] + "pathName": "Ring 8 Pickup" } }, { From b28d2ec4823ab6a2fe70ff718ddb899c4933221b Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:37:41 -0700 Subject: [PATCH 15/21] sequential cmd group -> parallel cmd group --- .../autos/Start 1 3rd Pickup Yes Auto.auto | 58 ++++++++++++------- 1 file changed, 36 insertions(+), 22 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto index 1b58b5e..c51a05d 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -24,15 +24,22 @@ } }, { - "type": "path", + "type": "parallel", "data": { - "pathName": "3 start shoot" - } - }, - { - "type": "named", - "data": { - "name": "aim" + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + } + ] } }, { @@ -54,21 +61,28 @@ } }, { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopIntake" - } - }, - { - "type": "path", + "type": "parallel", "data": { - "pathName": "Ring 8 Pickup" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Ring 8 Pickup" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + } + ] } }, { From de096351f54b6239cc9cd07bfc6fe545c5a44fff Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 19:58:24 -0700 Subject: [PATCH 16/21] start 1 shoot ring 1, 2, 3 path --- .../autos/Start 1 Ring 1 2 3 Shoot.auto | 200 +----------------- 1 file changed, 8 insertions(+), 192 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto index 1ef0880..54d1592 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto @@ -12,52 +12,9 @@ "data": { "commands": [ { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "1start - speaker" - } - }, - { - "type": "named", - "data": { - "name": "aim" - } - }, - { - "type": "named", - "data": { - "name": "startShooter" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "intakeToShooter" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.2 - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", + "type": "path", "data": { - "name": "stopIntake" + "pathName": "1start - speaker" } }, { @@ -67,64 +24,9 @@ } }, { - "type": "named", - "data": { - "name": "groundIntake" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ring#3-speaker" - } - }, - { - "type": "named", - "data": { - "name": "closeToSpeakerWristPosition" - } - }, - { - "type": "named", - "data": { - "name": "startShooter" - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.2 - } - }, - { - "type": "named", - "data": { - "name": "intakeToShooter" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.2 - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", + "type": "path", "data": { - "name": "stopIntake" + "pathName": "ring#3-speaker" } }, { @@ -134,52 +36,9 @@ } }, { - "type": "named", - "data": { - "name": "groundIntake" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ring#2-speaker" - } - }, - { - "type": "named", - "data": { - "name": "startShooter" - } - }, - { - "type": "named", - "data": { - "name": "closeToSpeakerWristPosition" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "intakeToShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", + "type": "path", "data": { - "name": "stopIntake" + "pathName": "ring#2-speaker" } }, { @@ -189,52 +48,9 @@ } }, { - "type": "named", - "data": { - "name": "groundIntake" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ring#1-speaker" - } - }, - { - "type": "named", - "data": { - "name": "closeToSpeakerWristPosition" - } - }, - { - "type": "named", - "data": { - "name": "startShooter" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "intakeToShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", + "type": "path", "data": { - "name": "stopIntake" + "pathName": "ring#1-speaker" } } ] From ced275877634479d5c272cee3860550624b55eab Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 20:20:57 -0700 Subject: [PATCH 17/21] start 1 shoot ring 1, 2, 3 w/cmds --- .../autos/Start 1 Ring 1 2 3 Shoot.auto | 200 +++++++++++++++++- 1 file changed, 192 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto index 54d1592..1ef0880 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 Ring 1 2 3 Shoot.auto @@ -12,9 +12,52 @@ "data": { "commands": [ { - "type": "path", + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "1start - speaker" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "named", "data": { - "pathName": "1start - speaker" + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" } }, { @@ -24,9 +67,64 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#3-speaker" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", "data": { - "pathName": "ring#3-speaker" + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" } }, { @@ -36,9 +134,52 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#2-speaker" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", "data": { - "pathName": "ring#2-speaker" + "name": "stopIntake" } }, { @@ -48,9 +189,52 @@ } }, { - "type": "path", + "type": "named", + "data": { + "name": "groundIntake" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ring#1-speaker" + } + }, + { + "type": "named", + "data": { + "name": "closeToSpeakerWristPosition" + } + }, + { + "type": "named", + "data": { + "name": "startShooter" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "intakeToShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", "data": { - "pathName": "ring#1-speaker" + "name": "stopIntake" } } ] From 34d9c27b7d2d69428241459c0ccdfea327157309 Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 25 Mar 2024 15:26:13 -0700 Subject: [PATCH 18/21] Start 1 3rd Pickup Yes Auto modified with named commands --- .../autos/Start 1 3rd Pickup Yes Auto.auto | 58 +++++++------------ 1 file changed, 22 insertions(+), 36 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto index c51a05d..1b58b5e 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -24,22 +24,15 @@ } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "3 start shoot" - } - }, - { - "type": "named", - "data": { - "name": "aim" - } - } - ] + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" } }, { @@ -61,28 +54,21 @@ } }, { - "type": "parallel", + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + }, + { + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Ring 8 Pickup" - } - }, - { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopIntake" - } - } - ] + "pathName": "Ring 8 Pickup" } }, { From 950852fc8ccfbdb8b8c79b702db52b67f63f7915 Mon Sep 17 00:00:00 2001 From: pep233 Date: Wed, 27 Mar 2024 17:26:22 -0700 Subject: [PATCH 19/21] paths cherry picked paths from some long times ago --- .../deploy/pathplanner/autos/Amp Cycle.auto | 2 +- .../pathplanner/paths/1start - speaker.path | 81 +++++++++++++++++++ .../pathplanner/paths/2start - speaker.path | 81 +++++++++++++++++++ .../pathplanner/paths/3 start shoot.path | 49 +++++++++++ src/main/deploy/pathplanner/paths/Amp.path | 71 ++++++++++++++++ .../deploy/pathplanner/paths/Left Park.path | 49 +++++++++++ .../deploy/pathplanner/paths/Right_Note.path | 71 ++++++++++++++++ .../pathplanner/paths/Ring 1 pickup.path | 49 +++++++++++ .../pathplanner/paths/Ring 1 shoot.path | 49 +++++++++++ .../pathplanner/paths/Ring 3 Pickup.path | 52 ++++++++++++ .../pathplanner/paths/Ring 3 Shoot.path | 52 ++++++++++++ .../pathplanner/paths/Ring 8 Pickup.path | 68 ++++++++++++++++ .../pathplanner/paths/Start 3 to Speaker.path | 65 +++++++++++++++ .../pathplanner/paths/ring#1-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#1pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#2-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#2pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#3-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#3pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#4-speaker.path | 65 +++++++++++++++ .../pathplanner/paths/ring#4pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#5-speaker.path | 65 +++++++++++++++ .../pathplanner/paths/ring#5pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#6-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#6pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#7-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#7pickup.path | 49 +++++++++++ .../pathplanner/paths/ring#8-speaker.path | 49 +++++++++++ .../pathplanner/paths/ring#8pickup.path | 65 +++++++++++++++ 29 files changed, 1570 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/pathplanner/paths/1start - speaker.path create mode 100644 src/main/deploy/pathplanner/paths/2start - speaker.path create mode 100644 src/main/deploy/pathplanner/paths/3 start shoot.path create mode 100644 src/main/deploy/pathplanner/paths/Amp.path create mode 100644 src/main/deploy/pathplanner/paths/Left Park.path create mode 100644 src/main/deploy/pathplanner/paths/Right_Note.path create mode 100644 src/main/deploy/pathplanner/paths/Ring 1 pickup.path create mode 100644 src/main/deploy/pathplanner/paths/Ring 1 shoot.path create mode 100644 src/main/deploy/pathplanner/paths/Ring 3 Pickup.path create mode 100644 src/main/deploy/pathplanner/paths/Ring 3 Shoot.path create mode 100644 src/main/deploy/pathplanner/paths/Ring 8 Pickup.path create mode 100644 src/main/deploy/pathplanner/paths/Start 3 to Speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#1-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#1pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#2-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#2pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#3-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#3pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#4-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#4pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#5-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#5pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#6-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#6pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#7-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#7pickup.path create mode 100644 