From 6a0cdfd8e700df293ac1c6a6d5483717700d52df Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 4 May 2026 18:38:44 -0400 Subject: [PATCH 01/64] Added auto testing commands --- src/main/deploy/choreo/DriveTest.traj | 143 ++++++++++++++++++ src/main/deploy/choreo/DriveTestTwo.traj | 76 ++++++++++ src/main/deploy/choreo/Outpost_ToOutpost.traj | 38 +++-- src/main/deploy/choreo/path.chor | 8 +- src/main/java/frc/robot/Drive.java | 2 +- .../frc/robot/autochooser/AutoAction.java | 3 +- .../frc/robot/autochooser/AutoChooser.java | 10 +- .../frc/robot/autochooser/FieldLocation.java | 3 +- .../frc/robot/commands/auto/TestAuto.java | 28 ++++ .../java/frc/robot/constants/Constants.java | 4 +- 10 files changed, 280 insertions(+), 35 deletions(-) create mode 100644 src/main/deploy/choreo/DriveTest.traj create mode 100644 src/main/deploy/choreo/DriveTestTwo.traj create mode 100644 src/main/java/frc/robot/commands/auto/TestAuto.java diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj new file mode 100644 index 00000000..8feb9c72 --- /dev/null +++ b/src/main/deploy/choreo/DriveTest.traj @@ -0,0 +1,143 @@ +{ + "name":"DriveTest", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8617743253707886, "y":0.6640105247497559, "heading":3.141592653589793, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + 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"fy":[-0.00144,-0.00023,0.00235,0.00114]}, + {"t":0.5225, "x":2.6, "y":0.67, "heading":1.83377, "vx":0.0, "vy":0.0, "omega":-2.99949, "ax":0.0, "ay":0.0, "alpha":16.87663, "fx":[-31.96818,55.52154,31.96813,-55.52151], "fy":[-55.52151,-31.96812,55.52154,31.96818]}, + {"t":0.58056, "x":2.6, "y":0.67, "heading":1.68808, "vx":0.0, "vy":0.0, "omega":-2.0197, "ax":0.0, "ay":0.0, "alpha":17.38681, "fx":[-40.89002,51.8124,40.89001,-51.81239], "fy":[-51.81239,-40.89001,51.8124,40.89002]}, + {"t":0.63862, "x":2.6, "y":0.67, "heading":1.60012, "vx":0.0, "vy":0.0, "omega":-1.01029, "ax":0.0, "ay":0.0, "alpha":17.40196, "fx":[-45.32267,48.06212,45.32267,-48.06212], "fy":[-48.06212,-45.32267,48.06212,45.32267]}, + {"t":0.69667, "x":2.6, "y":0.67, "heading":1.5708, "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] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/Outpost_ToOutpost.traj b/src/main/deploy/choreo/Outpost_ToOutpost.traj index 1cae4b23..5201f9f1 100644 --- a/src/main/deploy/choreo/Outpost_ToOutpost.traj +++ b/src/main/deploy/choreo/Outpost_ToOutpost.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.599, "y":0.67, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8617743253707886, "y":0.6640105247497559, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.599 m", "val":2.599}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6 m", "val":2.6}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8617743253707886 m", "val":0.8617743253707886}, "y":{"exp":"0.6640105247497559 m", "val":0.6640105247497559}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -34,13 +34,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + "mass":22.6796185, "inertia":6.0, "gearing":6.5, "radius":0.0508, "vmax":628.3185307179587, "tmax":1.2, - "cof":1.5, + "cof":1.19, "bumper":{ "front":0.43, "side":0.43, @@ -49,24 +49,20 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.71854], + "waypoints":[0.0,0.77575], "samples":[ - {"t":0.0, "x":2.599, "y":0.67, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-13.52808, "ay":-0.04664, "alpha":0.0, "fx":[-153.40579,-153.40579,-153.40579,-153.40579], "fy":[-0.5289,-0.5289,-0.5289,-0.5289]}, - {"t":0.0479, "x":2.58348, "y":0.66995, "heading":3.14159, "vx":-0.64803, "vy":-0.00223, "omega":0.0, "ax":-13.52606, "ay":-0.04663, "alpha":0.0, "fx":[-153.38298,-153.38298,-153.38298,-153.38298], "fy":[-0.52882,-0.52882,-0.52882,-0.52882]}, - {"t":0.09581, "x":2.53692, "y":0.66979, "heading":3.14159, "vx":-1.29597, "vy":-0.00447, "omega":0.0, "ax":-13.52324, "ay":-0.04662, "alpha":0.0, "fx":[-153.35101,-153.35101,-153.35101,-153.35101], "fy":[-0.52871,-0.52871,-0.52871,-0.52871]}, - {"t":0.14371, "x":2.45932, "y":0.66952, "heading":3.14159, "vx":-1.94377, "vy":-0.0067, "omega":0.0, "ax":-13.51901, "ay":-0.04661, "alpha":0.0, "fx":[-153.30304,-153.30304,-153.30304,-153.30304], "fy":[-0.52855,-0.52855,-0.52855,-0.52855]}, - {"t":0.19161, "x":2.3507, "y":0.66914, "heading":3.14159, "vx":-2.59137, "vy":-0.00893, "omega":0.0, "ax":-13.51196, "ay":-0.04659, "alpha":0.0, "fx":[-153.22302,-153.22302,-153.22302,-153.22302], "fy":[-0.52827,-0.52827,-0.52827,-0.52827]}, - {"t":0.23951, "x":2.21106, "y":0.66866, "heading":3.14159, "vx":-3.23864, "vy":-0.01117, "omega":0.0, "ax":-13.49783, "ay":-0.04654, "alpha":0.0, "fx":[-153.0628,-153.0628,-153.0628,-153.0628], "fy":[-0.52772,-0.52772,-0.52772,-0.52772]}, - {"t":0.28742, "x":2.04043, "y":0.66807, "heading":3.14159, "vx":-3.88522, "vy":-0.0134, "omega":0.0, "ax":-13.45538, "ay":-0.04639, "alpha":0.0, "fx":[-152.58149,-152.58149,-152.58149,-152.58149], "fy":[-0.52606,-0.52606,-0.52606,-0.52606]}, - {"t":0.33532, "x":1.83888, "y":0.66738, "heading":3.14159, "vx":-4.52977, "vy":-0.01562, "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]}, - {"t":0.38322, "x":1.62189, "y":0.66663, "heading":3.14159, "vx":-4.52977, "vy":-0.01562, "omega":0.0, "ax":13.45538, "ay":0.04639, "alpha":0.0, "fx":[152.58149,152.58149,152.58149,152.58149], "fy":[0.52606,0.52606,0.52606,0.52606]}, - {"t":0.43113, "x":1.42034, "y":0.66594, "heading":3.14159, "vx":-3.88522, "vy":-0.0134, "omega":0.0, "ax":13.49783, "ay":0.04654, "alpha":0.0, "fx":[153.0628,153.0628,153.0628,153.0628], "fy":[0.52772,0.52772,0.52772,0.52772]}, - {"t":0.47903, "x":1.24971, "y":0.66535, "heading":3.14159, "vx":-3.23864, "vy":-0.01117, "omega":0.0, "ax":13.51196, "ay":0.04659, "alpha":0.0, "fx":[153.22302,153.22302,153.22302,153.22302], "fy":[0.52827,0.52827,0.52827,0.52827]}, - {"t":0.52693, "x":1.11008, "y":0.66487, "heading":3.14159, "vx":-2.59137, "vy":-0.00893, "omega":0.0, "ax":13.51901, "ay":0.04661, "alpha":0.0, "fx":[153.30304,153.30304,153.30304,153.30304], "fy":[0.52855,0.52855,0.52855,0.52855]}, - {"t":0.57483, "x":1.00145, "y":0.66449, "heading":3.14159, "vx":-1.94377, "vy":-0.0067, "omega":0.0, "ax":13.52324, "ay":0.04662, "alpha":0.0, "fx":[153.35101,153.35101,153.35101,153.35101], "fy":[0.52871,0.52871,0.52871,0.52871]}, - {"t":0.62274, "x":0.92386, "y":0.66422, "heading":3.14159, "vx":-1.29597, "vy":-0.00447, "omega":0.0, "ax":13.52606, "ay":0.04663, "alpha":0.0, "fx":[153.38298,153.38298,153.38298,153.38298], "fy":[0.52882,0.52882,0.52882,0.52882]}, - {"t":0.67064, "x":0.8773, "y":0.66406, "heading":3.14159, "vx":-0.64803, "vy":-0.00223, "omega":0.0, "ax":13.52808, "ay":0.04664, "alpha":0.0, "fx":[153.40579,153.40579,153.40579,153.40579], "fy":[0.5289,0.5289,0.5289,0.5289]}, - {"t":0.71854, "x":0.86177, "y":0.66401, "heading":3.14159, "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]}], + {"t":0.0, "x":2.6, "y":0.67, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-11.65472, "ay":-0.04016, "alpha":0.0, "fx":[-66.08116,-66.08116,-66.08116,-66.08116], "fy":[-0.2277,-0.2277,-0.2277,-0.2277]}, + {"t":0.07052, "x":2.57102, "y":0.6699, "heading":3.14159, "vx":-0.82193, "vy":-0.00283, "omega":0.0, "ax":-11.65292, "ay":-0.04015, "alpha":0.0, "fx":[-66.07093,-66.07093,-66.07093,-66.07093], "fy":[-0.22766,-0.22766,-0.22766,-0.22766]}, + {"t":0.14105, "x":2.48407, "y":0.6696, "heading":3.14159, "vx":-1.64373, "vy":-0.00566, "omega":0.0, "ax":-11.64991, "ay":-0.04014, "alpha":0.0, "fx":[-66.05388,-66.05388,-66.05388,-66.05388], "fy":[-0.2276,-0.2276,-0.2276,-0.2276]}, + {"t":0.21157, "x":2.33918, "y":0.6691, "heading":3.14159, "vx":-2.46531, "vy":-0.00849, "omega":0.0, "ax":-11.6439, "ay":-0.04012, "alpha":0.0, "fx":[-66.01979,-66.01979,-66.01979,-66.01979], "fy":[-0.22749,-0.22749,-0.22749,-0.22749]}, + {"t":0.28209, "x":2.13637, "y":0.6684, "heading":3.14159, "vx":-3.28648, "vy":-0.01132, "omega":0.0, "ax":-11.62586, "ay":-0.04006, "alpha":0.0, "fx":[-65.91753,-65.91753,-65.91753,-65.91753], "fy":[-0.22713,-0.22713,-0.22713,-0.22713]}, + {"t":0.35262, "x":1.87568, "y":0.6675, "heading":3.14159, "vx":-4.10637, "vy":-0.01415, "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]}, + {"t":0.42314, "x":1.58609, "y":0.66651, "heading":3.14159, "vx":-4.10637, "vy":-0.01415, "omega":0.0, "ax":11.62586, "ay":0.04006, "alpha":0.0, "fx":[65.91753,65.91753,65.91753,65.91753], "fy":[0.22713,0.22713,0.22713,0.22713]}, + {"t":0.49366, "x":1.32541, "y":0.66561, "heading":3.14159, "vx":-3.28648, "vy":-0.01132, "omega":0.0, "ax":11.6439, "ay":0.04012, "alpha":0.0, "fx":[66.01979,66.01979,66.01979,66.01979], "fy":[0.22749,0.22749,0.22749,0.22749]}, + {"t":0.56418, "x":1.12259, "y":0.66491, "heading":3.14159, "vx":-2.46531, "vy":-0.00849, "omega":0.0, "ax":11.64991, "ay":0.04014, "alpha":0.0, "fx":[66.05388,66.05388,66.05388,66.05388], "fy":[0.2276,0.2276,0.2276,0.2276]}, + {"t":0.63471, "x":0.9777, "y":0.66441, "heading":3.14159, "vx":-1.64373, "vy":-0.00566, "omega":0.0, "ax":11.65292, "ay":0.04015, "alpha":0.0, "fx":[66.07093,66.07093,66.07093,66.07093], "fy":[0.22766,0.22766,0.22766,0.22766]}, + {"t":0.70523, "x":0.89076, "y":0.66411, "heading":3.14159, "vx":-0.82193, "vy":-0.00283, "omega":0.0, "ax":11.65472, "ay":0.04016, "alpha":0.0, "fx":[66.08116,66.08116,66.08116,66.08116], "fy":[0.2277,0.2277,0.2277,0.2277]}, + {"t":0.77575, "x":0.86177, "y":0.66401, "heading":3.14159, "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] }, "events":[] diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index b815a1cf..6e232b8d 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -28,8 +28,8 @@ } }, "mass":{ - "exp":"100 lbs", - "val":45.359237 + "exp":"50 lbs", + "val":22.6796185 }, "inertia":{ "exp":"6 kg m ^ 2", @@ -52,8 +52,8 @@ "val":1.2 }, "cof":{ - "exp":"1.5", - "val":1.5 + "exp":"1.19", + "val":1.19 }, "bumper":{ "front":{ diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java index f2d6523f..b9b35d98 100644 --- a/src/main/java/frc/robot/Drive.java +++ b/src/main/java/frc/robot/Drive.java @@ -11,7 +11,7 @@ public class Drive extends SubsystemBase{ private final PIDController xController = new PIDController(10, 0.0, 0.0); private final PIDController yController = new PIDController(10, 0.0, 0.0); - private final PIDController headingController = new PIDController(5, 0.0, 0.0); + private final PIDController headingController = new PIDController(5, 0.0, 2); private SwerveSubsystem subsystem; public Drive(SwerveSubsystem subsystem) { diff --git a/src/main/java/frc/robot/autochooser/AutoAction.java b/src/main/java/frc/robot/autochooser/AutoAction.java index 4ef777e4..964721d4 100644 --- a/src/main/java/frc/robot/autochooser/AutoAction.java +++ b/src/main/java/frc/robot/autochooser/AutoAction.java @@ -12,7 +12,8 @@ public enum AutoAction { //SHOOT_PICKUP("Shoot and Pickup"), //DISTURBANCE("Disturbance"), //NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"), - INVALID("INVALID"); + INVALID("INVALID"), + TEST("TEST"); private final String name; private static final HashMap nameMap = new HashMap<>( diff --git a/src/main/java/frc/robot/autochooser/AutoChooser.java b/src/main/java/frc/robot/autochooser/AutoChooser.java index ac253cad..184075f2 100644 --- a/src/main/java/frc/robot/autochooser/AutoChooser.java +++ b/src/main/java/frc/robot/autochooser/AutoChooser.java @@ -17,8 +17,8 @@ import frc.robot.commands.auto.shoot.ShootRed; import frc.robot.commands.auto.disturbance.DepotDisturbance; import frc.robot.commands.auto.disturbance.OutpostDisturbance; -import frc.robot.commands.auto.shootpickup.DepotShootPickup; import frc.robot.commands.auto.DoNothing; +import frc.robot.commands.auto.TestAuto; import frc.robot.constants.enums.ShootingState; import frc.robot.subsystems.AnglerSubsystem; import frc.robot.subsystems.ClimberSubsystem; @@ -134,12 +134,12 @@ private void populateCommandMap() { new FastDepotBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - /* + //shoot-pickup - commandMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE), - new DepotShootPickup(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + commandMap.put(new AutoEvent(AutoAction.TEST, FieldLocation.TEST), + new TestAuto(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - + /* //disturbance commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE), new DepotDisturbance(drivetrain, auto, shootstate, turret, angler, controller)); diff --git a/src/main/java/frc/robot/autochooser/FieldLocation.java b/src/main/java/frc/robot/autochooser/FieldLocation.java index 18e718a0..5558b1b0 100644 --- a/src/main/java/frc/robot/autochooser/FieldLocation.java +++ b/src/main/java/frc/robot/autochooser/FieldLocation.java @@ -18,7 +18,8 @@ public enum FieldLocation { DEPOT_SIDE(3.599, 7.33, 180, "Depot side - Driver Station LEFT"), //robot is 24 cm away from the wall MID(3.599, 4.029, 180, "Middle"), OUTPOST_SIDE(3.599, 0.67, 180, "Outpost side - Driver Station RIGHT"), //robot is 24 cm away from the wall - FAST_DEPOT(3.596, 5.06, 180, "Depot side - for the fast auto"); //robot's back left corner is next to hopper corner + FAST_DEPOT(3.596, 5.06, 180, "Depot side - for the fast auto"), + TEST(2.6,0.67, 180, "TESTING"); //robot's back left corner is next to hopper corner private static final double RED_X_POS = 9.338; // meters public static final double HEIGHT_OF_FIELD = 8.043; diff --git a/src/main/java/frc/robot/commands/auto/TestAuto.java b/src/main/java/frc/robot/commands/auto/TestAuto.java new file mode 100644 index 00000000..61799790 --- /dev/null +++ b/src/main/java/frc/robot/commands/auto/TestAuto.java @@ -0,0 +1,28 @@ +package frc.robot.commands.auto; + +import choreo.auto.AutoFactory; +import frc.robot.commands.drive.DriveSwerve; +import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.commands.turret.RunTurretToRevLimit; +import frc.robot.constants.enums.DriveDirection; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.*; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; +import frc.robot.utils.logging.commands.LoggableWaitCommand; + +public class TestAuto extends LoggableSequentialCommandGroup { + public TestAuto( + SwerveSubsystem drivetrain, AutoFactory auto, ShooterSubsystem shooter, ShootingState shootstate, + HopperSubsystem hopper, FeederSubsystem feeder, TurretSubsystem turret, AnglerSubsystem angler, + ControllerSubsystem controller, IntakeDeployerSubsystem intake) { + super( + LoggableCommandWrapper.wrap(auto.resetOdometry("DriveTestTwo")), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("DriveTestTwo")) + ); + } +} diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index d4b23874..179991c4 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -17,7 +17,7 @@ // To use the other constatns files, change which line is not commented out here. // Then discard changes to this file before committing. -public class Constants extends ConstantsReal2026 { -//public class Constants extends ConstantsPushbot2026 { +//public class Constants extends ConstantsReal2026 { +public class Constants extends ConstantsPushbot2026 { // public class Constants extends ConstantsTestbed2026 { } \ No newline at end of file From 5bf8e14fe40f18be511599aac147d5e3b9079b58 Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 4 May 2026 18:51:46 -0400 Subject: [PATCH 02/64] Add timer logs to init and periodic --- src/main/java/frc/robot/Robot.java | 27 +++++++++++++++++++++------ 1 file changed, 21 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f49d83e8..d972955a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -167,19 +167,24 @@ public void disabledPeriodic() { /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { + double start = Timer.getFPGATimestamp(); + //m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - // Hub is always active during autonomous. - hubActive = true; - robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + // Hub is always active during autonomous. + hubActive = true; + robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + + Logger.recordOutput("/RobotTimer/autoInit", Timer.getFPGATimestamp() - start); } /** This function is called periodically during autonomous. */ @Override public void autonomousPeriodic() { + double start = Timer.getFPGATimestamp(); // schedule the autonomous command if (this.autonomousCommand == null) { @@ -188,11 +193,15 @@ public void autonomousPeriodic() { CommandScheduler.getInstance().schedule(autonomousCommand); } } + + Logger.recordOutput("/RobotTimer/autoPeriodic", Timer.getFPGATimestamp() - start); } @Override public void teleopInit() { - new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); + double start = Timer.getFPGATimestamp(); + + new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove @@ -203,19 +212,25 @@ public void teleopInit() { if (autonomousCommand != null) { autonomousCommand.cancel(); } + + Logger.recordOutput("/RobotTimer/teleInit", Timer.getFPGATimestamp() - start); } /** This function is called periodically during operator control. */ @Override public void teleopPeriodic() { - // Check who won autonomous. + double start = Timer.getFPGATimestamp(); + + // Check who won autonomous. if (autonomousWinner == null) { determineAutonomousWinner(); } else { determineHubActive(); determineHubCountdown(); } - } + + Logger.recordOutput("/RobotTimer/telePeriodic", Timer.getFPGATimestamp() - start); + } private void determineAutonomousWinner() { autonomousWinner = DriverStation.getGameSpecificMessage(); From cc65e68ffaf51f8ad3f333c2fc265af49a6b6281 Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 4 May 2026 18:51:46 -0400 Subject: [PATCH 03/64] Add timer logs to init and periodic --- src/main/java/frc/robot/Robot.java | 27 +++++++++++++++++++++------ 1 file changed, 21 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f49d83e8..d972955a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -167,19 +167,24 @@ public void disabledPeriodic() { /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { + double start = Timer.getFPGATimestamp(); + //m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - // Hub is always active during autonomous. - hubActive = true; - robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + // Hub is always active during autonomous. + hubActive = true; + robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + + Logger.recordOutput("/RobotTimer/autoInit", Timer.getFPGATimestamp() - start); } /** This function is called periodically during autonomous. */ @Override public void autonomousPeriodic() { + double start = Timer.getFPGATimestamp(); // schedule the autonomous command if (this.autonomousCommand == null) { @@ -188,11 +193,15 @@ public void autonomousPeriodic() { CommandScheduler.getInstance().schedule(autonomousCommand); } } + + Logger.recordOutput("/RobotTimer/autoPeriodic", Timer.getFPGATimestamp() - start); } @Override public void teleopInit() { - new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); + double start = Timer.getFPGATimestamp(); + + new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove @@ -203,19 +212,25 @@ public void teleopInit() { if (autonomousCommand != null) { autonomousCommand.cancel(); } + + Logger.recordOutput("/RobotTimer/teleInit", Timer.getFPGATimestamp() - start); } /** This function is called periodically during operator control. */ @Override public void teleopPeriodic() { - // Check who won autonomous. + double start = Timer.getFPGATimestamp(); + + // Check who won autonomous. if (autonomousWinner == null) { determineAutonomousWinner(); } else { determineHubActive(); determineHubCountdown(); } - } + + Logger.recordOutput("/RobotTimer/telePeriodic", Timer.getFPGATimestamp() - start); + } private void determineAutonomousWinner() { autonomousWinner = DriverStation.getGameSpecificMessage(); From 45e89612da67db1832196484d2deea5f6c9cbb2d Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 4 May 2026 19:35:35 -0400 Subject: [PATCH 04/64] Attempt to resolve freeze by not using threaded gyro --- src/main/java/frc/robot/RobotContainer.