src/main/deploy/pathplanner/paths/ring#8-speaker.path create mode 100644 src/main/deploy/pathplanner/paths/ring#8pickup.path diff --git a/src/main/deploy/pathplanner/autos/Amp Cycle.auto b/src/main/deploy/pathplanner/autos/Amp Cycle.auto index 68c7e37..4b48953 100644 --- a/src/main/deploy/pathplanner/autos/Amp Cycle.auto +++ b/src/main/deploy/pathplanner/autos/Amp Cycle.auto @@ -30,7 +30,7 @@ { "type": "path", "data": { - "pathName": "Right Note" + "pathName": "Right_Note" } }, { diff --git a/src/main/deploy/pathplanner/paths/1start - speaker.path b/src/main/deploy/pathplanner/paths/1start - speaker.path new file mode 100644 index 0000000..d15c59b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/1start - speaker.path @@ -0,0 +1,81 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.039583313734529, + "y": 1.9326616431010635 + }, + "prevControl": null, + "nextControl": { + "x": 1.0276785294311335, + "y": 1.9348545141534719 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.585304973079082, + "y": 3.8076244053722674 + }, + "prevControl": { + "x": 4.065886299015622, + "y": 1.7624133762473955 + }, + "nextControl": { + "x": 4.733816875041158, + "y": 4.39239001934794 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.9912573652307803, + "y": 6.118840879657068 + }, + "prevControl": { + "x": 4.695610830578504, + "y": 5.509992968932765 + }, + "nextControl": { + "x": 3.4436197267456263, + "y": 6.592222567161183 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.4807477022361453, + "y": 6.3508907264728105 + }, + "prevControl": { + "x": 3.4904858949035154, + "y": 6.380105304479788 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -171.37756967960942, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/2start - speaker.path b/src/main/deploy/pathplanner/paths/2start - speaker.path new file mode 100644 index 0000000..a5a27fa --- /dev/null +++ b/src/main/deploy/pathplanner/paths/2start - speaker.path @@ -0,0 +1,81 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.2, + "y": 3.1 + }, + "prevControl": null, + "nextControl": { + "x": 1.2782342053414835, + "y": 3.0967452682236334 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.8101642988576607, + "y": 3.6420840575963482 + }, + "prevControl": { + "x": 3.825071498126534, + "y": 2.4346009168175144 + }, + "nextControl": { + "x": 3.8004261061902915, + "y": 4.430877663653311 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.8101642988576607, + "y": 6.118840879657068 + }, + "prevControl": { + "x": 3.7777715061602963, + "y": 5.561921247299284 + }, + "nextControl": { + "x": 3.819361890038804, + "y": 6.276972324112501 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.33, + "y": 6.25 + }, + "prevControl": { + "x": 2.33973819266737, + "y": 6.279214578006978 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + 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0000000..e2c86e2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/ring#7-speaker.path @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.453441079721666, + "y": 5.8496630573508055 + }, + "prevControl": null, + "nextControl": { + "x": 6.590215649567102, + "y": 6.555094591670666 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.438709050257607, + "y": 5.534075265681396 + }, + "prevControl": { + "x": 3.025930002477289, + "y": 6.814990420104296 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ring#7pickup.path b/src/main/deploy/pathplanner/paths/ring#7pickup.path new file mode 100644 index 0000000..3afb6f1 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/ring#7pickup.path @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.4243070953520323, + "y": 5.774748251750359 + }, + "prevControl": null, + "nextControl": { + "x": 2.1838861234068854, + "y": 6.534327279805212 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.393819200449789, + "y": 5.774748251750359 + }, + "prevControl": { + "x": 5.738326446996903, + "y": 6.096108609773567 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + 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[], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ring#8pickup.path b/src/main/deploy/pathplanner/paths/ring#8pickup.path new file mode 100644 index 0000000..897780c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/ring#8pickup.path @@ -0,0 +1,65 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.6800408909459794, + "y": 5.534075265681396 + }, + "prevControl": null, + "nextControl": { + "x": 2.236960523303763, + "y": 5.821817075732916 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.594586966951712, + "y": 6.67576051201485 + }, + "prevControl": { + "x": 3.2256326252305496, + "y": 6.320846423420471 + }, + "nextControl": { + "x": 5.095814636073716, + "y": 6.805708426231668 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.416313104231147, + "y": 7.288372107608413 + }, + "prevControl": { + "x": 7.017187367708068, + "y": 7.529703948296786 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file