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index df12c6cc..cefa489c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -155,12 +155,12 @@ public RobotContainer() { climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createRealIo()); feederSubsystem = new FeederSubsystem(FeederSubsystem.createRealIo()); shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createRealIo()); - RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo(); - ThreadedGyro threadedGyro = gyroIo.getThreadedGyro(); - gyroSubsystem = new GyroSubsystem(gyroIo); - SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro); +// RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo(); +// ThreadedGyro threadedGyro = gyroIo.getThreadedGyro(); +// gyroSubsystem = new GyroSubsystem(gyroIo); +// SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro); drivebase = !Constants.TESTBED ? new SwerveSubsystem( - new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), swerveIMU) : null; + new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), null) : null; apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null; controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase,intakeDeployer, this) : null; lightStripSubsystem = new LightStripSubsystem(drivebase, shootState); From e0f6ee8ba433ca8b5fb30c81f0e64db7dad37ace Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 4 May 2026 19:58:31 -0400 Subject: [PATCH 05/64] Undo gyro changes, reset auto command on exit --- src/main/java/frc/robot/Robot.java | 5 +++++ src/main/java/frc/robot/RobotContainer.java | 10 +++++----- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d972955a..c43933ad 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -197,6 +197,11 @@ public void autonomousPeriodic() { Logger.recordOutput("/RobotTimer/autoPeriodic", Timer.getFPGATimestamp() - start); } + @Override + public void autonomousExit() { + this.autonomousCommand = null; + } + @Override public void teleopInit() { double start = Timer.getFPGATimestamp(); diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cefa489c..df12c6cc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -155,12 +155,12 @@ public RobotContainer() { climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createRealIo()); feederSubsystem = new FeederSubsystem(FeederSubsystem.createRealIo()); shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createRealIo()); -// RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo(); -// ThreadedGyro threadedGyro = gyroIo.getThreadedGyro(); -// gyroSubsystem = new GyroSubsystem(gyroIo); -// SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro); + RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo(); + ThreadedGyro threadedGyro = gyroIo.getThreadedGyro(); + gyroSubsystem = new GyroSubsystem(gyroIo); + SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro); drivebase = !Constants.TESTBED ? new SwerveSubsystem( - new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), null) : null; + new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), swerveIMU) : null; apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null; controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase,intakeDeployer, this) : null; lightStripSubsystem = new LightStripSubsystem(drivebase, shootState); From 13c4627d0a4dd70f8cc07571b3843ba5964509c5 Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 4 May 2026 20:30:11 -0400 Subject: [PATCH 06/64] Add auto command counter --- src/main/java/frc/robot/Robot.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index c43933ad..6bfe4bc2 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -53,6 +53,8 @@ public class Robot extends LoggedRobot { final CommandXboxController driverXbox = new CommandXboxController(0); + int autoCount = 0; + /** * This function is run when the robot is first started up and should be used for any * initialization code. @@ -191,6 +193,7 @@ public void autonomousPeriodic() { autonomousCommand = robotContainer.getAutonomousCommand(); if (autonomousCommand != null) { CommandScheduler.getInstance().schedule(autonomousCommand); + Logger.recordOutput("/RobotTimer/autoCount", ++autoCount); } } From 57983baa855c40e626a4b44f9b2cdab1387ddc31 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 4 May 2026 20:56:28 -0400 Subject: [PATCH 07/64] Correct Auto PID for angle and Velocity --- src/main/deploy/choreo/DriveTest.traj | 136 ++++++------------ src/main/java/frc/robot/Drive.java | 2 +- src/main/java/frc/robot/Robot.java | 19 --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../frc/robot/commands/auto/TestAuto.java | 4 +- .../frc/robot/constants/GameConstants.java | 2 +- 6 files changed, 52 insertions(+), 113 deletions(-) diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj index 8feb9c72..fbf4bd83 100644 --- a/src/main/deploy/choreo/DriveTest.traj +++ b/src/main/deploy/choreo/DriveTest.traj @@ -3,27 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8617743253707886, "y":0.6640105247497559, "heading":3.141592653589793, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"2.6 m", "val":2.6}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6 m", "val":2.6}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.8617743253707886 m", "val":0.8617743253707886}, "y":{"exp":"0.6640105247497559 m", "val":0.6640105247497559}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "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":{"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":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"2 m / s ^ 2", "val":2.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -54,89 +53,48 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,3.97755], + "waypoints":[0.0,1.90991], "samples":[ - {"t":0.0, "x":2.6, "y":0.67, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.99958, "ay":-0.00344, "alpha":-0.0036, "fx":[-5.67845,-5.67845,-5.65664,-5.65664], "fy":[-0.01166,-0.02796,-0.02796,-0.01054]}, - {"t":0.04972, "x":2.59876, "y":0.67, "heading":3.14159, "vx":-0.0497, "vy":-0.00017, "omega":-0.00018, "ax":-0.99977, "ay":-0.00344, "alpha":-0.00352, "fx":[-5.67926,-5.67926,-5.65789,-5.65789], "fy":[-0.01162,-0.02774,-0.02774,-0.01103]}, - {"t":0.09944, "x":2.59506, "y":0.66998, "heading":3.14157, "vx":-0.09941, "vy":-0.00034, "omega":-0.00035, "ax":-0.99974, "ay":-0.00344, "alpha":0.00545, "fx":[-5.62953,-5.62953,-5.60995,-5.80467], "fy":[-0.01023,-0.02916,-0.02916,-0.00956]}, - {"t":0.14916, "x":2.58888, "y":0.66996, "heading":3.14156, "vx":-0.14911, "vy":-0.00051, "omega":-0.00008, "ax":-0.9997, "ay":-0.00344, "alpha":-0.00338, "fx":[-5.67847,-5.67847,-5.65794,-5.65794], "fy":[-0.01205,-0.02742,-0.02742,-0.01124]}, - {"t":0.19888, "x":2.58023, "y":0.66993, "heading":3.14156, "vx":-0.19882, "vy":-0.00069, "omega":-0.00025, "ax":-0.99965, "ay":-0.00344, "alpha":0.00942, "fx":[-5.60808,-5.60808,-5.58904,-5.86651], "fy":[-0.01072,-0.02882,-0.02882,-0.00976]}, - {"t":0.2486, "x":2.56911, "y":0.66989, "heading":3.14155, "vx":-0.24852, "vy":-0.00086, "omega":0.00022, "ax":-0.99958, "ay":-0.00344, "alpha":-0.00323, "fx":[-5.67736,-5.67736,-5.65772,-5.65772], "fy":[-0.01263,-0.02704,-0.02704,-0.01141]}, - {"t":0.29832, "x":2.55552, "y":0.66985, "heading":3.14156, "vx":-0.29822, "vy":-0.00103, "omega":0.00006, "ax":-0.99948, "ay":-0.00344, "alpha":0.01677, "fx":[-5.56796,-5.56796,-5.54927,-5.9826], "fy":[-0.0113,-0.0285,-0.0285,-0.0098]}, - {"t":0.34804, "x":2.53946, "y":0.66979, "heading":3.14159, "vx":-0.34791, "vy":-0.0012, "omega":0.00089, "ax":-0.99931, "ay":-0.00344, "alpha":-0.00304, 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"heading":3.14157, "vx":-0.29376, "vy":-0.00101, "omega":0.00005, "ax":1.9995, "ay":0.00689, "alpha":-0.00328, "fx":[11.27408,11.27408,11.18341,11.61639], "fy":[-0.00574,0.08434,0.08435,-0.00676]}, + {"t":1.81196, "x":0.87137, "y":0.66404, "heading":3.14156, "vx":-0.19584, "vy":-0.00067, "omega":-0.00011, "ax":1.99954, "ay":0.00689, "alpha":0.0155, "fx":[11.38362,11.38362,11.29075,11.29075], "fy":[0.00314,0.07582,0.07583,0.00141]}, + {"t":1.86094, "x":0.86417, "y":0.66402, "heading":3.14158, "vx":-0.09792, "vy":-0.00034, "omega":0.00065, "ax":1.99957, "ay":0.00689, "alpha":-0.01322, "fx":[11.41016,11.02211,11.45859,11.45857], "fy":[-0.01118,0.0893,0.08927,-0.01119]}, + {"t":1.90991, "x":0.86177, "y":0.66401, "heading":3.14159, "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] }, "events":[] diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java index b9b35d98..7e1a926b 100644 --- a/src/main/java/frc/robot/Drive.java +++ b/src/main/java/frc/robot/Drive.java @@ -11,7 +11,7 @@ public class Drive extends SubsystemBase{ private final PIDController xController = new PIDController(10, 0.0, 0.0); private final PIDController yController = new PIDController(10, 0.0, 0.0); - private final PIDController headingController = new PIDController(5, 0.0, 2); + private final PIDController headingController = new PIDController(1, 0.0, 0); private SwerveSubsystem subsystem; public Drive(SwerveSubsystem subsystem) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3bc71983..f6f3b625 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -171,8 +171,6 @@ public void disabledPeriodic() { public void autonomousInit() { double start = Timer.getFPGATimestamp(); - double start = Timer.getFPGATimestamp(); - //m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) @@ -182,11 +180,6 @@ public void autonomousInit() { hubActive = true; robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); - Logger.recordOutput("/RobotTimer/autoInit", Timer.getFPGATimestamp() - start); - // Hub is always active during autonomous. - hubActive = true; - robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); - Logger.recordOutput("/RobotTimer/autoInit", Timer.getFPGATimestamp() - start); } @@ -194,7 +187,6 @@ public void autonomousInit() { @Override public void autonomousPeriodic() { double start = Timer.getFPGATimestamp(); - double start = Timer.getFPGATimestamp(); // schedule the autonomous command if (this.autonomousCommand == null) { @@ -218,9 +210,7 @@ public void teleopInit() { double start = Timer.getFPGATimestamp(); new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); - double start = Timer.getFPGATimestamp(); - new SetShootingState(robotContainer.getShootingState(), ShootState.STOPPED).schedule(); // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove @@ -233,18 +223,12 @@ public void teleopInit() { } Logger.recordOutput("/RobotTimer/teleInit", Timer.getFPGATimestamp() - start); - - Logger.recordOutput("/RobotTimer/teleInit", Timer.getFPGATimestamp() - start); } /** This function is called periodically during operator control. */ @Override public void teleopPeriodic() { double start = Timer.getFPGATimestamp(); - - // Check who won autonomous. - double start = Timer.getFPGATimestamp(); - // Check who won autonomous. if (autonomousWinner == null) { determineAutonomousWinner(); @@ -256,9 +240,6 @@ public void teleopPeriodic() { Logger.recordOutput("/RobotTimer/telePeriodic", Timer.getFPGATimestamp() - start); } - Logger.recordOutput("/RobotTimer/telePeriodic", Timer.getFPGATimestamp() - start); - } - private void determineAutonomousWinner() { autonomousWinner = DriverStation.getGameSpecificMessage(); if (autonomousWinner != null) { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index df12c6cc..13e126ed 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -351,7 +351,7 @@ public void putShuffleboardCommands() { SmartDashboard.putData("AutoRunHopper", new AutoSpinHopper(hopperSubsystem)); - if (Constants.DEBUG) { + if (!Constants.DEBUG) { SmartDashboard.putNumber(RunDashboardShotTest.ANGLER_TARGET_POSITION_KEY, 0.0); SmartDashboard.putNumber(RunDashboardShotTest.SHOOTER_TARGET_RPM_KEY, Constants.SHOOTER_SPEED); SmartDashboard.putNumber(RunDashboardShotTest.HOPPER_TARGET_SPEED_KEY, Constants.HOPPER_SPEED); diff --git a/src/main/java/frc/robot/commands/auto/TestAuto.java b/src/main/java/frc/robot/commands/auto/TestAuto.java index 61799790..e84d9a23 100644 --- a/src/main/java/frc/robot/commands/auto/TestAuto.java +++ b/src/main/java/frc/robot/commands/auto/TestAuto.java @@ -21,8 +21,8 @@ public TestAuto( HopperSubsystem hopper, FeederSubsystem feeder, TurretSubsystem turret, AnglerSubsystem angler, ControllerSubsystem controller, IntakeDeployerSubsystem intake) { super( - LoggableCommandWrapper.wrap(auto.resetOdometry("DriveTestTwo")), - LoggableCommandWrapper.wrap(auto.trajectoryCmd("DriveTestTwo")) + LoggableCommandWrapper.wrap(auto.resetOdometry("DriveTest")), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("DriveTest")) ); } } diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 17dfef6e..c14fe2b7 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -36,7 +36,7 @@ public enum Mode { public static final boolean ENABLE_LOGGING = true; //Debugs - public static final boolean DEBUG = false; + public static final boolean DEBUG = true; public static final boolean ARM_DEBUG = true; //Joystick From c703ef4f4de26856b3f58333d884f337fb41fdda Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 6 May 2026 19:59:22 -0400 Subject: [PATCH 08/64] holy cow it works --- src/main/deploy/choreo/swipe.traj | 211 ++++++++++++++++++ .../frc/robot/commands/auto/TestAuto.java | 4 +- 2 files changed, 213 insertions(+), 2 deletions(-) create mode 100644 src/main/deploy/choreo/swipe.traj diff --git a/src/main/deploy/choreo/swipe.traj b/src/main/deploy/choreo/swipe.traj new file mode 100644 index 00000000..ac68adc6 --- /dev/null +++ b/src/main/deploy/choreo/swipe.traj @@ -0,0 +1,211 @@ +{ + "name":"swipe", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.44, "y":7.34, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.9648637771606445, "y":7.33, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.646820068359375, "y":6.490340232849121, "heading":-1.1071482066506524, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.838386058807373, "y":5.655759811401367, "heading":-1.547545287878832, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.810989856719971, "y":4.63865852355957, "heading":-1.9064351112529347, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.622791290283203, "y":5.492982864379883, "heading":-2.3939922237088767, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.9648637771606445, "y":7.33, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.8, "y":7.33, "heading":3.141592653589793, "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":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":4.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}, + {"from":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":1e-6}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.001}}, "enabled":true}, + {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":4, "to":4, "data":{"type":"MaxVelocity", 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"fy":[0.09588,-0.05965,-0.05966,0.09551]}, + {"t":4.61528, "x":3.23704, "y":7.33, "heading":3.14091, "vx":-3.19048, "vy":0.00008, "omega":0.00412, "ax":11.64059, "ay":-0.00254, "alpha":-0.01482, "fx":[66.00091,66.00088,66.00117,66.00121], "fy":[0.06511,-0.09386,-0.09375,0.06484]}, + {"t":4.67006, "x":3.07973, "y":7.33, "heading":3.14114, "vx":-2.55279, "vy":-0.00006, "omega":0.0033, "ax":11.64593, "ay":0.00191, "alpha":-0.01497, "fx":[66.03119,66.03121,66.03143,66.03141], "fy":[0.0912,-0.06948,-0.06939,0.09091]}, + {"t":4.72485, "x":2.95736, "y":7.33, "heading":3.14132, "vx":-1.9148, "vy":0.00004, "omega":0.00248, "ax":11.64914, "ay":-0.00127, "alpha":-0.01506, "fx":[66.04942,66.0494,66.04958,66.0496], "fy":[0.07366,-0.08805,-0.08787,0.07344]}, + {"t":4.77963, "x":2.86994, "y":7.33, "heading":3.14146, "vx":-1.27664, "vy":-0.00003, "omega":0.00166, "ax":11.65128, "ay":0.00064, "alpha":-0.01512, "fx":[66.06155,66.06156,66.06171,66.0617], "fy":[0.08481,-0.07757,-0.0774,0.08458]}, + {"t":4.83441, "x":2.81749, "y":7.33, "heading":3.14155, "vx":-0.63836, "vy":0.00001, "omega":0.00083, "ax":11.65281, "ay":-0.00016, "alpha":-0.01516, "fx":[66.07024,66.07024,66.07037,66.07037], "fy":[0.08053,-0.08233,-0.08213,0.08033]}, + {"t":4.88919, "x":2.8, "y":7.33, "heading":3.14159, "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] + }, + "events":[ + {"name":"Marker", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] +} diff --git a/src/main/java/frc/robot/commands/auto/TestAuto.java b/src/main/java/frc/robot/commands/auto/TestAuto.java index e84d9a23..4e737f13 100644 --- a/src/main/java/frc/robot/commands/auto/TestAuto.java +++ b/src/main/java/frc/robot/commands/auto/TestAuto.java @@ -21,8 +21,8 @@ public TestAuto( HopperSubsystem hopper, FeederSubsystem feeder, TurretSubsystem turret, AnglerSubsystem angler, ControllerSubsystem controller, IntakeDeployerSubsystem intake) { super( - LoggableCommandWrapper.wrap(auto.resetOdometry("DriveTest")), - LoggableCommandWrapper.wrap(auto.trajectoryCmd("DriveTest")) + LoggableCommandWrapper.wrap(auto.resetOdometry("swipe")), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("swipe")) ); } } From ebd5cfb0abd64afe82c26a68539a348a6ded9432 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 6 May 2026 20:08:09 -0400 Subject: [PATCH 09/64] autoRoutine is back and better then ever --- src/main/java/frc/robot/RobotContainer.