From 620c2c3e6ebfb2b9e742b9cd48ae7f2e66e32538 Mon Sep 17 00:00:00 2001 From: pep233 Date: Wed, 27 Mar 2024 17:36:31 -0700 Subject: [PATCH 20/21] changed heading for shooting --- .../autos/Start 1 1st Ring Yes Auto.auto | 4 +- .../autos/Start 1 3rd Pickup Yes Auto.auto | 60 ++++++++++++------- .../pathplanner/paths/3 start shoot.path | 2 +- 3 files changed, 40 insertions(+), 26 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto index a145176..2850a21 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto @@ -24,7 +24,7 @@ { "type": "path", "data": { - "pathName": "3 start shoot" + "pathName": "ring#3-speaker" } }, { @@ -73,7 +73,7 @@ { "type": "path", "data": { - "pathName": "Ring 1 shoot" + "pathName": "ring#1-speaker" } }, { diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto index 1b58b5e..1cf465f 100644 --- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto +++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto @@ -24,21 +24,28 @@ } }, { - "type": "path", + "type": "parallel", "data": { - "pathName": "3 start shoot" - } - }, - { - "type": "named", - "data": { - "name": "aim" + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 start shoot" + } + }, + { + "type": "named", + "data": { + "name": "aim" + } + } + ] } }, { "type": "path", "data": { - "pathName": "Ring 3 Shoot" + "pathName": "ring#3-speaker" } }, { @@ -54,21 +61,28 @@ } }, { - "type": "named", - "data": { - "name": "stopShooter" - } - }, - { - "type": "named", - "data": { - "name": "stopIntake" - } - }, - { - "type": "path", + "type": "parallel", "data": { - "pathName": "Ring 8 Pickup" + "commands": [ + { + "type": "path", + "data": { + "pathName": "Ring 8 Pickup" + } + }, + { + "type": "named", + "data": { + "name": "stopShooter" + } + }, + { + "type": "named", + "data": { + "name": "stopIntake" + } + } + ] } }, { diff --git a/src/main/deploy/pathplanner/paths/3 start shoot.path b/src/main/deploy/pathplanner/paths/3 start shoot.path index 3d0d4b6..c6415df 100644 --- a/src/main/deploy/pathplanner/paths/3 start shoot.path +++ b/src/main/deploy/pathplanner/paths/3 start shoot.path @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -178.9222593434949, + "rotation": -0.32039333898793143, "rotateFast": false }, "reversed": false, From 90b8a2f93ae021d74c1c196d53f6d0ac655ac1fd Mon Sep 17 00:00:00 2001 From: pep233 Date: Mon, 1 Apr 2024 10:26:51 -0700 Subject: [PATCH 21/21] AdvantageKit vendordep 3.2.0 --- gradlew | 0 src/main/java/org/rambots/BuildConstants.java | 19 +++++ vendordeps/AdvantageKit.json | 80 +++++++++---------- 3 files changed, 59 insertions(+), 40 deletions(-) mode change 100644 => 100755 gradlew create mode 100644 src/main/java/org/rambots/BuildConstants.java diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/src/main/java/org/rambots/BuildConstants.java b/src/main/java/org/rambots/BuildConstants.java new file mode 100644 index 0000000..b64fced --- /dev/null +++ b/src/main/java/org/rambots/BuildConstants.java @@ -0,0 +1,19 @@ +package org.rambots; + +/** + * Automatically generated file containing build version information. + */ +public final class BuildConstants { + public static final String MAVEN_GROUP = ""; + public static final String MAVEN_NAME = "frc-2024.2"; + public static final String VERSION = "unspecified"; + public static final int GIT_REVISION = 47; + public static final String GIT_SHA = "620c2c3e6ebfb2b9e742b9cd48ae7f2e66e32538"; + public static final String GIT_DATE = "2024-03-27 17:36:31 PDT"; + public static final String GIT_BRANCH = "jay/Autos/temp"; + public static final String BUILD_DATE = "2024-04-01 10:25:27 PDT"; + public static final long BUILD_UNIX_TIME = 1711992327275L; + public static final int DIRTY = 1; + + private BuildConstants(){} +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 6036053..d4bf7dd 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,42 +1,42 @@ { - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "3.1.1", - "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2024", - "mavenUrls": [], - "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "wpilib-shim", - "version": "3.1.1" - }, - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "junction-core", - "version": "3.1.1" - }, - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-api", - "version": "3.1.1" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-wpilibio", - "version": "3.1.1", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [] + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "3.2.0", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "wpilib-shim", + "version": "3.2.0" + }, + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "junction-core", + "version": "3.2.0" + }, + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-api", + "version": "3.2.0" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-wpilibio", + "version": "3.2.0", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] } \ No newline at end of file