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 13e126ed..29a568e3 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -230,6 +230,7 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ + /* */ private void setUpAutoFactory() { if(!Constants.TESTBED){ drive = new Drive(drivebase); @@ -241,9 +242,9 @@ private void setUpAutoFactory() { drive::followTrajectory, true, drivebase); - + // example implementation of autoRoutine - if (false) { + // Uses autofactory to create a new routine straightRoutine = autoFactory.newRoutine("StraightRoutine"); @@ -290,7 +291,7 @@ private void setUpAutoFactory() { * trajectory.recentlyDone() */ }} - } + private void configureBindings() { controller.a().onTrue(new ToggleDeployment(intakeDeployer, controllerSubsystem)); From 7c9c6c86ca5e25c4c1c2814c554ad470413a5578 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 6 May 2026 20:29:25 -0400 Subject: [PATCH 10/64] autoroutine changes --- src/main/java/frc/robot/RobotContainer.java | 13 +++++++++- .../frc/robot/autochooser/AutoChooser.java | 25 ++++++++++--------- 2 files changed, 25 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 29a568e3..1bcdb4b3 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -81,6 +81,7 @@ import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.subsystems.swervedrive.vision.truster.ConstantVisionTruster; import frc.robot.subsystems.swervedrive.vision.truster.VisionTruster; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.io.gyro.RealGyroIo; import frc.robot.utils.logging.io.gyro.ThreadedGyro; import frc.robot.utils.logging.io.gyro.ThreadedGyroSwerveIMU; @@ -339,6 +340,16 @@ private void configureBindings() { } } + public AutoRoutine swipeAuto() { + AutoRoutine routine = autoFactory.newRoutine("swipeAuto"); + AutoTrajectory traj = routine.trajectory("swipe"); + + routine.active().onTrue(new LoggableSequentialCommandGroup(traj.resetOdometry(),traj.cmd())); + + + return routine; + } + public void putShuffleboardCommands() { SmartDashboard.putData( "intakedeployer/Deployment State: UP", @@ -375,7 +386,7 @@ public void putShuffleboardCommands() { * new TiltDown(tiltSubsystem)); */ - + // TODO: These commands do not REQUIRE the subsystem therefore cannot be used in// production SmartDashboard.putData( diff --git a/src/main/java/frc/robot/autochooser/AutoChooser.java b/src/main/java/frc/robot/autochooser/AutoChooser.java index 184075f2..b32972a9 100644 --- a/src/main/java/frc/robot/autochooser/AutoChooser.java +++ b/src/main/java/frc/robot/autochooser/AutoChooser.java @@ -6,6 +6,7 @@ import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Robot; @@ -45,7 +46,7 @@ public class AutoChooser { private final SwerveSubsystem drivetrain; private final ShootingState shootstate; private final ShooterSubsystem shooter; - private final AutoFactory auto; + private final AutoFactory autoFactory; private final FeederSubsystem feeder; private final IntakeDeployerSubsystem intake; private final HopperSubsystem hopper; @@ -53,11 +54,11 @@ public class AutoChooser { private final AnglerSubsystem angler; private final ControllerSubsystem controller; - public AutoChooser(SwerveSubsystem drivetrain, ShootingState shootstate, AutoFactory auto, + public AutoChooser(SwerveSubsystem drivetrain, ShootingState shootstate, AutoFactory autoFactory, ShooterSubsystem shooter, ClimberSubsystem climber, FeederSubsystem feeder, HopperSubsystem hopper, TurretSubsystem turret, AnglerSubsystem angler, ControllerSubsystem controller, IntakeDeployerSubsystem intakeDeployer) { this.drivetrain = drivetrain; - this.auto = auto; + this.autoFactory = autoFactory; this.shootstate = shootstate; this.shooter = shooter; this.hopper = hopper; @@ -114,30 +115,30 @@ private void populateCommandMap() { //shoot red commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); //shoot blue commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Red), - new FastDepotRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new FastDepotRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Blue), - new FastDepotBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new FastDepotBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); //shoot-pickup commandMap.put(new AutoEvent(AutoAction.TEST, FieldLocation.TEST), - new TestAuto(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); + new TestAuto(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); /* //disturbance From 72b1b1587776fc3e06c4287c43c416d3ac2e55f0 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Wed, 6 May 2026 20:40:09 -0400 Subject: [PATCH 11/64] Pushed with correct auto routine creation --- src/main/java/frc/robot/RobotContainer.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 1bcdb4b3..ed949392 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -81,6 +81,8 @@ import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.subsystems.swervedrive.vision.truster.ConstantVisionTruster; import frc.robot.subsystems.swervedrive.vision.truster.VisionTruster; +import frc.robot.utils.logging.commands.LoggableCommand; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.io.gyro.RealGyroIo; import frc.robot.utils.logging.io.gyro.ThreadedGyro; @@ -343,10 +345,9 @@ private void configureBindings() { public AutoRoutine swipeAuto() { AutoRoutine routine = autoFactory.newRoutine("swipeAuto"); AutoTrajectory traj = routine.trajectory("swipe"); - - routine.active().onTrue(new LoggableSequentialCommandGroup(traj.resetOdometry(),traj.cmd())); - - + LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); + LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); + routine.active().onTrue(new LoggableSequentialCommandGroup(trajCmd,resetOdomCommand)); return routine; } From 78f952a94b840e433aa95668a9502230ba828ae2 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Wed, 6 May 2026 20:43:15 -0400 Subject: [PATCH 12/64] Pushed poll method --- src/main/java/frc/robot/RobotContainer.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ed949392..d00a891a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -352,6 +352,7 @@ public AutoRoutine swipeAuto() { } public void putShuffleboardCommands() { + swipeAuto().poll(); SmartDashboard.putData( "intakedeployer/Deployment State: UP", new SetDeploymentState(intakeDeployer, DeploymentState.UP)); From b674fd8ac667cd0978e9cd59c32f1fc733f9d546 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Wed, 6 May 2026 20:49:55 -0400 Subject: [PATCH 13/64] Added auto routine to make it actually run --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d00a891a..2ee90101 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -213,7 +213,8 @@ public RobotContainer() { } setUpAutoFactory(); - autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); + //autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); + autoChooser = null; configureBindings(); putShuffleboardCommands(); } @@ -352,7 +353,6 @@ public AutoRoutine swipeAuto() { } public void putShuffleboardCommands() { - swipeAuto().poll(); SmartDashboard.putData( "intakedeployer/Deployment State: UP", new SetDeploymentState(intakeDeployer, DeploymentState.UP)); @@ -575,8 +575,8 @@ public void putShuffleboardCommands() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - return autoChooser.getSelectedCommand(); - // return straightRoutine.cmd(straightTrajectory.done()); + //return autoChooser.getSelectedCommand(); + return swipeAuto().cmd(straightTrajectory.done()); // return new ExampleAuto(drivebase, autoFactory); } From 418c4983f3599ed1ae9c25ee8bc60993608e5f35 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Wed, 6 May 2026 20:50:59 -0400 Subject: [PATCH 14/64] raddec back auto chooser --- src/main/java/frc/robot/RobotContainer.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2ee90101..46286387 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -213,8 +213,7 @@ public RobotContainer() { } setUpAutoFactory(); - //autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); - autoChooser = null; + autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); configureBindings(); putShuffleboardCommands(); } From aa6d2f162a950a764990992d266e6aba1bcc56f6 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Fri, 8 May 2026 18:20:27 -0400 Subject: [PATCH 15/64] fixed auto to not reset the ododmetry at the start and added event markers --- src/main/deploy/choreo/DriveTest.traj | 293 ++++++++++++++++---- src/main/deploy/choreo/swipe.traj | 250 ++++++++--------- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 1 + 4 files changed, 370 insertions(+), 176 deletions(-) diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj index fbf4bd83..5cd30e23 100644 --- a/src/main/deploy/choreo/DriveTest.traj +++ b/src/main/deploy/choreo/DriveTest.traj @@ -3,26 +3,44 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.8617743253707886, "y":0.6640105247497559, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8617743253707886, "y":0.6640105247497559, "heading":1.5707963267948966, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8657628297805786, "y":2.841614246368408, "heading":0.0, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.5935349464416504, "y":2.8580691814422607, "heading":4.71238898038469, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":50, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, 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"fy":[0.07557,-0.10433,-0.10416,0.07525]}, + {"t":4.6685, "x":3.07973, "y":7.33, "heading":3.14118, "vx":-2.55278, "vy":-0.00006, "omega":0.00374, "ax":11.64593, "ay":0.00191, "alpha":-0.01694, "fx":[66.03116,66.03119,66.03144,66.03141], "fy":[0.10178,-0.08006,-0.07991,0.10143]}, + {"t":4.72328, "x":2.95736, "y":7.33, "heading":3.14136, "vx":-1.9148, "vy":0.00004, "omega":0.00281, "ax":11.64913, "ay":-0.00127, "alpha":-0.01704, "fx":[66.04939,66.04937,66.04957,66.04959], "fy":[0.0843,-0.09869,-0.09846,0.08403]}, + {"t":4.77807, "x":2.86994, "y":7.33, "heading":3.14149, "vx":-1.27664, "vy":-0.00003, "omega":0.00188, "ax":11.65128, "ay":0.00064, "alpha":-0.01711, "fx":[66.06153,66.06154,66.06171,66.0617], "fy":[0.09549,-0.08826,-0.08803,0.09521]}, + {"t":4.83285, "x":2.81749, "y":7.33, "heading":3.14157, "vx":-0.63836, "vy":0.00001, "omega":0.00094, "ax":11.6528, "ay":-0.00016, "alpha":-0.01715, "fx":[66.07022,66.07022,66.07036,66.07036], "fy":[0.09125,-0.09305,-0.09279,0.09099]}, + {"t":4.88763, "x":2.8, "y":7.33, "heading":3.14159, "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] }, "events":[ - {"name":"Marker", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] + {"name":"feed", "from":{"target":2, "targetTimestamp":1.15791, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f6f3b625..b954ce7f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -178,7 +178,7 @@ public void autonomousInit() { // Hub is always active during autonomous. hubActive = true; - robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + // robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); Logger.recordOutput("/RobotTimer/autoInit", Timer.getFPGATimestamp() - start); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 46286387..b72a9951 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -347,6 +347,7 @@ public AutoRoutine swipeAuto() { AutoTrajectory traj = routine.trajectory("swipe"); LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); + traj.atTime("feed").onTrue(new SpinFeeder(feederSubsystem)); routine.active().onTrue(new LoggableSequentialCommandGroup(trajCmd,resetOdomCommand)); return routine; } From f1961db9abe78ede8e16a36d70d97350fff221c4 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Fri, 8 May 2026 18:59:25 -0400 Subject: [PATCH 16/64] Commit --- src/main/java/frc/robot/RobotContainer.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b72a9951..54141a06 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; @@ -346,9 +347,10 @@ public AutoRoutine swipeAuto() { AutoRoutine routine = autoFactory.newRoutine("swipeAuto"); AutoTrajectory traj = routine.trajectory("swipe"); LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); - LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); + LoggableCommand resetOdomCommand = new LoggableCommandWrapper(new InstantCommand(()->{CommandScheduler.getInstance().schedule(traj.resetOdometry());})); traj.atTime("feed").onTrue(new SpinFeeder(feederSubsystem)); - routine.active().onTrue(new LoggableSequentialCommandGroup(trajCmd,resetOdomCommand)); + //traj.atTime(0).onTrue(resetOdomCommand); + routine.active().onTrue(trajCmd); return routine; } From fdb35ca0f7a6f68520fe982e06e3640c974d7cc6 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Fri, 8 May 2026 19:37:41 -0400 Subject: [PATCH 17/64] More auto testing --- src/main/deploy/choreo/DriveTest.traj | 597 ++++++++++++-------- src/main/java/frc/robot/RobotContainer.java | 14 +- 2 files changed, 362 insertions(+), 249 deletions(-) diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj index 5cd30e23..2c3dff38 100644 --- a/src/main/deploy/choreo/DriveTest.traj +++ b/src/main/deploy/choreo/DriveTest.traj @@ -3,44 +3,28 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.8617743253707886, "y":0.6640105247497559, "heading":1.5707963267948966, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.8657628297805786, "y":2.841614246368408, "heading":0.0, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.5935349464416504, "y":2.8580691814422607, "heading":4.71238898038469, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.6, "y":0.67, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.5531183481216431, "y":3.7137277126312256, "heading":0.0, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.050520896911621, "y":3.730182647705078, "heading":3.141592653589793, "intervals":342, "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":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":0.1}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.1}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"2.6 m", "val":2.6}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.8617743253707886 m", "val":0.8617743253707886}, "y":{"exp":"0.6640105247497559 m", "val":0.6640105247497559}, "heading":{"exp":"90 degrees", "val":1.5707963267948966}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.8657628297805786 m", "val":0.8657628297805786}, "y":{"exp":"2.841614246368408 m", "val":2.841614246368408}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.5935349464416504 m", "val":2.5935349464416504}, "y":{"exp":"2.8580691814422607 m", "val":2.8580691814422607}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.6 m", "val":2.6}, "y":{"exp":"0.67 m", "val":0.67}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"0.5531183481216431 m", "val":0.5531183481216431}, "y":{"exp":"3.7137277126312256 m", "val":3.7137277126312256}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.050520896911621 m", "val":2.050520896911621}, "y":{"exp":"3.730182647705078 m", "val":3.730182647705078}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":342, "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":{"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":"MaxAcceleration", "props":{"max":{"exp":"2 m / s ^ 2", "val":2.0}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"0.1 m / s ^ 2", "val":0.1}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.1 m / s", "val":0.1}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -71,224 +55,353 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.85673,3.9509,5.74708,7.90241], + "waypoints":[0.0,15.97888], "samples":[ - {"t":0.0, "x":2.6, "y":0.67, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.99889, "ay":-0.00865, "alpha":-3.22087, "fx":[-19.6968,-19.6929,-2.97193,-2.97247], "fy":[8.62356,-8.72377,-9.2351,9.13909]}, - {"t":0.03713, "x":2.59862, "y":0.66999, "heading":3.13937, "vx":-0.07423, "vy":-0.00032, "omega":-0.11961, "ax":-1.99941, 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"fx":[-0.70098,-0.7579,-0.43105,-0.37442], "fy":[0.1855,-0.14123,-0.1975,0.12835]}, + {"t":15.13788, "x":2.01517, "y":3.72979, "heading":3.10462, "vx":0.08406, "vy":0.00092, "omega":0.07811, "ax":-0.09988, "ay":-0.0011, "alpha":-0.06367, "fx":[-0.70794,-0.76481,-0.42453,-0.36793], "fy":[0.19215,-0.14797,-0.20422,0.13514]}, + {"t":15.18461, "x":2.01899, "y":3.72984, "heading":3.1082, "vx":0.07939, "vy":0.00087, "omega":0.07513, "ax":-0.0999, "ay":-0.0011, "alpha":-0.06626, "fx":[-0.71525,-0.77182,-0.4175,-0.36118], "fy":[0.19906,-0.15514,-0.21114,0.14232]}, + {"t":15.23133, "x":2.02259, "y":3.72988, "heading":3.11164, "vx":0.07472, "vy":0.00082, "omega":0.07204, "ax":-0.09992, "ay":-0.0011, "alpha":-0.06898, "fx":[-0.72294,-0.77907,-0.41003,-0.35405], "fy":[0.20623,-0.16271,-0.21836,0.14994]}, + {"t":15.27805, "x":2.02597, "y":3.72991, "heading":3.11493, "vx":0.07005, "vy":0.00077, "omega":0.06882, "ax":-0.09993, "ay":-0.0011, "alpha":-0.07184, "fx":[-0.73109,-0.78662,-0.40198,-0.34665], "fy":[0.21366,-0.17077,-0.22582,0.15803]}, + {"t":15.32477, "x":2.02914, "y":3.72995, "heading":3.11807, "vx":0.06538, "vy":0.00072, "omega":0.06546, "ax":-0.09994, "ay":-0.0011, "alpha":-0.07485, "fx":[-0.73975,-0.79439,-0.39347,-0.33892], "fy":[0.22146,-0.17935,-0.23363,0.16661]}, + {"t":15.37149, "x":2.03208, "y":3.72998, "heading":3.12104, "vx":0.06071, "vy":0.00067, "omega":0.06196, "ax":-0.09994, "ay":-0.0011, "alpha":-0.07801, "fx":[-0.74886,-0.80246,-0.38439,-0.33095], "fy":[0.22946,-0.18846,-0.24159,0.17568]}, + {"t":15.41821, "x":2.03481, "y":3.73001, "heading":3.12385, "vx":0.05605, "vy":0.00062, "omega":0.05832, "ax":-0.09995, "ay":-0.0011, "alpha":-0.08133, "fx":[-0.75855,-0.8108,-0.37478,-0.32265], "fy":[0.23779,-0.19812,-0.24996,0.18538]}, + {"t":15.46494, "x":2.03732, "y":3.73004, "heading":3.12649, "vx":0.05138, "vy":0.00056, "omega":0.05452, "ax":-0.09995, "ay":-0.0011, "alpha":-0.08482, "fx":[-0.76885,-0.81941,-0.36453,-0.31409], "fy":[0.2464,-0.2084,-0.25853,0.19563]}, + {"t":15.51166, "x":2.03961, "y":3.73006, "heading":3.12894, "vx":0.04671, "vy":0.00051, "omega":0.05055, "ax":-0.09996, "ay":-0.0011, "alpha":-0.08849, "fx":[-0.77979,-0.82831,-0.35366,-0.30519], "fy":[0.2553,-0.2193,-0.26748,0.20657]}, + {"t":15.55838, "x":2.04168, "y":3.73009, "heading":3.13121, "vx":0.04204, "vy":0.00046, "omega":0.04642, "ax":-0.09996, "ay":-0.0011, "alpha":-0.09233, "fx":[-0.79135,-0.83748,-0.34213,-0.29607], "fy":[0.26447,-0.23089,-0.27676,0.21827]}, + {"t":15.6051, "x":2.04354, "y":3.73011, "heading":3.13328, "vx":0.03737, "vy":0.00041, "omega":0.04211, "ax":-0.09996, "ay":-0.0011, "alpha":-0.09636, "fx":[-0.80362,-0.84698,-0.32988,-0.2866], "fy":[0.27392,-0.24313,-0.28618,0.23047]}, + {"t":15.65182, "x":2.04517, "y":3.73012, "heading":3.13514, "vx":0.03269, "vy":0.00036, "omega":0.0376, "ax":-0.09996, "ay":-0.0011, "alpha":-0.10058, "fx":[-0.81667,-0.8567,-0.31687,-0.27689], "fy":[0.28365,-0.25619,-0.29592,0.24354]}, + {"t":15.69855, "x":2.04659, "y":3.73014, "heading":3.13679, "vx":0.02802, "vy":0.00031, "omega":0.03291, "ax":-0.09997, "ay":-0.0011, "alpha":-0.105, "fx":[-0.83048,-0.86673,-0.3031,-0.26687], "fy":[0.29371,-0.26995,-0.30601,0.25734]}, + {"t":15.74527, "x":2.04779, "y":3.73015, "heading":3.13821, "vx":0.02335, "vy":0.00026, "omega":0.028, "ax":-0.09997, "ay":-0.0011, "alpha":-0.10964, "fx":[-0.84517,-0.87707,-0.28843,-0.25655], "fy":[0.30403,-0.28458,-0.31633,0.27195]}, + {"t":15.79199, "x":2.04878, "y":3.73016, "heading":3.1394, "vx":0.01868, "vy":0.00021, "omega":0.02288, "ax":-0.09997, "ay":-0.0011, "alpha":-0.11452, "fx":[-0.86074,-0.88767,-0.2729,-0.24594], "fy":[0.31465,-0.30014,-0.32701,0.28759]}, + {"t":15.83871, "x":2.04954, "y":3.73017, "heading":3.14034, "vx":0.01401, "vy":0.00015, "omega":0.01753, "ax":-0.09997, "ay":-0.0011, "alpha":-0.11961, "fx":[-0.87723,-0.89858,-0.2564,-0.23506], "fy":[0.32553,-0.31667,-0.33788,0.3041]}, + {"t":15.88543, "x":2.05008, "y":3.73018, "heading":3.14103, "vx":0.00934, "vy":0.0001, "omega":0.01194, "ax":-0.09997, "ay":-0.0011, "alpha":-0.12495, "fx":[-0.89473,-0.90976,-0.23892,-0.22389], "fy":[0.33674,-0.33412,-0.34912,0.32158]}, + {"t":15.93215, "x":2.05041, "y":3.73018, "heading":3.14145, "vx":0.00467, "vy":0.00005, "omega":0.0061, "ax":-0.09997, "ay":-0.0011, "alpha":-0.13055, "fx":[-0.91326,-0.92127,-0.22037,-0.21243], "fy":[0.34816,-0.35269,-0.36062,0.34023]}, + {"t":15.97888, "x":2.05052, "y":3.73018, "heading":3.14159, "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] }, "events":[ - {"name":"Marker", "from":{"target":1, "targetTimestamp":1.85673, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"feed", "from":{"target":2, "targetTimestamp":3.9509, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"feed", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 54141a06..3c6c43d8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,8 +15,9 @@ import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -344,13 +345,12 @@ private void configureBindings() { } public AutoRoutine swipeAuto() { - AutoRoutine routine = autoFactory.newRoutine("swipeAuto"); - AutoTrajectory traj = routine.trajectory("swipe"); + AutoRoutine routine = autoFactory.newRoutine("DriveTest"); + AutoTrajectory traj = routine.trajectory("DriveTest"); LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); - LoggableCommand resetOdomCommand = new LoggableCommandWrapper(new InstantCommand(()->{CommandScheduler.getInstance().schedule(traj.resetOdometry());})); - traj.atTime("feed").onTrue(new SpinFeeder(feederSubsystem)); - //traj.atTime(0).onTrue(resetOdomCommand); - routine.active().onTrue(trajCmd); + LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); + traj.atTime("feed").onTrue(new LoggableCommandWrapper(new PrintCommand("Hello"))); + routine.active().onTrue(Commands.sequence(traj.cmd(),traj.resetOdometry())); return routine; } From abc28d8e0caf8cdb56c11c333e6f123f6b65c7b7 Mon Sep 17 00:00:00 2001 From: Jackson Date: Sun, 10 May 2026 15:38:24 -0400 Subject: [PATCH 18/64] Added new autoChooser --- src/main/java/frc/robot/Robot.java | 11 - src/main/java/frc/robot/RobotContainer.java | 12 +- .../frc/robot/autochooser/AutoAction.java | 38 --- .../frc/robot/autochooser/AutoChooser.java | 238 ------------------ .../java/frc/robot/autochooser/AutoEvent.java | 70 ------ .../java/frc/robot/autochooser/AutoPath.java | 15 ++ .../frc/robot/autochooser/FieldLocation.java | 62 ----- .../frc/robot/autochooser/RoutineChooser.java | 61 +++++ 8 files changed, 82 insertions(+), 425 deletions(-) delete mode 100644 src/main/java/frc/robot/autochooser/AutoAction.java delete mode 100644 src/main/java/frc/robot/autochooser/AutoChooser.java delete mode 100644 src/main/java/frc/robot/autochooser/AutoEvent.java create mode 100644 src/main/java/frc/robot/autochooser/AutoPath.java delete mode 100644 src/main/java/frc/robot/autochooser/FieldLocation.java create mode 100644 src/main/java/frc/robot/autochooser/RoutineChooser.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b954ce7f..c32d2cc6 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -16,7 +16,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.autochooser.FieldLocation; import frc.robot.commands.shooter.SetShootingState; import frc.robot.constants.Constants; import frc.robot.utils.BlinkinPattern; @@ -150,8 +149,6 @@ public void robotPeriodic() { } } } - SmartDashboard.putString("Selected Action", - robotContainer.getAutoChooser().getCommandDescription()); } /** This function is called once each time the robot enters Disabled mode. */ @@ -339,12 +336,4 @@ public static Optional allianceColor() { public static String allianceColorString() { return String.valueOf(allianceColor.orElse(null)); } - - public FieldLocation location() { - return robotContainer.getAutoChooser().getFieldLocation(); - } - - public Pose2d getStartingLocation() { - return location().getLocation(); - } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3c6c43d8..b9ce8ef2 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -23,8 +23,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.apriltags.ApriltagReading; +import frc.robot.autochooser.RoutineChooser; import frc.robot.commands.ResetAll; -import frc.robot.autochooser.AutoChooser; import frc.robot.commands.AddApriltagReading; import frc.robot.commands.AddGarbageReading; import frc.robot.commands.AddTunableApriltagReading; @@ -109,7 +109,7 @@ public class RobotContainer { private static final int DRIVER_CAM_FPS = 30; // Instantiate the autochooser. - private final AutoChooser autoChooser; + private final RoutineChooser autoChooser; // The robot's subsystems and commands are defined here... private final CommandXboxController controller = new CommandXboxController(Constants.XBOX_CONTROLLER_PORT); @@ -215,7 +215,7 @@ public RobotContainer() { } setUpAutoFactory(); - autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); + autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer); configureBindings(); putShuffleboardCommands(); } @@ -350,7 +350,7 @@ public AutoRoutine swipeAuto() { LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); traj.atTime("feed").onTrue(new LoggableCommandWrapper(new PrintCommand("Hello"))); - routine.active().onTrue(Commands.sequence(traj.cmd(),traj.resetOdometry())); + routine.active().onTrue(Commands.sequence(traj.resetOdometry(),traj.cmd())); return routine; } @@ -578,7 +578,7 @@ public void putShuffleboardCommands() { */ public Command getAutonomousCommand() { //return autoChooser.getSelectedCommand(); - return swipeAuto().cmd(straightTrajectory.done()); + return autoChooser.getAuto().cmd(); // return new ExampleAuto(drivebase, autoFactory); } @@ -591,7 +591,7 @@ public RobotVisualizer getRobotVisualizer() { return robotVisualizer; } - public AutoChooser getAutoChooser() { + public RoutineChooser getAutoChooser() { return autoChooser; } diff --git a/src/main/java/frc/robot/autochooser/AutoAction.java b/src/main/java/frc/robot/autochooser/AutoAction.java deleted file mode 100644 index 964721d4..00000000 --- a/src/main/java/frc/robot/autochooser/AutoAction.java +++ /dev/null @@ -1,38 +0,0 @@ -package frc.robot.autochooser; - -import java.util.Arrays; -import java.util.HashMap; -import java.util.function.Function; -import java.util.stream.Collectors; - -public enum AutoAction { - DO_NOTHING("Do Nothing"), - SHOOT("Shoot"), - FAST_SHOOT("Shoot depot"), - //SHOOT_PICKUP("Shoot and Pickup"), - //DISTURBANCE("Disturbance"), - //NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"), - INVALID("INVALID"), - TEST("TEST"); - private final String name; - private static final HashMap nameMap = - new HashMap<>( - Arrays.stream(AutoAction.values()) - .collect(Collectors.toMap(AutoAction::getName, Function.identity()))); - - AutoAction(String name) { - this.name = name; - } - - public String getName() { - return name; - } - @Override - public String toString() { - return getName(); - } - - public static AutoAction fromName(String name) { - return nameMap.get(name); - } -} diff --git a/src/main/java/frc/robot/autochooser/AutoChooser.java b/src/main/java/frc/robot/autochooser/AutoChooser.java deleted file mode 100644 index b32972a9..00000000 --- a/src/main/java/frc/robot/autochooser/AutoChooser.java +++ /dev/null @@ -1,238 +0,0 @@ -package frc.robot.autochooser; - -import java.util.HashMap; -import java.util.Map; - -import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; - -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Robot; -import frc.robot.commands.auto.neutral.DepotNeutral; -import frc.robot.commands.auto.neutral.OutpostNeutral; -import frc.robot.commands.auto.newauto.FastDepotRed; -import frc.robot.commands.auto.newauto.FastDepotBlue; -import frc.robot.commands.auto.shoot.ShootBlue; -import frc.robot.commands.auto.shoot.ShootRed; -import frc.robot.commands.auto.disturbance.DepotDisturbance; -import frc.robot.commands.auto.disturbance.OutpostDisturbance; -import frc.robot.commands.auto.DoNothing; -import frc.robot.commands.auto.TestAuto; -import frc.robot.constants.enums.ShootingState; -import frc.robot.subsystems.AnglerSubsystem; -import frc.robot.subsystems.ClimberSubsystem; -import frc.robot.subsystems.ControllerSubsystem; -import frc.robot.subsystems.FeederSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.IntakeDeployerSubsystem; -import frc.robot.subsystems.IntakeSubsystem; -import frc.robot.subsystems.ShooterSubsystem; -import frc.robot.subsystems.TurretSubsystem; -import frc.robot.subsystems.swervedrive.SwerveSubsystem; - -public class AutoChooser { - - /** Drop-down chooser for the location. */ - private LoggedDashboardChooser locationChooser; - /** Drop-down chooser for the action. */ - private LoggedDashboardChooser actionChooser; - /** Structure for mapping possible choices to commands. */ - private final Map commandMap = new HashMap<>(); - /** Structure for mapping possible choices to commands. */ - private final Map descriptionMap = new HashMap<>(); - - private final SwerveSubsystem drivetrain; - private final ShootingState shootstate; - private final ShooterSubsystem shooter; - private final AutoFactory autoFactory; - private final FeederSubsystem feeder; - private final IntakeDeployerSubsystem intake; - private final HopperSubsystem hopper; - private final TurretSubsystem turret; - private final AnglerSubsystem angler; - private final ControllerSubsystem controller; - - public AutoChooser(SwerveSubsystem drivetrain, ShootingState shootstate, AutoFactory autoFactory, - ShooterSubsystem shooter, ClimberSubsystem climber, FeederSubsystem feeder, HopperSubsystem hopper, - TurretSubsystem turret, AnglerSubsystem angler, ControllerSubsystem controller, IntakeDeployerSubsystem intakeDeployer) { - this.drivetrain = drivetrain; - this.autoFactory = autoFactory; - this.shootstate = shootstate; - this.shooter = shooter; - this.hopper = hopper; - this.feeder = feeder; - this.turret = turret; - this.angler = angler; - this.controller = controller; - this.intake = intakeDeployer; - - this.locationChooser = new LoggedDashboardChooser<>( - "Location Chooser" - ); - this.actionChooser = new LoggedDashboardChooser<>( - "Action Chooser" - ); - populateChoosers(); - populateCommandMap(); - populateDescriptionMap(); - } - - /** Populates the drop-down choosers with enum constants. */ - private void populateChoosers() { - for (FieldLocation location : FieldLocation.values()) { - switch (location) { - case INVALID -> {} // Skip the invalid case. - case ZERO -> { // Default - locationChooser.addDefaultOption(location.getShuffleboardName(), location); - } - default -> {locationChooser.addOption(location.getShuffleboardName(), location);} - }; - } - for (AutoAction action : AutoAction.values()) { - switch (action) { - case INVALID -> {} // Skip the invalid case. - case DO_NOTHING -> { // Default - actionChooser.addDefaultOption(action.toString(), action); - } - default -> {actionChooser.addOption(action.toString(), action);} - }; - } - } - - /** - * Put command mappings here. - */ - private void populateCommandMap() { - //if AutoEvent is not dependent on alliance color don't put a color - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.DEPOT_SIDE), - new DoNothing(turret,angler, shootstate)); - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.MID), - new DoNothing(turret,angler,shootstate)); - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.OUTPOST_SIDE), - new DoNothing(turret,angler,shootstate)); - - //shoot red - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Red), - new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Red), - new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Red), - new ShootRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - //shoot blue - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Blue), - new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Red), - new FastDepotRed(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Blue), - new FastDepotBlue(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - - - //shoot-pickup - commandMap.put(new AutoEvent(AutoAction.TEST, FieldLocation.TEST), - new TestAuto(drivetrain, autoFactory, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - /* - //disturbance - commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE), - new DepotDisturbance(drivetrain, auto, shootstate, turret, angler, controller)); - commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.OUTPOST_SIDE), - new OutpostDisturbance(drivetrain, auto, shootstate, turret, angler, controller)); - - //neutral zone - commandMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.DEPOT_SIDE), - new DepotNeutral(drivetrain, auto, shootstate, turret, angler, controller)); - commandMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE), - new OutpostNeutral(drivetrain, auto, shootstate, turret, angler, controller)); - */ - - } - - /** - * Put command mappings here. - */ - private void populateDescriptionMap() { - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.DEPOT_SIDE), - "do nothing"); - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.MID), - "do nothing"); - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.OUTPOST_SIDE), - "do nothing"); - - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE), - "shoot from the depot"); - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID), - "shoot from the middle"); - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE), - "shoot from the outpost"); - descriptionMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT), - "depot and shoot from the depot"); - /* - descriptionMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE), - "shoot and pickup from the depot"); - - - descriptionMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE), - "run the depot disturbance route"); - descriptionMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.OUTPOST_SIDE), - "run the outpost disturbance route"); - - descriptionMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.DEPOT_SIDE), - "shoot and run depot neutral zone cycle"); - descriptionMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE), - "shoot and run outpost neutral zone cycle"); - */ - } - - public AutoEvent getSelectedEvent() { - AutoAction chosenAction = actionChooser.get(); - FieldLocation chosenLocation = locationChooser.get(); - Alliance color = Robot.allianceColor().orElse(null); - return new AutoEvent(chosenAction, chosenLocation, color); - } - - public Command getSelectedCommand() { - AutoEvent event = getSelectedEvent(); - Command command = getCommandInternal(event); - return command != null ? command : new DoNothing(turret, angler, shootstate); - } - public AutoAction getAction(){ - return actionChooser.get(); - } - /** @return A human-readable description of the selected command. */ - public String getCommandDescription() { - AutoEvent event = getSelectedEvent(); - Command command = getCommandInternal(event); - if (command == null) { - return "NO AUTO"; - } else { - String commandDescription = descriptionMap.get(event.withoutColor()); - return event.getActionName() + " at " + event.getLocation() + " -> " + commandDescription + "."; - } - } - - public FieldLocation getFieldLocation() { - return locationChooser.get(); - } - - - private Command getCommandInternal(AutoEvent event) { - Command command = commandMap.get(event); - if (command != null) { - // prioritize color-specific command, if we have one - return command; - } else { - // fall back to color-agnostic command if we didn't find one - return commandMap.get(event.withoutColor()); - } - } - -} diff --git a/src/main/java/frc/robot/autochooser/AutoEvent.java b/src/main/java/frc/robot/autochooser/AutoEvent.java deleted file mode 100644 index c0dec2fe..00000000 --- a/src/main/java/frc/robot/autochooser/AutoEvent.java +++ /dev/null @@ -1,70 +0,0 @@ -package frc.robot.autochooser; - -import java.util.Objects; -import edu.wpi.first.wpilibj.DriverStation.Alliance; - -/** - * Wrapper Class, that Contains a {@link frc.robot.autochooser.AutoAction} and a {@link - * frc.robot.autochooser.FieldLocation} - */ -public class AutoEvent { - private final AutoAction action; - private final FieldLocation location; - private Alliance allianceColor; - /** - * This instantiates the AutoEvent without the alliance color. - * The importance of doing so is in case the alliance color - * is not relevant to this specific combination. - * - * @param action The action to do. - * @param location The location where the robot starts. - */ - public AutoEvent(AutoAction action, FieldLocation location) { - this.action = action; - this.location = location; - } - - /** - * This instantiates an autoEvent using an extra alliance - * color parameter. - * @param action The action to do. - * @param location The location where the robot starts. - * @param color The alliance color. - */ - public AutoEvent(AutoAction action, FieldLocation location, Alliance color) { - this.action = action; - this.location = location; - this.allianceColor = color; - } - - public AutoAction getAction() { - return action; - } - public String getActionName() { - return action.name(); - } - - public FieldLocation getLocation() { - return location; - } - - @Override - public boolean equals(Object o) { - if (this == o) return true; - if (o == null || getClass() != o.getClass()) return false; - AutoEvent autoEvent = (AutoEvent) o; - return action == autoEvent.action && location == autoEvent.location && allianceColor == autoEvent.allianceColor; - } - - @Override - public int hashCode() { - return Objects.hash(action, location, allianceColor); - } - - /** - * Return an event without color (to allow lookup in the map for a color-agnostic entry) - */ - public AutoEvent withoutColor() { - return new AutoEvent(action, location); - } -} diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java new file mode 100644 index 00000000..802ac804 --- /dev/null +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -0,0 +1,15 @@ +package frc.robot.autochooser; + +public enum AutoPath { + DO_NOTHING("Do nothing"), + SWIPE("Swipe"); + + private final String name; + private AutoPath(String name){ + this.name = name; + } + + public String getName(){ + return name; + } +} diff --git a/src/main/java/frc/robot/autochooser/FieldLocation.java b/src/main/java/frc/robot/autochooser/FieldLocation.java deleted file mode 100644 index 5558b1b0..00000000 --- a/src/main/java/frc/robot/autochooser/FieldLocation.java +++ /dev/null @@ -1,62 +0,0 @@ -package frc.robot.autochooser; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Robot; -import java.util.Arrays; -import java.util.HashMap; -import java.util.function.Function; -import java.util.stream.Collectors; - -public enum FieldLocation { - ZERO(0, 0, 0, "ZERO"), - INVALID(-1, -1, -1, "INVALID"), - DEPOT_SIDE(3.599, 7.33, 180, "Depot side - Driver Station LEFT"), //robot is 24 cm away from the wall - MID(3.599, 4.029, 180, "Middle"), - OUTPOST_SIDE(3.599, 0.67, 180, "Outpost side - Driver Station RIGHT"), //robot is 24 cm away from the wall - FAST_DEPOT(3.596, 5.06, 180, "Depot side - for the fast auto"), - TEST(2.6,0.67, 180, "TESTING"); //robot's back left corner is next to hopper corner - - private static final double RED_X_POS = 9.338; // meters - public static final double HEIGHT_OF_FIELD = 8.043; - public static final double LENGTH_OF_FIELD = 16.411; - private final double yPose; - private final double xPose; - private final double angle; - private final String name; - private static final HashMap nameMap = - new HashMap<>( - Arrays.stream(FieldLocation.values()) - .collect(Collectors.toMap(FieldLocation::getShuffleboardName, Function.identity()))); - - FieldLocation(double xPos, double yPose, double angle, String name) { - this.xPose = xPos; - this.yPose = yPose; - this.angle = angle; - this.name = name; - } - - public static FieldLocation fromName(String string) { - return nameMap.get(string); - } - - public Pose2d getLocation() { - Alliance alliance = Robot.allianceColor().orElse(null); - if (alliance == null) { - return new Pose2d(INVALID.xPose, INVALID.yPose, Rotation2d.fromDegrees(INVALID.angle)); - } - double x = (alliance == Alliance.Red) ? xPose + RED_X_POS + Units.inchesToMeters(36) : xPose; - double y = (alliance == Alliance.Red) ? yPose - 2 * (yPose - (HEIGHT_OF_FIELD / 2)) : yPose; - double radian = - (alliance == Alliance.Red) ? Math.toRadians(180 - angle) : Math.toRadians(angle); - return new Pose2d(x, y, Rotation2d.fromRadians(radian)); - } - - public String getShuffleboardName() { - return name; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java new file mode 100644 index 00000000..812ffab6 --- /dev/null +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -0,0 +1,61 @@ +package frc.robot.autochooser; + +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; + +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import frc.robot.commands.feeder.SpinFeeder; +import frc.robot.commands.intake.SpinIntake; +import frc.robot.subsystems.FeederSubsystem; +import frc.robot.subsystems.IntakeDeployerSubsystem; +import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; + +public class RoutineChooser { + private final AutoFactory factory; + private final FeederSubsystem feeder; + private final IntakeSubsystem intake; + private final IntakeDeployerSubsystem deployer; + private final LoggedDashboardChooser autoChooser; + + public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsystem intake, IntakeDeployerSubsystem deployer){ + this.factory = factory; + this.feeder = feeder; + this.intake = intake; + this.deployer = deployer; + autoChooser = new LoggedDashboardChooser<>("AutoAction"); + for(AutoPath paths : AutoPath.values()){ + autoChooser.addOption(paths.getName(), paths); + } + } + + public AutoRoutine routine(String key){ + AutoRoutine routine = factory.newRoutine(key); + AutoTrajectory traj = routine.trajectory(key); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + traj.atTime("feed").onTrue(new SpinFeeder(feeder)); + traj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); + return routine; + } + + public AutoRoutine getAuto(){ + switch (autoChooser.get()){ + case DO_NOTHING: + Logger.recordOutput("Auto", "Do nothing"); + return factory.newRoutine("do_nothing"); + case SWIPE: + Logger.recordOutput("Auto", "swipe"); + return routine("swipe"); + default: + Logger.recordOutput("Auto", "INVALID AUTO THIS IS BAD"); + return factory.newRoutine("do_nothing"); + } + + } + +} From 162e50c524c2336c6cca389001e00ae123bd2e48 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 11 May 2026 18:21:41 -0400 Subject: [PATCH 19/64] Added autos to autochooser --- src/main/deploy/choreo/DriveTest.traj | 821 ++++++++++-------- src/main/java/frc/robot/RobotContainer.java | 11 - .../java/frc/robot/autochooser/AutoPath.java | 3 +- .../frc/robot/autochooser/RoutineChooser.java | 26 +- vendordeps/ChoreoLib2026.json | 6 +- 5 files changed, 495 insertions(+), 372 deletions(-) diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj index 2c3dff38..2bd16e8f 100644 --- a/src/main/deploy/choreo/DriveTest.traj +++ b/src/main/deploy/choreo/DriveTest.traj @@ -3,8 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.5531183481216431, "y":3.7137277126312256, "heading":0.0, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.050520896911621, "y":3.730182647705078, "heading":3.141592653589793, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.6847581267356873, "y":0.5379181504249573, "heading":3.141592653589793, "intervals":238, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7707862854003906, "y":0.52146315574646, "heading":3.141592653589793, "intervals":225, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.737876296043396, "y":1.5416715145111084, "heading":3.141592653589793, "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}, @@ -16,8 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"0.5531183481216431 m", "val":0.5531183481216431}, "y":{"exp":"3.7137277126312256 m", "val":3.7137277126312256}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.050520896911621 m", "val":2.050520896911621}, "y":{"exp":"3.730182647705078 m", "val":3.730182647705078}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":342, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"0.6847581267356873 m", "val":0.6847581267356873}, "y":{"exp":"0.5379181504249573 m", "val":0.5379181504249573}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":238, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.7707862854003906 m", "val":1.7707862854003906}, "y":{"exp":"0.52146315574646 m", "val":0.52146315574646}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":225, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.737876296043396 m", "val":1.737876296043396}, "y":{"exp":"1.5416715145111084 m", "val":1.5416715145111084}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "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}, @@ -55,353 +57,474 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,15.97888], + "waypoints":[0.0,11.45494,22.25519], "samples":[ - {"t":0.0, "x":0.55312, "y":3.71373, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.09995, "ay":0.0011, "alpha":0.32055, "fx":[-0.29353,-0.29353,1.42696,1.42694], "fy":[0.86717,-0.8547,-0.8542,0.86664]}, - {"t":0.04672, "x":0.55323, "y":3.71373, "heading":0.00035, "vx":0.00467, "vy":0.00005, "omega":0.01498, "ax":0.09997, "ay":0.0011, "alpha":0.31518, "fx":[-0.27019,-0.28027,1.40384,1.41393], "fy":[0.86027,-0.83735,-0.85029,0.85228]}, - {"t":0.09344, "x":0.55355, "y":3.71373, "heading":0.00139, "vx":0.00934, "vy":0.0001, "omega":0.0297, "ax":0.09997, "ay":0.0011, "alpha":0.30096, "fx":[-0.24324,-0.23859,1.37689,1.37222], "fy":[0.81231,-0.80443,-0.79917,0.81621]}, - {"t":0.14017, "x":0.5541, "y":3.71374, "heading":0.00311, "vx":0.01401, "vy":0.00015, "omega":0.04376, "ax":0.09997, "ay":0.0011, "alpha":0.28679, "fx":[-0.21125,-0.19441,1.34485,1.32805], "fy":[0.76819,-0.77252,-0.75504,0.78428]}, - {"t":0.18689, "x":0.55486, "y":3.71375, "heading":0.00547, "vx":0.01868, "vy":0.00021, "omega":0.05716, "ax":0.09997, "ay":0.0011, "alpha":0.27313, "fx":[-0.17943,-0.15289,1.31293,1.2866], "fy":[0.72658,-0.74053,-0.71354,0.7524]}, - {"t":0.23361, "x":0.55585, "y":3.71376, "heading":0.00844, "vx":0.02335, "vy":0.00026, "omega":0.06992, "ax":0.09997, "ay":0.0011, "alpha":0.26, "fx":[-0.14783,-0.11391,1.28138,1.24754], "fy":[0.68751,-0.70889,-0.67458,0.72088]}, - {"t":0.28033, "x":0.55705, "y":3.71377, "heading":0.01199, "vx":0.02802, "vy":0.00031, "omega":0.08207, "ax":0.09996, "ay":0.0011, "alpha":0.24736, "fx":[-0.11645,-0.07733,1.24992,1.21099], "fy":[0.65097,-0.67751,-0.63795,0.6894]}, - {"t":0.32705, "x":0.55846, "y":3.71379, "heading":0.01609, "vx":0.03269, 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"fy":[-0.59451,-0.57587,-0.57588,-0.51593]}, + {"t":21.77518, "x":1.73862, "y":1.53018, "heading":3.14104, "vx":-0.00312, "vy":0.04789, "omega":0.00133, "ax":0.0065, "ay":-0.09975, "alpha":0.00019, "fx":[0.0275,0.02751,0.04308,0.04925], "fy":[-0.6121,-0.55526,-0.55524,-0.53968]}, + {"t":21.82318, "x":1.73848, "y":1.53236, "heading":3.14111, "vx":-0.00281, "vy":0.0431, "omega":0.00134, "ax":0.0065, "ay":-0.09975, "alpha":-0.00399, "fx":[0.03056,0.03057,0.04312,0.0431], "fy":[-0.58395,-0.58072,-0.58073,-0.51695]}, + {"t":21.87118, "x":1.73836, "y":1.53432, "heading":3.14117, "vx":-0.0025, "vy":0.03831, "omega":0.00115, "ax":0.0065, "ay":-0.09976, "alpha":0.00053, "fx":[0.02981,0.02982,0.04116,0.04656], "fy":[-0.60654,-0.55574,-0.55573,-0.54439]}, + {"t":21.91918, "x":1.73824, "y":1.53604, "heading":3.14122, "vx":-0.00218, "vy":0.03352, "omega":0.00118, "ax":0.0065, "ay":-0.09976, "alpha":-0.00273, "fx":[0.03261,0.03263,0.04106,0.04105], "fy":[-0.5842,-0.57605,-0.57605,-0.52617]}, + {"t":21.96718, "x":1.73815, "y":1.53753, "heading":3.14128, "vx":-0.00187, "vy":0.02873, "omega":0.00104, "ax":0.0065, "ay":-0.09976, "alpha":0.0009, "fx":[0.03186,0.03187,0.03941,0.04421], "fy":[-0.60255,-0.55584,-0.55583,-0.54829]}, + {"t":22.01518, "x":1.73806, "y":1.5388, "heading":3.14133, "vx":-0.00156, "vy":0.02394, "omega":0.00109, "ax":0.0065, "ay":-0.09976, "alpha":-0.00047, "fx":[0.03446,0.03447,0.03921,0.03921], "fy":[-0.59098,-0.56577,-0.56578,-0.54002]}, + {"t":22.06318, "x":1.738, "y":1.53983, "heading":3.14138, "vx":-0.00125, "vy":0.01916, "omega":0.00107, "ax":0.0065, "ay":-0.09976, "alpha":0.0013, "fx":[0.03378,0.03378,0.03773,0.04207], "fy":[-0.59965,-0.55563,-0.55563,-0.55169]}, + {"t":22.11118, "x":1.73794, "y":1.54064, "heading":3.14143, "vx":-0.00094, "vy":0.01437, "omega":0.00113, "ax":0.0065, "ay":-0.09976, "alpha":0.00283, "fx":[0.03627,0.03627,0.03741,0.03741], "fy":[-0.60409,-0.54987,-0.54988,-0.55878]}, + {"t":22.15918, "x":1.73791, "y":1.54121, "heading":3.14149, "vx":-0.00062, "vy":0.00958, "omega":0.00126, "ax":0.0065, "ay":-0.09977, "alpha":0.0053, "fx":[0.03723,0.03723,0.03645,0.03645], "fy":[-0.61515,-0.53761,-0.53762,-0.57227]}, + {"t":22.20719, "x":1.73788, "y":1.54156, "heading":3.14156, "vx":-0.00031, "vy":0.00479, "omega":0.00152, "ax":0.0065, "ay":-0.09977, "alpha":-0.03162, "fx":[-0.13339,-0.13718,0.20897,0.20896], "fy":[-0.56806,-0.56328,-0.56328,-0.56806]}, + {"t":22.25519, "x":1.73788, "y":1.54167, "heading":3.14159, "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] }, "events":[ - {"name":"feed", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"feed", "from":{"target":1, "targetTimestamp":11.45494, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b9ce8ef2..f0852b14 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -343,17 +343,6 @@ private void configureBindings() { drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); } } - - public AutoRoutine swipeAuto() { - AutoRoutine routine = autoFactory.newRoutine("DriveTest"); - AutoTrajectory traj = routine.trajectory("DriveTest"); - LoggableCommand trajCmd = new LoggableCommandWrapper(traj.cmd()); - LoggableCommand resetOdomCommand = new LoggableCommandWrapper(traj.resetOdometry()); - traj.atTime("feed").onTrue(new LoggableCommandWrapper(new PrintCommand("Hello"))); - routine.active().onTrue(Commands.sequence(traj.resetOdometry(),traj.cmd())); - return routine; - } - public void putShuffleboardCommands() { SmartDashboard.putData( "intakedeployer/Deployment State: UP", diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index 802ac804..9843da5a 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -2,7 +2,8 @@ public enum AutoPath { DO_NOTHING("Do nothing"), - SWIPE("Swipe"); + SWIPE_DEPOT("Swipe depot"), + SWIPE_OUTPOST("Swipe outpost"); private final String name; private AutoPath(String name){ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 812ffab6..a8aadc7e 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -32,9 +32,20 @@ public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsyst } } - public AutoRoutine routine(String key){ - AutoRoutine routine = factory.newRoutine(key); - AutoTrajectory traj = routine.trajectory(key); + public AutoRoutine swipeDepot(){ + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory traj = routine.trajectory("swipe"); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + traj.atTime("feed").onTrue(new SpinFeeder(feeder)); + traj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); + return routine; + } + + public AutoRoutine swipeOutpost(){ + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory traj = routine.trajectory("swipe").mirrorY(); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); @@ -46,13 +57,12 @@ public AutoRoutine routine(String key){ public AutoRoutine getAuto(){ switch (autoChooser.get()){ case DO_NOTHING: - Logger.recordOutput("Auto", "Do nothing"); return factory.newRoutine("do_nothing"); - case SWIPE: - Logger.recordOutput("Auto", "swipe"); - return routine("swipe"); + case SWIPE_DEPOT: + return swipeDepot(); + case SWIPE_OUTPOST: + return swipeOutpost(); default: - Logger.recordOutput("Auto", "INVALID AUTO THIS IS BAD"); return factory.newRoutine("do_nothing"); } diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json index 48751078..9a106abd 100644 --- a/vendordeps/ChoreoLib2026.json +++ b/vendordeps/ChoreoLib2026.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib2026.json", "name": "ChoreoLib", - "version": "2026.0.2", + "version": "2026.0.3", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2026.0.2" + "version": "2026.0.3" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2026.0.2", + "version": "2026.0.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, From 454c4c2c02dae0b6f3940c9fb8cb38606135c626 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 11 May 2026 18:53:46 -0400 Subject: [PATCH 20/64] added two diffrent swipe autos --- .../frc/robot/autochooser/RoutineChooser.java | 31 ++++++++++--------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index a8aadc7e..35c3e089 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -13,6 +13,7 @@ import frc.robot.subsystems.IntakeSubsystem; import frc.robot.utils.logging.commands.LoggableCommandWrapper; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; +import frc.robot.utils.logging.commands.LoggableWaitCommand; public class RoutineChooser { private final AutoFactory factory; @@ -32,13 +33,27 @@ public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsyst } } + public AutoRoutine getAuto(){ + switch (autoChooser.get()){ + case DO_NOTHING: + return factory.newRoutine("do_nothing"); + case SWIPE_DEPOT: + return swipeDepot(); + case SWIPE_OUTPOST: + return swipeOutpost(); + default: + return factory.newRoutine("do_nothing"); + } + + } + public AutoRoutine swipeDepot(){ AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory traj = routine.trajectory("swipe"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); - traj.atTime("feed").onTrue(new SpinFeeder(feeder)); + traj.atTime("stop").onTrue(new LoggableWaitCommand(10)); traj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); return routine; } @@ -54,18 +69,4 @@ public AutoRoutine swipeOutpost(){ return routine; } - public AutoRoutine getAuto(){ - switch (autoChooser.get()){ - case DO_NOTHING: - return factory.newRoutine("do_nothing"); - case SWIPE_DEPOT: - return swipeDepot(); - case SWIPE_OUTPOST: - return swipeOutpost(); - default: - return factory.newRoutine("do_nothing"); - } - - } - } From b006f8dd9b3649ebcd72cfcd5a980045a11d2798 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 11 May 2026 18:55:20 -0400 Subject: [PATCH 21/64] swiped is the good one, ignore swipe, and swiper. I did add all of those though --- src/main/deploy/choreo/swipe.traj | 339 ++++++++++++---------- src/main/deploy/choreo/swiped.traj | 436 +++++++++++++++++++++++++++++ src/main/deploy/choreo/swiper.traj | 208 ++++++++++++++ 3 files changed, 842 insertions(+), 141 deletions(-) create mode 100644 src/main/deploy/choreo/swiped.traj create mode 100644 src/main/deploy/choreo/swiper.traj diff --git a/src/main/deploy/choreo/swipe.traj b/src/main/deploy/choreo/swipe.traj index ac68adc6..4602c334 100644 --- a/src/main/deploy/choreo/swipe.traj +++ b/src/main/deploy/choreo/swipe.traj @@ -5,12 +5,14 @@ "waypoints":[ {"x":4.44, "y":7.34, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.9648637771606445, "y":7.33, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.646820068359375, "y":6.490340232849121, "heading":-1.1071482066506524, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.838386058807373, "y":5.655759811401367, "heading":-1.547545287878832, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.810989856719971, "y":4.63865852355957, "heading":-1.9064351112529347, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.622791290283203, "y":5.492982864379883, "heading":-2.3939922237088767, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.646820068359375, "y":6.490340232849121, "heading":-1.1071482066506524, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.838386058807373, "y":5.655759811401367, "heading":-1.547545287878832, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.810989856719971, "y":4.63865852355957, "heading":-1.9064351112529347, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.622791290283203, "y":5.492982864379883, "heading":-2.3939922237088767, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.9648637771606445, "y":7.33, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8, "y":7.33, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.8, "y":7.33, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.2247021198272705, "y":6.75345516204834, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.335632085800171, "y":7.326460838317871, "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}, @@ -21,21 +23,26 @@ {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.0}}, "enabled":true}, {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":1e-6}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.001}}, "enabled":true}, - {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":4, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":4, "to":6, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], + {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":4, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":4, "to":6, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, + {"from":7, "to":9, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"4.44 m", "val":4.44}, "y":{"exp":"7.34 m", "val":7.34}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.9648637771606445 m", "val":5.9648637771606445}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.646820068359375 m", "val":7.646820068359375}, "y":{"exp":"6.490340232849121 m", "val":6.490340232849121}, "heading":{"exp":"-1.1071482066506524 rad", "val":-1.1071482066506524}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.838386058807373 m", "val":7.838386058807373}, "y":{"exp":"5.655759811401367 m", "val":5.655759811401367}, "heading":{"exp":"-1.547545287878832 rad", "val":-1.547545287878832}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.810989856719971 m", "val":7.810989856719971}, "y":{"exp":"4.63865852355957 m", "val":4.63865852355957}, "heading":{"exp":"-1.9064351112529347 rad", "val":-1.9064351112529347}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.622791290283203 m", "val":6.622791290283203}, "y":{"exp":"5.492982864379883 m", "val":5.492982864379883}, "heading":{"exp":"-2.3939922237088767 rad", "val":-2.3939922237088767}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.646820068359375 m", "val":7.646820068359375}, "y":{"exp":"6.490340232849121 m", "val":6.490340232849121}, "heading":{"exp":"-1.1071482066506524 rad", "val":-1.1071482066506524}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.838386058807373 m", "val":7.838386058807373}, "y":{"exp":"5.655759811401367 m", "val":5.655759811401367}, "heading":{"exp":"-1.547545287878832 rad", "val":-1.547545287878832}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.810989856719971 m", "val":7.810989856719971}, "y":{"exp":"4.63865852355957 m", "val":4.63865852355957}, "heading":{"exp":"-1.9064351112529347 rad", "val":-1.9064351112529347}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.622791290283203 m", 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"fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[ + {"name":"Marker", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] +} From ab18c8eec9fca4c8e0e75f72fbe30cdc41d4022d Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 11 May 2026 19:12:06 -0400 Subject: [PATCH 22/64] Identation and added two diffrent swipe traj --- src/main/deploy/choreo/DriveTest.traj | 532 ++---------------- .../frc/robot/autochooser/RoutineChooser.java | 51 +- 2 files changed, 74 insertions(+), 509 deletions(-) diff --git a/src/main/deploy/choreo/DriveTest.traj b/src/main/deploy/choreo/DriveTest.traj index 2bd16e8f..2c08619f 100644 --- a/src/main/deploy/choreo/DriveTest.traj +++ b/src/main/deploy/choreo/DriveTest.traj @@ -3,30 +3,33 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.6847581267356873, "y":0.5379181504249573, "heading":3.141592653589793, "intervals":238, "split":false, "fixTranslation":true, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":1, "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":"MaxAcceleration", "props":{"max":0.1}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.1}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":10.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":10.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":10.0}}, "enabled":true}, + 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"omega":0.48701, "ax":-9.99448, "ay":0.15146, "alpha":-2.41694, "fx":[-58.96658,-57.93073,-55.02876,-54.74482], "fy":[7.48798,-11.11967,-8.92042,15.98712]}, + {"t":0.53569, "x":1.69441, "y":0.52262, "heading":-2.87746, "vx":1.23569, "vy":-0.01871, "omega":0.38742, "ax":-9.99528, "ay":0.1514, "alpha":-2.80916, "fx":[-59.43683,-58.08454,-54.84191,-54.32585], "fy":[8.15305,-12.9123,-10.57598,18.76892]}, + {"t":0.5769, "x":1.73684, "y":0.52198, "heading":-2.86388, "vx":0.82381, "vy":-0.01247, "omega":0.27166, "ax":-9.99583, "ay":0.15131, "alpha":-3.1482, "fx":[-59.85861,-58.2169,-54.70877,-53.91744], "fy":[8.68283,-14.41302,-12.05248,21.21438]}, + {"t":0.6181, "x":1.7623, "y":0.52159, "heading":-2.85536, "vx":0.41191, "vy":-0.00623, "omega":0.14193, "ax":-9.99624, "ay":0.15122, "alpha":-3.44443, "fx":[-60.22524,-58.34706,-54.61246,-53.5262], "fy":[9.17525,-15.6385,-13.45882,23.35173]}, + {"t":0.65931, "x":1.77079, "y":0.52146, "heading":-2.85243, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.32874, "ay":9.98709, "alpha":5.32619, "fx":[33.69476,10.64651,-23.31526,-28.48166], "fy":[51.99748,62.77349,58.96323,52.76917]}, + {"t":0.68757, "x":1.77066, "y":0.52545, "heading":-2.85031, "vx":-0.00929, "vy":0.28218, "omega":0.15049, "ax":-0.32784, "ay":9.9906, "alpha":5.26073, "fx":[33.27689,10.48901,-23.2222,-27.97898], "fy":[52.11606,62.71448,58.89922,52.85328]}, + {"t":0.71582, "x":1.77026, "y":0.53741, "heading":-2.84395, "vx":-0.01855, "vy":0.56446, "omega":0.29913, "ax":-0.32676, "ay":9.99033, "alpha":5.18424, "fx":[32.82646,10.24052,-23.16694,-27.31079], "fy":[52.21608,62.64462,58.78538,52.93076]}, + {"t":0.74407, "x":1.76961, "y":0.55735, "heading":-2.83343, "vx":-0.02778, "vy":0.84674, "omega":0.44561, "ax":-0.32555, "ay":9.99001, "alpha":5.08448, "fx":[32.26148,9.88058,-23.13684,-26.3885], "fy":[52.34314,62.56188,58.62153,53.04303]}, + {"t":0.77233, "x":1.76869, "y":0.58526, "heading":-2.81881, "vx":-0.03698, "vy":1.129, "omega":0.58927, "ax":-0.32415, "ay":9.98963, "alpha":4.95526, "fx":[31.52673,9.39735,-23.10805,-25.16769], "fy":[52.51314,62.45691,58.40554,53.18541]}, + {"t":0.80058, "x":1.76752, "y":0.62115, "heading":-2.80018, "vx":-0.04614, "vy":1.41125, "omega":0.72928, "ax":-0.32251, "ay":9.98918, "alpha":4.78679, "fx":[30.53251,8.7751,-23.03742,-23.58466], "fy":[52.75055,62.31482,58.1368,53.34856]}, + {"t":0.82884, "x":1.76609, "y":0.66501, "heading":-2.77767, "vx":-0.05525, "vy":1.69349, "omega":0.86453, "ax":-0.32055, "ay":9.98863, "alpha":4.56314, "fx":[29.13504,7.98615,-22.84544,-21.54571], "fy":[53.08899,62.11246,57.81884,53.51794]}, + {"t":0.85709, "x":1.7644, "y":0.71684, "heading":-2.75142, "vx":-0.06431, "vy":1.97572, "omega":0.99346, "ax":-0.31821, "ay":9.98794, "alpha":4.25807, "fx":[27.10699,6.98873,-22.35955,-18.95298], "fy":[53.56768,61.81111,57.47349,53.67036]}, + {"t":0.88535, "x":1.76245, "y":0.77665, "heading":-2.72165, "vx":-0.0733, "vy":2.25792, "omega":1.11377, "ax":-0.31547, "ay":9.98705, "alpha":3.82612, "fx":[24.08575,5.72795,-21.27158,-15.69688], "fy":[54.21523,61.34117,57.13825,53.80792]}, + {"t":0.9136, "x":1.76026, "y":0.84444, "heading":-2.68865, "vx":-0.08221, "vy":2.5401, "omega":1.22187, "ax":-0.31258, "ay":9.98586, "alpha":3.18698, "fx":[19.52945,4.13969,-18.90724,-11.85099], "fy":[55.0025,60.57884,56.89958,53.99462]}, + {"t":0.94186, "x":1.75781, "y":0.92019, "heading":-2.65286, "vx":-0.09105, "vy":2.82225, "omega":1.31192, "ax":-0.31002, "ay":9.98416, "alpha":2.21843, "fx":[12.8151,2.13676,-14.35792,-7.62515], "fy":[55.79165,59.33123,56.75616,54.55801]}, + {"t":0.97011, "x":1.75511, "y":1.00392, "heading":-2.61491, "vx":-0.09981, "vy":3.10435, "omega":1.3746, "ax":-0.30844, "ay":9.98157, "alpha":0.82759, "fx":[3.77069,-0.34712,-6.78611,-3.63274], "fy":[56.43582,57.43137,56.60735,55.90365]}, + {"t":0.99837, "x":1.75217, "y":1.09562, "heading":-2.57574, "vx":-0.10852, "vy":3.38638, "omega":1.39798, "ax":-0.30812, "ay":9.97719, "alpha":-0.87189, "fx":[-6.66084,-3.09423,3.40519,-0.63819], "fy":[56.79609,55.08755,56.43679,57.95835]}, + {"t":1.02662, "x":1.74898, "y":1.19528, "heading":-2.53658, "vx":-0.11723, "vy":3.66828, "omega":1.37335, "ax":-0.31061, "ay":9.96832, "alpha":-2.47527, "fx":[-16.27447,-5.60163,13.8656,0.96593], "fy":[56.58627,53.24886,56.1962,60.04638]}, + {"t":1.05488, "x":1.74554, "y":1.3029, "heading":-2.49877, "vx":-0.126, "vy":3.94993, "omega":1.30341, "ax":-0.32361, "ay":9.94192, "alpha":-3.61106, "fx":[-23.24,-7.36626,21.89179,1.37509], "fy":[55.80755,52.58614,55.53011,61.55515]}, + {"t":1.08313, "x":1.74185, "y":1.41848, "heading":-2.46338, "vx":-0.13515, "vy":4.23083, "omega":1.20138, "ax":-0.39756, "ay":9.15593, "alpha":-5.42477, "fx":[-29.64354,-9.7421,29.56462,0.8046], "fy":[53.27833,39.67119,52.59879,62.10469]}, + {"t":1.11138, "x":1.73788, "y":1.54167, "heading":-2.4316, "vx":-0.14638, "vy":4.48953, "omega":1.04811, "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":[ - {"name":"feed", "from":{"target":1, "targetTimestamp":11.45494, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] + {"name":"feed", "from":{"target":1, "targetTimestamp":0.65931, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[]}}}] } diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 35c3e089..67ec3311 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -22,51 +22,44 @@ public class RoutineChooser { private final IntakeDeployerSubsystem deployer; private final LoggedDashboardChooser autoChooser; - public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsystem intake, IntakeDeployerSubsystem deployer){ + public RoutineChooser(AutoFactory factory, + FeederSubsystem feeder, + IntakeSubsystem intake, + IntakeDeployerSubsystem deployer) { this.factory = factory; this.feeder = feeder; this.intake = intake; this.deployer = deployer; + factory.bind("feed", new SpinFeeder(feeder)); autoChooser = new LoggedDashboardChooser<>("AutoAction"); - for(AutoPath paths : AutoPath.values()){ + for (AutoPath paths : AutoPath.values()) { autoChooser.addOption(paths.getName(), paths); } } - public AutoRoutine getAuto(){ - switch (autoChooser.get()){ + public AutoRoutine getAuto() { + switch (autoChooser.get()) { case DO_NOTHING: - return factory.newRoutine("do_nothing"); - case SWIPE_DEPOT: - return swipeDepot(); - case SWIPE_OUTPOST: - return swipeOutpost(); - default: - return factory.newRoutine("do_nothing"); + return factory.newRoutine("do_nothing"); + case SWIPE_DEPOT: + return swipeDepot(); + case SWIPE_OUTPOST: + return swipeDepot(); + default: + return factory.newRoutine("do_nothing"); } - - } - public AutoRoutine swipeDepot(){ - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory traj = routine.trajectory("swipe"); - routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(traj.resetOdometry()), - new LoggableCommandWrapper(traj.cmd()))); - traj.atTime("stop").onTrue(new LoggableWaitCommand(10)); - traj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); - return routine; } - public AutoRoutine swipeOutpost(){ + public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory traj = routine.trajectory("swipe").mirrorY(); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe"); + AutoTrajectory SecondSwipeTraj = routine.trajectory("swipe"); + firstSwipeTraj.chain(SecondSwipeTraj); routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(traj.resetOdometry()), - new LoggableCommandWrapper(traj.cmd()))); - traj.atTime("feed").onTrue(new SpinFeeder(feeder)); - traj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); + new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), + new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + firstSwipeTraj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); return routine; } - } From 2138a78fe95780d5d8cd94918fe8fde1827b71b8 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 11 May 2026 19:12:55 -0400 Subject: [PATCH 23/64] Added defualt binds to auto factory --- src/main/java/frc/robot/autochooser/RoutineChooser.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 67ec3311..b32b8e43 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -31,6 +31,7 @@ public RoutineChooser(AutoFactory factory, this.intake = intake; this.deployer = deployer; factory.bind("feed", new SpinFeeder(feeder)); + factory.bind("intake", new SpinIntake(intake, deployer)); autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { autoChooser.addOption(paths.getName(), paths); @@ -59,7 +60,6 @@ public AutoRoutine swipeDepot() { routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), new LoggableCommandWrapper(firstSwipeTraj.cmd()))); - firstSwipeTraj.atTime("intake").onTrue(new SpinIntake(intake, deployer)); return routine; } } From 52f671921c6e09a22de96e56c1462d563d4be754 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 11 May 2026 19:14:31 -0400 Subject: [PATCH 24/64] more path changes and like chooser --- src/main/deploy/choreo/swipe.traj | 287 ++++++------ src/main/deploy/choreo/swiped.traj | 436 ------------------ src/main/deploy/choreo/swiped_one.traj | 191 ++++++++ src/main/deploy/choreo/swiped_two.traj | 304 ++++++++++++ .../choreo/{swiper.traj => swiper_1.traj} | 2 +- .../frc/robot/autochooser/RoutineChooser.java | 4 +- 6 files changed, 649 insertions(+), 575 deletions(-) delete mode 100644 src/main/deploy/choreo/swiped.traj create mode 100644 src/main/deploy/choreo/swiped_one.traj create mode 100644 src/main/deploy/choreo/swiped_two.traj rename src/main/deploy/choreo/{swiper.traj => swiper_1.traj} (99%) diff --git a/src/main/deploy/choreo/swipe.traj b/src/main/deploy/choreo/swipe.traj index acbbca57..fed0728e 100644 --- a/src/main/deploy/choreo/swipe.traj +++ b/src/main/deploy/choreo/swipe.traj @@ -9,10 +9,10 @@ {"x":7.838386058807373, "y":5.655759811401367, "heading":-1.547545287878832, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.810989856719971, "y":4.63865852355957, "heading":-1.9064351112529347, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.622791290283203, "y":5.492982864379883, "heading":-2.3939922237088767, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.9648637771606445, "y":7.33, "heading":3.141592653589793, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.9648637771606445, "y":7.33, "heading":3.141592653589793, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.9648637771606445, "y":7.33, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8, "y":7.33, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.2247021198272705, "y":6.75345516204834, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.335632085800171, "y":7.326460838317871, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.8, "y":7.33, "heading":3.141592653589793, "intervals":19, "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}, @@ -21,13 +21,13 @@ {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":1e-6}}, "enabled":true}, + {"from":6, "to":9, "data":{"type":"KeepInLane", "props":{"tolerance":1e-6}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.001}}, "enabled":true}, {"from":2, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, {"from":4, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, {"from":4, "to":6, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":7, "to":9, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":6, "to":7, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":9, "to":7, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":6, "to":9, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -39,8 +39,7 @@ {"x":{"exp":"7.810989856719971 m", "val":7.810989856719971}, "y":{"exp":"4.63865852355957 m", "val":4.63865852355957}, "heading":{"exp":"-1.9064351112529347 rad", "val":-1.9064351112529347}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.622791290283203 m", 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"overrideIntervals":false}, + {"x":{"exp":"5.9648637771606445 m", "val":5.9648637771606445}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":0, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.9648637771606445 m", "val":5.9648637771606445}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.8 m", "val":2.8}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -51,13 +50,13 @@ {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", 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"alpha":10.97744, "fx":[6.48982,51.15098,65.67421,-44.10698], "fy":[-65.70457,-41.78977,6.74854,-44.83534]}, + {"t":7.77647, "x":2.3776, "y":6.48754, "heading":1.64552, "vx":-1.24621, "vy":1.07043, "omega":-0.93967, "ax":7.34157, "ay":-6.78816, "alpha":6.069, "fx":[6.95053,49.89506,65.99369,43.66479], "fy":[-65.66955,-43.29636,2.35436,-47.34125]}, + {"t":7.81688, "x":2.33323, "y":6.52525, "heading":1.6125, "vx":-0.94952, "vy":0.7961, "omega":-0.69441, "ax":7.77305, "ay":-6.51654, "alpha":5.84533, "fx":[7.5109,49.01766,66.0425,53.7188], "fy":[-65.61743,-44.29824,-0.78381,-37.09313]}, + {"t":7.85729, "x":2.30121, "y":6.5521, "heading":1.58921, "vx":-0.63539, "vy":0.53275, "omega":-0.45818, "ax":7.85569, "ay":-6.54061, "alpha":5.73075, "fx":[8.12801,48.39866,65.98167,55.65578], "fy":[-65.55165,-44.98218,-3.13003,-34.67458]}, + {"t":7.89771, "x":2.28195, "y":6.56829, "heading":1.57537, "vx":-0.31792, "vy":0.26842, "omega":-0.22659, "ax":7.86673, "ay":-6.64202, "alpha":5.60681, "fx":[8.83195,48.01125,65.88217,55.68912], "fy":[-65.46705,-45.40218,-4.87969,-34.88958]}, + {"t":7.93812, "x":2.27552, "y":6.57372, "heading":1.5708, "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] + }, + "events":[ + {"name":"stop", "from":{"target":3, "targetTimestamp":1.35552, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"stop", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} diff --git a/src/main/deploy/choreo/swiper.traj b/src/main/deploy/choreo/swiper_1.traj similarity index 99% rename from src/main/deploy/choreo/swiper.traj rename to src/main/deploy/choreo/swiper_1.traj index 8a494bfd..759658fe 100644 --- a/src/main/deploy/choreo/swiper.traj +++ b/src/main/deploy/choreo/swiper_1.traj @@ -1,5 +1,5 @@ { - "name":"swiper", + "name":"swiper_1", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 35c3e089..7973ec7f 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -59,8 +59,8 @@ public AutoRoutine swipeDepot(){ } public AutoRoutine swipeOutpost(){ - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory traj = routine.trajectory("swipe").mirrorY(); + AutoRoutine routine = factory.newRoutine("swiped"); + AutoTrajectory traj = routine.trajectory("swiped").mirrorY(); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); From 44d47da5a9f643130a4970e2abc1fd4ba573bc82 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 11 May 2026 19:23:33 -0400 Subject: [PATCH 25/64] added wait command --- src/main/java/frc/robot/autochooser/RoutineChooser.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index b32b8e43..5591afd7 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -56,7 +56,7 @@ public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory firstSwipeTraj = routine.trajectory("swipe"); AutoTrajectory SecondSwipeTraj = routine.trajectory("swipe"); - firstSwipeTraj.chain(SecondSwipeTraj); + firstSwipeTraj.done().onTrue(new LoggableWaitCommand(10).andThen(SecondSwipeTraj.cmd())); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), new LoggableCommandWrapper(firstSwipeTraj.cmd()))); From b90be3df689112f05a1c5d11a1357c3ac44d4aa1 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 11 May 2026 19:24:35 -0400 Subject: [PATCH 26/64] more paths and more changes --- src/main/deploy/choreo/test1.traj | 71 +++++++++++++++++++ src/main/deploy/choreo/test2.traj | 70 ++++++++++++++++++ .../frc/robot/autochooser/RoutineChooser.java | 6 +- 3 files changed, 144 insertions(+), 3 deletions(-) create mode 100644 src/main/deploy/choreo/test1.traj create mode 100644 src/main/deploy/choreo/test2.traj diff --git a/src/main/deploy/choreo/test1.traj b/src/main/deploy/choreo/test1.traj new file mode 100644 index 00000000..308b90fd --- /dev/null +++ b/src/main/deploy/choreo/test1.traj @@ -0,0 +1,71 @@ +{ + "name":"test1", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.403328895568848, "y":7.33, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.621022701263428, "y":7.307239532470703, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"4.403328895568848 m", "val":4.403328895568848}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.621022701263428 m", "val":6.621022701263428}, "y":{"exp":"7.307239532470703 m", "val":7.307239532470703}, "heading":{"exp":"0 deg", "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":"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", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.87525], + "samples":[ + {"t":0.0, "x":4.40333, "y":7.33, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":11.65393, "ay":-0.11961, "alpha":0.0, "fx":[66.07667,66.07667,66.07667,66.07667], "fy":[-0.67815,-0.67815,-0.67815,-0.67815]}, + {"t":0.06733, "x":4.42974, "y":7.32973, "heading":0.0, "vx":0.78463, "vy":-0.00805, "omega":0.0, "ax":11.65243, "ay":-0.11959, "alpha":0.0, "fx":[66.06818,66.06818,66.06818,66.06818], "fy":[-0.67807,-0.67807,-0.67807,-0.67807]}, + {"t":0.13465, "x":4.50898, "y":7.32892, "heading":0.0, "vx":1.56915, "vy":-0.0161, "omega":0.0, "ax":11.65019, "ay":-0.11957, "alpha":0.0, "fx":[66.05544,66.05544,66.05544,66.05544], "fy":[-0.67794,-0.67794,-0.67794,-0.67794]}, + {"t":0.20198, "x":4.64103, "y":7.32756, "heading":0.0, "vx":2.35352, "vy":-0.02415, "omega":0.0, "ax":11.64643, "ay":-0.11953, "alpha":0.0, "fx":[66.03417,66.03417,66.03417,66.03417], "fy":[-0.67772,-0.67772,-0.67772,-0.67772]}, + {"t":0.26931, "x":4.82588, "y":7.32566, "heading":0.0, "vx":3.13764, "vy":-0.0322, "omega":0.0, "ax":11.63891, "ay":-0.11945, "alpha":0.0, "fx":[65.99152,65.99152,65.99152,65.99152], "fy":[-0.67728,-0.67728,-0.67728,-0.67728]}, + {"t":0.33664, "x":5.06351, "y":7.32322, "heading":0.0, "vx":3.92126, "vy":-0.04024, "omega":0.0, "ax":11.61622, "ay":-0.11922, "alpha":0.0, "fx":[65.86287,65.86287,65.86287,65.86287], "fy":[-0.67596,-0.67596,-0.67596,-0.67596]}, + {"t":0.40396, "x":5.35384, "y":7.32024, "heading":0.0, "vx":4.70334, "vy":-0.04827, "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]}, + {"t":0.47129, "x":5.67051, "y":7.31699, "heading":0.0, "vx":4.70334, "vy":-0.04827, "omega":0.0, "ax":-11.61622, "ay":0.11922, "alpha":0.0, "fx":[-65.86287,-65.86287,-65.86287,-65.86287], "fy":[0.67596,0.67596,0.67596,0.67596]}, + {"t":0.53862, "x":5.96084, "y":7.31402, "heading":0.0, "vx":3.92126, "vy":-0.04024, "omega":0.0, "ax":-11.63891, "ay":0.11945, "alpha":0.0, "fx":[-65.99152,-65.99152,-65.99152,-65.99152], "fy":[0.67728,0.67728,0.67728,0.67728]}, + {"t":0.60594, "x":6.19847, "y":7.31158, "heading":0.0, "vx":3.13764, "vy":-0.0322, "omega":0.0, "ax":-11.64643, "ay":0.11953, "alpha":0.0, "fx":[-66.03417,-66.03417,-66.03417,-66.03417], "fy":[0.67772,0.67772,0.67772,0.67772]}, + {"t":0.67327, "x":6.38332, "y":7.30968, "heading":0.0, "vx":2.35352, "vy":-0.02415, "omega":0.0, "ax":-11.65019, "ay":0.11957, "alpha":0.0, "fx":[-66.05544,-66.05544,-66.05544,-66.05544], "fy":[0.67794,0.67794,0.67794,0.67794]}, + {"t":0.7406, "x":6.51537, "y":7.30832, "heading":0.0, "vx":1.56915, "vy":-0.0161, "omega":0.0, "ax":-11.65243, "ay":0.11959, "alpha":0.0, "fx":[-66.06818,-66.06818,-66.06818,-66.06818], "fy":[0.67807,0.67807,0.67807,0.67807]}, + {"t":0.80793, "x":6.59461, "y":7.30751, "heading":0.0, "vx":0.78463, "vy":-0.00805, "omega":0.0, "ax":-11.65393, "ay":0.11961, "alpha":0.0, "fx":[-66.07667,-66.07667,-66.07667,-66.07667], "fy":[0.67815,0.67815,0.67815,0.67815]}, + {"t":0.87525, "x":6.62102, "y":7.30724, "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] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/test2.traj b/src/main/deploy/choreo/test2.traj new file mode 100644 index 00000000..b79bbce6 --- /dev/null +++ b/src/main/deploy/choreo/test2.traj @@ -0,0 +1,70 @@ +{ + "name":"test2", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":6.621022701263428, "y":7.307239532470703, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.7869343757629395, "y":5.648875713348389, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"6.621022701263428 m", "val":6.621022701263428}, "y":{"exp":"7.307239532470703 m", "val":7.307239532470703}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.7869343757629395 m", "val":5.7869343757629395}, "y":{"exp":"5.648875713348389 m", "val":5.648875713348389}, "heading":{"exp":"0 deg", "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":"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", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.79842], + "samples":[ + {"t":0.0, "x":6.62102, "y":7.30724, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.23662, "ay":-10.41162, "alpha":0.0, "fx":[-29.69111,-29.69111,-29.69111,-29.69111], "fy":[-59.03292,-59.03292,-59.03292,-59.03292]}, + {"t":0.06653, "x":6.60943, "y":7.28419, "heading":0.0, "vx":-0.34842, "vy":-0.69273, "omega":0.0, "ax":-5.23585, "ay":-10.41011, "alpha":0.0, "fx":[-29.68678,-29.68678,-29.68678,-29.68678], "fy":[-59.02431,-59.02431,-59.02431,-59.02431]}, + {"t":0.13307, "x":6.57466, "y":7.21506, "heading":0.0, "vx":-0.69678, "vy":-1.38537, "omega":0.0, "ax":-5.23465, "ay":-10.40772, "alpha":0.0, "fx":[-29.67997,-29.67997,-29.67997,-29.67997], "fy":[-59.01076,-59.01076,-59.01076,-59.01076]}, + {"t":0.1996, "x":6.51671, "y":7.09985, "heading":0.0, "vx":-1.04507, "vy":-2.07784, "omega":0.0, "ax":-5.23249, "ay":-10.40341, "alpha":0.0, "fx":[-29.6677,-29.6677,-29.6677,-29.6677], "fy":[-58.98637,-58.98637,-58.98637,-58.98637]}, + {"t":0.26614, "x":6.4356, "y":6.93857, "heading":0.0, "vx":-1.39321, "vy":-2.77003, "omega":0.0, "ax":-5.22743, "ay":-10.39336, "alpha":0.0, "fx":[-29.63904,-29.63904,-29.63904,-29.63904], "fy":[-58.92938,-58.92938,-58.92938,-58.92938]}, + {"t":0.33267, "x":6.33133, "y":6.73126, "heading":0.0, "vx":-1.74102, "vy":-3.46155, "omega":0.0, "ax":-5.20209, "ay":-10.34298, "alpha":0.0, "fx":[-29.49534,-29.49534,-29.49534,-29.49534], "fy":[-58.64368,-58.64368,-58.64368,-58.64368]}, + {"t":0.39921, "x":6.20398, "y":6.47806, "heading":0.0, "vx":-2.08714, "vy":-4.14972, "omega":0.0, "ax":5.20209, "ay":10.34298, "alpha":0.0, "fx":[29.49534,29.49534,29.49534,29.49534], "fy":[58.64368,58.64368,58.64368,58.64368]}, + {"t":0.46574, "x":6.07663, "y":6.22485, "heading":0.0, "vx":-1.74102, "vy":-3.46155, "omega":0.0, "ax":5.22743, "ay":10.39336, "alpha":0.0, "fx":[29.63904,29.63904,29.63904,29.63904], "fy":[58.92938,58.92938,58.92938,58.92938]}, + {"t":0.53228, "x":5.97236, "y":6.01754, "heading":0.0, "vx":-1.39321, "vy":-2.77003, "omega":0.0, "ax":5.23249, "ay":10.40341, "alpha":0.0, "fx":[29.6677,29.6677,29.6677,29.6677], "fy":[58.98637,58.98637,58.98637,58.98637]}, + {"t":0.59881, "x":5.89124, "y":5.85627, "heading":0.0, "vx":-1.04507, "vy":-2.07784, "omega":0.0, "ax":5.23465, "ay":10.40772, "alpha":0.0, "fx":[29.67997,29.67997,29.67997,29.67997], "fy":[59.01076,59.01076,59.01076,59.01076]}, + {"t":0.66535, "x":5.8333, "y":5.74105, "heading":0.0, "vx":-0.69678, "vy":-1.38537, "omega":0.0, "ax":5.23585, "ay":10.41011, "alpha":0.0, "fx":[29.68678,29.68678,29.68678,29.68678], "fy":[59.02431,59.02431,59.02431,59.02431]}, + {"t":0.73188, "x":5.79853, "y":5.67192, "heading":0.0, "vx":-0.34842, "vy":-0.69273, "omega":0.0, "ax":5.23662, "ay":10.41162, "alpha":0.0, "fx":[29.69111,29.69111,29.69111,29.69111], "fy":[59.03292,59.03292,59.03292,59.03292]}, + {"t":0.79842, "x":5.78693, "y":5.64888, "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] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index b32b8e43..ae969c0a 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -53,9 +53,9 @@ public AutoRoutine getAuto() { } public AutoRoutine swipeDepot() { - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe"); - AutoTrajectory SecondSwipeTraj = routine.trajectory("swipe"); + AutoRoutine routine = factory.newRoutine("t"); + AutoTrajectory firstSwipeTraj = routine.trajectory("test1"); + AutoTrajectory SecondSwipeTraj = routine.trajectory("test2"); firstSwipeTraj.chain(SecondSwipeTraj); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), From 4d19c10a94b76347972f72ec33260bdc1480f259 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 11 May 2026 20:31:16 -0400 Subject: [PATCH 27/64] added event markers --- src/main/deploy/choreo/swiped_one.traj | 250 +++++----- src/main/deploy/choreo/swiped_two.traj | 444 +++++++++--------- .../frc/robot/autochooser/RoutineChooser.java | 4 +- 3 files changed, 351 insertions(+), 347 deletions(-) diff --git a/src/main/deploy/choreo/swiped_one.traj b/src/main/deploy/choreo/swiped_one.traj index 22dcce5f..cf598884 100644 --- a/src/main/deploy/choreo/swiped_one.traj +++ b/src/main/deploy/choreo/swiped_one.traj @@ -7,10 +7,10 @@ {"x":5.904687881469727, "y":7.297426700592041, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.508644104003906, "y":6.708177089691162, "heading":-1.2095926436984772, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":8.08929443359375, "y":6.0421366691589355, "heading":-1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.422011852264404, "y":4.548951625823975, "heading":3.141592653589793, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.769283294677734, "y":5.626283168792725, "heading":3.1338245621407395, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.599883556365967, "y":5.637110710144043, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.9757168292999268, "y":5.918632984161377, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.422011852264404, "y":4.548951625823975, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.769283294677734, "y":5.626283168792725, "heading":2.356194490192345, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.599883556365967, "y":5.637110710144043, "heading":2.356194490192345, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.235605478286743, "y":5.717565536499023, "heading":2.2672849234940404, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.2827389240264893, "y":6.579127311706543, "heading":1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,10 +26,10 @@ {"x":{"exp":"5.904687881469727 m", "val":5.904687881469727}, "y":{"exp":"7.297426700592041 m", "val":7.297426700592041}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.508644104003906 m", "val":7.508644104003906}, "y":{"exp":"6.708177089691162 m", "val":6.708177089691162}, "heading":{"exp":"-1.2095926436984772 rad", "val":-1.2095926436984772}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.08929443359375 m", "val":8.08929443359375}, "y":{"exp":"6.0421366691589355 m", "val":6.0421366691589355}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.422011852264404 m", "val":7.422011852264404}, "y":{"exp":"4.548951625823975 m", "val":4.548951625823975}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.769283294677734 m", "val":5.769283294677734}, "y":{"exp":"5.626283168792725 m", "val":5.626283168792725}, "heading":{"exp":"3.1338245621407395 rad", "val":3.1338245621407395}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.599883556365967 m", "val":4.599883556365967}, "y":{"exp":"5.637110710144043 m", "val":5.637110710144043}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"fx":[6.9533,49.90115,65.99313,43.7881], "fy":[-65.66925,-43.28935,2.37064,-47.22006]}, + {"t":7.85255, "x":2.33327, "y":6.52534, "heading":1.61252, "vx":-0.95018, "vy":0.79481, "omega":-0.69481, "ax":7.77911, "ay":-6.50702, "alpha":5.84837, "fx":[7.51608,49.02716,66.0428,53.84112], "fy":[-65.61683,-44.28774,-0.75939,-36.91266]}, + {"t":7.89296, "x":2.30123, "y":6.55214, "heading":1.58922, "vx":-0.63583, "vy":0.53187, "omega":-0.45848, "ax":7.86174, "ay":-6.53038, "alpha":5.73491, "fx":[8.13583,48.41083,65.98311,55.77141], "fy":[-65.55066,-44.96908,-3.09986,-34.48689]}, + {"t":7.93337, "x":2.28195, "y":6.5683, "heading":1.57538, "vx":-0.31814, "vy":0.26798, "omega":-0.22674, "ax":7.87299, "ay":-6.63166, "alpha":5.61111, "fx":[8.84275,48.02565,65.88472,55.80332], "fy":[-65.46557,-45.38694,-4.84534,-34.70576]}, + {"t":7.97378, "x":2.27552, "y":6.57372, "heading":1.5708, "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] }, "events":[ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 5591afd7..593e2717 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -54,8 +54,8 @@ public AutoRoutine getAuto() { public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe"); - AutoTrajectory SecondSwipeTraj = routine.trajectory("swipe"); + AutoTrajectory firstSwipeTraj = routine.trajectory("test1"); + AutoTrajectory SecondSwipeTraj = routine.trajectory("test2"); firstSwipeTraj.done().onTrue(new LoggableWaitCommand(10).andThen(SecondSwipeTraj.cmd())); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), From b428de946a80f2c3d04de2b041779b8e575b28c8 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 12 May 2026 16:14:42 -0400 Subject: [PATCH 28/64] deleted old paths, added 3rd trajectory to swipeDepot, fixed swipeDepot a few other things. --- src/main/deploy/choreo/Depot_Neutral_1.traj | 115 ------- src/main/deploy/choreo/Depot_Neutral_2.traj | 136 -------- src/main/deploy/choreo/Depot_Neutral_3.traj | 74 ----- src/main/deploy/choreo/Depot_Neutral_4.traj | 142 -------- src/main/deploy/choreo/Depot_Pickup.traj | 92 ------ src/main/deploy/choreo/Depot_ToDepot.traj | 75 ----- src/main/deploy/choreo/Disturbance.traj | 225 ------------- src/main/deploy/choreo/DriveTest.traj | 102 ------ src/main/deploy/choreo/DriveTestTwo.traj | 76 ----- src/main/deploy/choreo/Mid_Shoot.traj | 73 ----- src/main/deploy/choreo/Outpost_Neutral_1.traj | 87 ----- src/main/deploy/choreo/Outpost_Neutral_2.traj | 130 -------- src/main/deploy/choreo/Outpost_Neutral_3.traj | 94 ------ src/main/deploy/choreo/Outpost_Neutral_4.traj | 129 -------- src/main/deploy/choreo/Outpost_ToOutpost.traj | 69 ---- src/main/deploy/choreo/depot_hook.traj | 140 ++++++++ src/main/deploy/choreo/swipe.traj | 235 -------------- src/main/deploy/choreo/swipe_one.traj | 248 ++++++++++++++ src/main/deploy/choreo/swipe_three.traj | 114 +++++++ src/main/deploy/choreo/swipe_two.traj | 274 ++++++++++++++++ src/main/deploy/choreo/swiped_one.traj | 193 ----------- src/main/deploy/choreo/swiped_two.traj | 306 ------------------ src/main/deploy/choreo/swiper_1.traj | 208 ------------ src/main/deploy/choreo/test1.traj | 71 ---- src/main/deploy/choreo/test2.traj | 70 ---- .../frc/robot/autochooser/RoutineChooser.java | 27 +- 26 files changed, 798 insertions(+), 2707 deletions(-) delete mode 100644 src/main/deploy/choreo/Depot_Neutral_1.traj delete mode 100644 src/main/deploy/choreo/Depot_Neutral_2.traj delete mode 100644 src/main/deploy/choreo/Depot_Neutral_3.traj delete mode 100644 src/main/deploy/choreo/Depot_Neutral_4.traj delete mode 100644 src/main/deploy/choreo/Depot_Pickup.traj delete mode 100644 src/main/deploy/choreo/Depot_ToDepot.traj delete mode 100644 src/main/deploy/choreo/Disturbance.traj delete mode 100644 src/main/deploy/choreo/DriveTest.traj delete mode 100644 src/main/deploy/choreo/DriveTestTwo.traj delete mode 100644 src/main/deploy/choreo/Mid_Shoot.traj delete mode 100644 src/main/deploy/choreo/Outpost_Neutral_1.traj delete mode 100644 src/main/deploy/choreo/Outpost_Neutral_2.traj delete mode 100644 src/main/deploy/choreo/Outpost_Neutral_3.traj delete mode 100644 src/main/deploy/choreo/Outpost_Neutral_4.traj delete mode 100644 src/main/deploy/choreo/Outpost_ToOutpost.traj create mode 100644 src/main/deploy/choreo/depot_hook.traj delete mode 100644 src/main/deploy/choreo/swipe.traj create mode 100644 src/main/deploy/choreo/swipe_one.traj create mode 100644 src/main/deploy/choreo/swipe_three.traj create mode 100644 src/main/deploy/choreo/swipe_two.traj delete mode 100644 src/main/deploy/choreo/swiped_one.traj delete mode 100644 src/main/deploy/choreo/swiped_two.traj delete mode 100644 src/main/deploy/choreo/swiper_1.traj delete mode 100644 src/main/deploy/choreo/test1.traj delete mode 100644 src/main/deploy/choreo/test2.traj diff --git a/src/main/deploy/choreo/Depot_Neutral_1.traj b/src/main/deploy/choreo/Depot_Neutral_1.traj deleted file mode 100644 index 97ffab06..00000000 --- a/src/main/deploy/choreo/Depot_Neutral_1.traj +++ /dev/null @@ -1,115 +0,0 @@ -{ - "name":"Depot_Neutral_1", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":3.599, "y":7.33, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.159896373748779, "y":7.33, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.691810131072998, "y":7.156898021697998, "heading":-2.788601768492154, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.405144214630127, "y":6.361705780029297, "heading":-0.9075928148041412, "intervals":24, "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}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"3.599 m", "val":3.599}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.159896373748779 m", "val":5.159896373748779}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.691810131072998 m", "val":6.691810131072998}, "y":{"exp":"7.156898021697998 m", "val":7.156898021697998}, "heading":{"exp":"-2.7886017684921534 rad", "val":-2.788601768492154}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.405144214630127 m", "val":7.405144214630127}, "y":{"exp":"6.361705780029297 m", "val":6.361705780029297}, "heading":{"exp":"-0.9075928148041412 rad", "val":-0.9075928148041412}, "intervals":24, "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":{"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", - "val":0.05 - } - }, - "trajectory":{ - "config":{ - "frontLeft":{ - "x":0.2794, - "y":0.2794 - }, - "backLeft":{ - "x":-0.2794, - "y":0.2794 - }, - "mass":45.359237, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.5, - "bumper":{ - "front":0.43, - "side":0.43, - "back":0.43 - }, - "differentialTrackWidth":0.5588 - }, - "sampleType":"Swerve", - "waypoints":[0.0,0.50001,0.8451,1.3373], - "samples":[ - {"t":0.0, "x":3.599, "y":7.33, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":13.52443, "ay":0.00444, "alpha":-0.00001, "fx":[153.36441,153.36441,153.36441,153.36441], "fy":[0.05036,0.05029,0.05029,0.05036]}, - {"t":0.03572, "x":3.60763, "y":7.33, "heading":3.14159, "vx":0.48303, "vy":0.00016, "omega":0.0, "ax":13.52266, "ay":0.00444, "alpha":-0.00001, "fx":[153.34437,153.34437,153.34437,153.34437], 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{"t":0.46574, "x":6.07663, "y":6.22485, "heading":0.0, "vx":-1.74102, "vy":-3.46155, "omega":0.0, "ax":5.22743, "ay":10.39336, "alpha":0.0, "fx":[29.63904,29.63904,29.63904,29.63904], "fy":[58.92938,58.92938,58.92938,58.92938]}, - {"t":0.53228, "x":5.97236, "y":6.01754, "heading":0.0, "vx":-1.39321, "vy":-2.77003, "omega":0.0, "ax":5.23249, "ay":10.40341, "alpha":0.0, "fx":[29.6677,29.6677,29.6677,29.6677], "fy":[58.98637,58.98637,58.98637,58.98637]}, - {"t":0.59881, "x":5.89124, "y":5.85627, "heading":0.0, "vx":-1.04507, "vy":-2.07784, "omega":0.0, "ax":5.23465, "ay":10.40772, "alpha":0.0, "fx":[29.67997,29.67997,29.67997,29.67997], "fy":[59.01076,59.01076,59.01076,59.01076]}, - {"t":0.66535, "x":5.8333, "y":5.74105, "heading":0.0, "vx":-0.69678, "vy":-1.38537, "omega":0.0, "ax":5.23585, "ay":10.41011, "alpha":0.0, "fx":[29.68678,29.68678,29.68678,29.68678], "fy":[59.02431,59.02431,59.02431,59.02431]}, - {"t":0.73188, "x":5.79853, "y":5.67192, "heading":0.0, "vx":-0.34842, "vy":-0.69273, "omega":0.0, "ax":5.23662, "ay":10.41162, "alpha":0.0, "fx":[29.69111,29.69111,29.69111,29.69111], "fy":[59.03292,59.03292,59.03292,59.03292]}, - {"t":0.79842, "x":5.78693, "y":5.64888, "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] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 593e2717..36e1cc82 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -8,6 +8,7 @@ import choreo.auto.AutoTrajectory; import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.intake.SpinIntake; +import frc.robot.commands.intake.StopIntake; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.subsystems.IntakeSubsystem; @@ -30,8 +31,9 @@ public RoutineChooser(AutoFactory factory, this.feeder = feeder; this.intake = intake; this.deployer = deployer; - factory.bind("feed", new SpinFeeder(feeder)); - factory.bind("intake", new SpinIntake(intake, deployer)); + factory.bind("intakeDeploy", new SpinIntake(intake, deployer)); + factory.bind("intakeStart", new SpinIntake(intake, deployer)); + factory.bind("intakeStop", new StopIntake(intake)); autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { autoChooser.addOption(paths.getName(), paths); @@ -54,12 +56,27 @@ public AutoRoutine getAuto() { public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("test1"); - AutoTrajectory SecondSwipeTraj = routine.trajectory("test2"); - firstSwipeTraj.done().onTrue(new LoggableWaitCommand(10).andThen(SecondSwipeTraj.cmd())); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two"); + AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three"); + firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); + secondSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(thirdSwipeTraj.cmd())); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), new LoggableCommandWrapper(firstSwipeTraj.cmd()))); return routine; } + + /* + public AutoRoutine midDepot() { + AutoRoutine routine = factory.newRoutine("depot"); + AutoTrajectory traj = routine.trajectory("depot_hook"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + return routine; + } + */ + } From f2b78e00b612e28ee5af1729817065b43d4a7d70 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 12 May 2026 19:17:19 -0400 Subject: [PATCH 29/64] functional (tested in simulation) --- src/main/deploy/choreo/swipe_one.traj | 5 +++-- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/autochooser/RoutineChooser.java | 6 +++++- .../robot/commands/intakeDeployment/ForceDeployDown.java | 6 +----- 4 files changed, 10 insertions(+), 9 deletions(-) diff --git a/src/main/deploy/choreo/swipe_one.traj b/src/main/deploy/choreo/swipe_one.traj index dbb30886..55f46434 100644 --- a/src/main/deploy/choreo/swipe_one.traj +++ b/src/main/deploy/choreo/swipe_one.traj @@ -243,6 +243,7 @@ "splits":[0] }, "events":[ - {"name":"intakeDeploy", "from":{"target":0, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"intakeStop", "from":{"target":8, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"intakeDeployer", "from":{"target":1, "targetTimestamp":0.58772, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeStop", "from":{"target":8, "targetTimestamp":4.45013, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeDeploy", "from":{"target":9, "targetTimestamp":4.75967, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f0852b14..4bc1b61a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -301,7 +301,7 @@ private void setUpAutoFactory() { private void configureBindings() { controller.a().onTrue(new ToggleDeployment(intakeDeployer, controllerSubsystem)); controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); - controller.x().onTrue(new ForceDeployDown(intakeDeployer, shootState)); + controller.x().onTrue(new ForceDeployDown(intakeDeployer)); controller.y().onTrue(new ToggleAdjustedPosition(controllerSubsystem)); controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED)); diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 36e1cc82..e4d1fc4d 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -9,6 +9,10 @@ import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.intake.SpinIntake; import frc.robot.commands.intake.StopIntake; +import frc.robot.commands.intakeDeployment.ForceDeployDown; +import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.constants.enums.ShootingState; +import frc.robot.subsystems.ControllerSubsystem; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.subsystems.IntakeSubsystem; @@ -31,7 +35,7 @@ public RoutineChooser(AutoFactory factory, this.feeder = feeder; this.intake = intake; this.deployer = deployer; - factory.bind("intakeDeploy", new SpinIntake(intake, deployer)); + factory.bind("intakeDeployer", new ForceDeployDown(deployer)); factory.bind("intakeStart", new SpinIntake(intake, deployer)); factory.bind("intakeStop", new StopIntake(intake)); autoChooser = new LoggedDashboardChooser<>("AutoAction"); diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java index 31fd6d99..72e1a119 100644 --- a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java +++ b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java @@ -12,18 +12,14 @@ public class ForceDeployDown extends LoggableCommand { private final IntakeDeployerSubsystem subsystem; - private final ShootingState state; - public ForceDeployDown(IntakeDeployerSubsystem subsystem, ShootingState state) { + public ForceDeployDown(IntakeDeployerSubsystem subsystem) { this.subsystem = subsystem; - this.state = state; } @Override public void initialize() { - if(state.getShootState() == ShootState.SHOOTING_HUB || state.getShootState() == ShootState.SHUTTLING){ subsystem.setDeploymentState(DeploymentState.DOWN); - } } @Override From a7243e557feab04b0fb29446e52d378626b1051d Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 13 May 2026 19:44:46 -0400 Subject: [PATCH 30/64] TESTED ON THE PUSHBOT. FUNCTIONAL... (i didn't believe it either... you just need to trust me) --- src/main/deploy/choreo/Depot_Fast.traj | 132 +-- src/main/deploy/choreo/ExamplePathOne.traj | 323 +++---- src/main/deploy/choreo/ExamplePathTwo.traj | 313 +++--- src/main/deploy/choreo/depot_hook.traj | 155 +-- src/main/deploy/choreo/swipe_one.traj | 312 +++--- src/main/deploy/choreo/swipe_one_slow.traj | 836 ++++++++++++++++ src/main/deploy/choreo/swipe_three_slow.traj | 344 +++++++ src/main/deploy/choreo/swipe_two_slow.traj | 910 ++++++++++++++++++ .../frc/robot/autochooser/RoutineChooser.java | 19 +- 9 files changed, 2715 insertions(+), 629 deletions(-) create mode 100644 src/main/deploy/choreo/swipe_one_slow.traj create mode 100644 src/main/deploy/choreo/swipe_three_slow.traj create mode 100644 src/main/deploy/choreo/swipe_two_slow.traj diff --git a/src/main/deploy/choreo/Depot_Fast.traj b/src/main/deploy/choreo/Depot_Fast.traj index aca4ea83..81139d16 100644 --- a/src/main/deploy/choreo/Depot_Fast.traj +++ b/src/main/deploy/choreo/Depot_Fast.traj @@ -38,13 +38,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + "mass":22.6796185, "inertia":6.0, "gearing":6.5, "radius":0.0508, "vmax":628.3185307179587, "tmax":1.2, - "cof":1.5, + "cof":1.19, "bumper":{ "front":0.43, "side":0.43, @@ -55,70 +55,70 @@ "sampleType":"Swerve", "waypoints":[0.0,3.17257], "samples":[ - {"t":0.0, "x":3.596, "y":5.06, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.71612, "ay":0.35587, "alpha":0.00095, "fx":[-8.10451,-8.10456,-8.13681,-8.13682], "fy":[4.0466,3.98327,4.06573,4.04658]}, - {"t":0.04957, "x":3.59512, "y":5.06044, "heading":3.14159, "vx":-0.0355, "vy":0.01764, "omega":0.00005, "ax":-0.71626, "ay":0.35594, "alpha":0.00246, "fx":[-8.10663,-8.10665,-8.13792,-8.13794], "fy":[4.03879,4.01043,4.05738,4.03878]}, - {"t":0.09914, "x":3.59248, "y":5.06175, "heading":-3.14159, "vx":-0.07101, "vy":0.03529, "omega":0.00017, "ax":-0.71626, "ay":0.35594, "alpha":0.00108, "fx":[-8.13611,-8.13608,-8.15432,-8.06241], "fy":[3.99559,4.05596,4.05595,4.03776]}, - {"t":0.14871, "x":3.58808, "y":5.06394, "heading":-3.14158, "vx":-0.10651, "vy":0.05293, "omega":0.00022, "ax":-0.71625, "ay":0.35594, "alpha":0.00211, "fx":[-8.10725,-8.10727,-8.13706,-8.13708], "fy":[4.03989,4.00771,4.05766,4.03987]}, - {"t":0.19829, "x":3.58192, "y":5.067, "heading":-3.14157, "vx":-0.14202, "vy":0.07057, "omega":0.00033, "ax":-0.71625, "ay":0.35594, "alpha":0.00075, "fx":[-8.13749,-8.13746,-8.15498,-8.05846], "fy":[3.99556,4.05564,4.05563,4.03816]}, - {"t":0.24786, "x":3.574, "y":5.07093, "heading":-3.14155, "vx":-0.17752, "vy":0.08822, "omega":0.00036, "ax":-0.71624, "ay":0.35593, "alpha":0.00189, "fx":[-8.1077,-8.10773,-8.13633,-8.13635], "fy":[4.04037,4.00661,4.05751,4.04036]}, - {"t":0.29743, "x":3.56432, "y":5.07574, "heading":-3.14154, "vx":-0.21303, "vy":0.10586, "omega":0.00046, "ax":-0.71623, "ay":0.35593, "alpha":0.00057, "fx":[-8.13927,-8.13924,-8.1562,-8.05309], "fy":[3.99191,4.05657,4.05656,4.03965]}, - {"t":0.347, "x":3.55288, "y":5.08143, "heading":-3.14151, "vx":-0.24853, "vy":0.12351, "omega":0.00049, "ax":-0.71623, "ay":0.35593, "alpha":0.0015, "fx":[-8.108,-8.10803,-8.13571,-8.13572], "fy":[4.04194,4.00205,4.0586,4.04193]}, - {"t":0.39657, "x":3.53968, "y":5.08799, "heading":-3.14149, "vx":-0.28404, "vy":0.14115, "omega":0.00056, "ax":-0.71622, "ay":0.35592, "alpha":0.00028, "fx":[-8.14161,-8.14158,-8.15811,-8.0458], "fy":[3.98859,4.05741,4.05741,4.04092]}, - {"t":0.44614, "x":3.52472, "y":5.09542, "heading":-3.14146, "vx":-0.31954, "vy":0.15879, "omega":0.00057, "ax":-0.71621, "ay":0.35592, "alpha":0.00123, "fx":[-8.10818,-8.10821,-8.13515,-8.13517], "fy":[4.04294,3.99904,4.05922,4.04293]}, - {"t":0.49571, "x":3.508, "y":5.10373, "heading":-3.14143, "vx":-0.35504, "vy":0.17644, "omega":0.00064, "ax":-0.7162, "ay":0.35591, "alpha":0.00006, "fx":[-8.14362,-8.14358,-8.1598,-8.03928], "fy":[3.98507,4.05834,4.05833,4.04217]}, - {"t":0.54529, "x":3.48952, "y":5.11291, "heading":-3.1414, "vx":-0.39055, "vy":0.19408, "omega":0.00064, "ax":-0.71619, "ay":0.35591, "alpha":0.00097, "fx":[-8.10825,-8.10828,-8.13463,-8.13464], "fy":[4.04387,3.99605,4.05989,4.04386]}, - {"t":0.59486, "x":3.46928, "y":5.12297, "heading":-3.14137, "vx":-0.42605, "vy":0.21172, "omega":0.00069, "ax":-0.71618, "ay":0.3559, "alpha":-0.00043, "fx":[-8.14698,-8.14695,-8.16293,-8.02843], "fy":[3.9818,4.05918,4.05917,4.04325]}, - {"t":0.64443, "x":3.44728, "y":5.13391, "heading":-3.14134, "vx":-0.46155, "vy":0.22937, "omega":0.00067, "ax":-0.71617, "ay":0.35589, "alpha":0.00047, "fx":[-8.10822,-8.10826,-8.13411,-8.13413], "fy":[4.0462,3.9887,4.06201,4.04619]}, - {"t":0.694, "x":3.42352, "y":5.14571, "heading":-3.1413, "vx":-0.49705, "vy":0.24701, "omega":0.00069, "ax":-0.71615, "ay":0.35589, "alpha":-0.00092, "fx":[-8.15101,-8.15097,-8.16675,-8.01533], "fy":[3.9763,4.06073,4.06073,4.04501]}, - {"t":0.74357, "x":3.398, "y":5.15839, 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"overrideIntervals":false}, + {"x":2.306560516357422, "y":5.98360013961792, "heading":0.0, "intervals":81, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"5.301450252532959 m", "val":5.301450252532959}, "heading":{"exp":"0.19634954084936207 rad", "val":0.19634954084936207}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.306560516357422 m", "val":2.306560516357422}, "y":{"exp":"5.98360013961792 m", "val":5.98360013961792}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"5.301450252532959 m", "val":5.301450252532959}, "heading":{"exp":"0.19634954084936207 rad", "val":0.19634954084936207}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.306560516357422 m", "val":2.306560516357422}, "y":{"exp":"5.98360013961792 m", "val":5.98360013961792}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":81, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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--- a/src/main/deploy/choreo/ExamplePathTwo.traj +++ b/src/main/deploy/choreo/ExamplePathTwo.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.3845205307006836, "y":6.042070388793945, "heading":-0.9342889335095604, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3845205307006836, "y":6.042070388793945, "heading":-0.9342889335095604, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.8777804374694824, "y":5.51584005355835, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"6.042070388793945 m", "val":6.042070388793945}, "heading":{"exp":"-0.9342889335095603 rad", "val":-0.9342889335095604}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"6.042070388793945 m", "val":6.042070388793945}, "heading":{"exp":"-0.9342889335095603 rad", "val":-0.9342889335095604}, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8777804374694824 m", "val":1.8777804374694824}, "y":{"exp":"5.51584005355835 m", "val":5.51584005355835}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -38,13 +38,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + "mass":22.6796185, "inertia":6.0, "gearing":6.5, "radius":0.0508, "vmax":628.3185307179587, "tmax":1.2, - "cof":1.5, + "cof":1.19, "bumper":{ "front":0.43, "side":0.43, 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a/src/main/deploy/choreo/depot_hook.traj +++ b/src/main/deploy/choreo/depot_hook.traj @@ -6,8 +6,8 @@ {"x":3.5952017307281494, "y":4.0180158615112305, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.5142183303833008, "y":5.977383136749268, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.5885859727859497, "y":5.977383136749268, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.081806182861328, "y":5.105802536010742, "heading":-1.9150152825052136, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.9331175088882449, "y":4.51123571395874, "heading":-1.8490959025745488, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], 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"fx":[-0.5146,0.18401,0.5146,-0.18401], "fy":[-0.18401,-0.5146,0.18401,0.5146]}, + {"t":37.39092, "x":2.71875, "y":6.72463, "heading":-1.98792, "vx":-0.2888, "vy":-0.27663, "omega":0.5391, "ax":0.0, "ay":0.0, "alpha":-0.15683, "fx":[-0.55544,0.21432,0.55544,-0.21432], "fy":[-0.21432,-0.55544,0.21432,0.55544]}, + {"t":37.43674, "x":2.70552, "y":6.71196, "heading":-1.96338, "vx":-0.2888, "vy":-0.27663, "omega":0.53191, "ax":0.0, "ay":0.0, "alpha":-0.17032, "fx":[-0.59734,0.2475,0.59734,-0.2475], "fy":[-0.2475,-0.59734,0.2475,0.59734]}, + {"t":37.48257, "x":2.69228, "y":6.69928, "heading":-1.93919, "vx":-0.2888, "vy":-0.27663, "omega":0.52411, "ax":0.0, "ay":0.0, "alpha":-0.18453, "fx":[-0.64047,0.28371,0.64047,-0.28371], "fy":[-0.28371,-0.64047,0.28371,0.64047]}, + {"t":37.52839, "x":2.67905, "y":6.6866, "heading":-1.91537, "vx":-0.2888, "vy":-0.27663, "omega":0.51565, "ax":0.0, "ay":0.0, "alpha":-0.19953, "fx":[-0.68505,0.32319,0.68505,-0.32319], "fy":[-0.32319,-0.68505,0.32319,0.68505]}, + {"t":37.57421, "x":2.66582, "y":6.67393, "heading":-1.89195, "vx":-0.2888, "vy":-0.27663, "omega":0.50651, "ax":0.0, "ay":0.0, "alpha":-0.21536, "fx":[-0.73101,0.36604,0.73101,-0.36604], "fy":[-0.36604,-0.73101,0.36604,0.73101]}, + {"t":37.62003, "x":2.65258, "y":6.66125, "heading":-1.86897, "vx":-0.2888, "vy":-0.27663, "omega":0.49664, "ax":0.0, "ay":0.0, "alpha":-0.23211, "fx":[-0.77861,0.41253,0.77861,-0.41253], "fy":[-0.41253,-0.77861,0.41253,0.77861]}, + {"t":37.66585, "x":2.63935, "y":6.64858, "heading":-1.84645, "vx":-0.2888, "vy":-0.27663, "omega":0.48601, "ax":0.0, "ay":0.0, "alpha":-0.24983, "fx":[-0.82785,0.46277,0.82785,-0.46277], "fy":[-0.46277,-0.82785,0.46277,0.82785]}, + {"t":37.71167, "x":2.62612, "y":6.6359, "heading":-1.82445, "vx":-0.2888, "vy":-0.27663, "omega":0.47456, "ax":0.0, "ay":0.0, "alpha":-0.26861, "fx":[-0.8789,0.51702,0.8789,-0.51702], "fy":[-0.51702,-0.8789,0.51702,0.8789]}, + {"t":37.7575, "x":2.61288, "y":6.62322, "heading":-1.80298, "vx":-0.2888, "vy":-0.27663, "omega":0.46225, "ax":0.0, "ay":0.0, "alpha":-0.28849, "fx":[-0.93181,0.57542,0.93181,-0.57542], "fy":[-0.57542,-0.93181,0.57542,0.93181]}, + {"t":37.80332, "x":2.59965, "y":6.61055, "heading":-1.78211, "vx":-0.2888, "vy":-0.27663, "omega":0.44903, "ax":0.0, "ay":0.0, "alpha":-0.3096, "fx":[-0.98689,0.63827,0.98689,-0.63827], "fy":[-0.63827,-0.98689,0.63827,0.98689]}, + {"t":37.84914, "x":2.58642, "y":6.59787, "heading":-1.76185, "vx":-0.2888, "vy":-0.27663, "omega":0.43484, "ax":0.0, "ay":0.0, "alpha":-0.33199, "fx":[-1.04418,0.70571,1.04418,-0.70571], "fy":[-0.70571,-1.04418,0.70571,1.04418]}, + {"t":37.89496, "x":2.57318, "y":6.5852, "heading":-1.74228, "vx":-0.2888, "vy":-0.27663, "omega":0.41963, "ax":0.0, "ay":0.0, "alpha":-0.35577, "fx":[-1.10397,0.77803,1.10397,-0.77803], "fy":[-0.77803,-1.10397,0.77803,1.10397]}, + {"t":37.94078, "x":2.55995, "y":6.57252, "heading":-1.72342, "vx":-0.2888, "vy":-0.27663, "omega":0.40333, "ax":0.0, "ay":0.0, "alpha":-0.38104, "fx":[-1.16646,0.85543,1.16646,-0.85543], "fy":[-0.85543,-1.16646,0.85543,1.16646]}, + {"t":37.98661, "x":2.54672, "y":6.55985, "heading":-1.70534, "vx":-0.2888, "vy":-0.27663, "omega":0.38587, "ax":0.0, "ay":0.0, "alpha":-0.40789, "fx":[-1.2319,0.93814,1.2319,-0.93814], "fy":[-0.93814,-1.2319,0.93814,1.2319]}, + {"t":38.03243, "x":2.53348, "y":6.54717, "heading":-1.68809, "vx":-0.2888, "vy":-0.27663, "omega":0.36718, "ax":0.0, "ay":0.0, "alpha":-0.43644, "fx":[-1.30059,1.02638,1.30059,-1.02638], "fy":[-1.02638,-1.30059,1.02638,1.30059]}, + {"t":38.07825, "x":2.52025, "y":6.53449, "heading":-1.67172, "vx":-0.2888, "vy":-0.27663, "omega":0.34718, "ax":0.0, "ay":0.0, "alpha":-0.46681, "fx":[-1.37295,1.12043,1.37295,-1.12043], "fy":[-1.12043,-1.37295,1.12043,1.37295]}, + {"t":38.12407, "x":2.50702, "y":6.52182, "heading":-1.6563, "vx":-0.2888, "vy":-0.27663, "omega":0.32579, "ax":0.0, "ay":0.0, "alpha":-0.49911, "fx":[-1.44931,1.22045,1.44931,-1.22045], "fy":[-1.22045,-1.44931,1.22045,1.44931]}, + {"t":38.16989, "x":2.49378, "y":6.50914, "heading":-1.6419, "vx":-0.2888, "vy":-0.27663, "omega":0.30292, "ax":0.0, "ay":0.0, "alpha":-0.53352, "fx":[-1.53026,1.32676,1.53026,-1.32676], "fy":[-1.32676,-1.53026,1.32676,1.53026]}, + {"t":38.21571, "x":2.48055, "y":6.49647, "heading":-1.62858, "vx":-0.2888, "vy":-0.27663, "omega":0.27847, "ax":0.0, "ay":0.0, "alpha":-0.57012, "fx":[-1.61621,1.43944,1.61621,-1.43944], "fy":[-1.43944,-1.61621,1.43944,1.61621]}, + {"t":38.26154, "x":2.46732, "y":6.48379, "heading":-1.61642, "vx":-0.2888, "vy":-0.27663, "omega":0.25235, "ax":0.0, "ay":0.0, "alpha":-0.60908, "fx":[-1.70785,1.55871,1.70785,-1.55871], "fy":[-1.55871,-1.70785,1.55871,1.70785]}, + {"t":38.30736, "x":2.45408, "y":6.47112, "heading":-1.60549, "vx":-0.2888, "vy":-0.27663, "omega":0.22444, "ax":0.0, "ay":0.0, "alpha":-0.65057, "fx":[-1.80588,1.68471,1.80588,-1.68471], "fy":[-1.68471,-1.80588,1.68471,1.80588]}, + {"t":38.35318, "x":2.44085, "y":6.45844, "heading":-1.59589, "vx":-0.2888, "vy":-0.27663, "omega":0.19463, "ax":0.0, "ay":0.0, "alpha":-0.69475, "fx":[-1.91115,1.81754,1.91115,-1.81754], "fy":[-1.81754,-1.91115,1.81754,1.91115]}, + {"t":38.399, "x":2.42762, "y":6.44576, "heading":-1.5877, "vx":-0.2888, "vy":-0.27663, "omega":0.1628, "ax":0.0, "ay":0.0, "alpha":-0.74179, "fx":[-2.02458,1.95725,2.02458,-1.95725], "fy":[-1.95725,-2.02458,1.95725,2.02458]}, + {"t":38.44482, "x":2.41438, "y":6.43309, "heading":-1.58102, "vx":-0.2888, "vy":-0.27663, "omega":0.12881, "ax":0.0, "ay":0.0, "alpha":-0.79188, "fx":[-2.14728,2.1038,2.14728,-2.1038], "fy":[-2.1038,-2.14728,2.1038,2.14728]}, + {"t":38.49064, "x":2.40115, "y":6.42041, "heading":-1.57595, "vx":-0.2888, "vy":-0.27663, "omega":0.09252, "ax":0.0, "ay":0.0, "alpha":-0.84522, "fx":[-2.2805,2.2571,2.2805,-2.2571], "fy":[-2.2571,-2.2805,2.2571,2.2805]}, + {"t":38.53647, "x":2.38792, "y":6.40774, "heading":-1.5726, "vx":-0.2888, "vy":-0.27663, "omega":0.05379, "ax":0.0, "ay":0.0, "alpha":-0.90201, "fx":[-2.42562,2.41693,2.42565,-2.41689], "fy":[-2.41689,-2.42563,2.41692,2.42566]}, + {"t":38.58229, "x":2.37468, "y":6.39506, "heading":-1.57108, "vx":-0.2888, "vy":-0.27663, "omega":0.01246, "ax":6.30267, "ay":6.03714, "alpha":-0.27193, "fx":[35.43427,36.85328,36.04273,34.61183], "fy":[33.89296,33.07221,34.57055,35.38433]}, + {"t":38.62811, "x":2.36807, "y":6.38872, "heading":-1.5708, "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] + }, + "events":[ + {"name":"intakeStart", "from":{"target":12, "targetTimestamp":38.62811, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeStop", "from":{"target":9, "targetTimestamp":29.00206, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index e4d1fc4d..8e3c8a83 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -51,7 +51,7 @@ public AutoRoutine getAuto() { case SWIPE_DEPOT: return swipeDepot(); case SWIPE_OUTPOST: - return swipeDepot(); + return swipeOutpost(); default: return factory.newRoutine("do_nothing"); } @@ -70,8 +70,19 @@ public AutoRoutine swipeDepot() { new LoggableCommandWrapper(firstSwipeTraj.cmd()))); return routine; } - - /* + public AutoRoutine swipeOutpost() { + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one_slow").mirrorY(); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_slow").mirrorY(); + AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three_slow").mirrorY(); + firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); + secondSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(thirdSwipeTraj.cmd())); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), + new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + return routine; + } + public AutoRoutine midDepot() { AutoRoutine routine = factory.newRoutine("depot"); AutoTrajectory traj = routine.trajectory("depot_hook"); @@ -81,6 +92,4 @@ public AutoRoutine midDepot() { new LoggableCommandWrapper(traj.cmd()))); return routine; } - */ - } From 82f35340422b4fefb3341ffcbabacdd8c616af4a Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Thu, 14 May 2026 14:58:07 -0400 Subject: [PATCH 31/64] removed slow from the paths --- src/main/java/frc/robot/autochooser/RoutineChooser.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 8e3c8a83..fb041731 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -72,9 +72,9 @@ public AutoRoutine swipeDepot() { } public AutoRoutine swipeOutpost() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one_slow").mirrorY(); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_slow").mirrorY(); - AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three_slow").mirrorY(); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one").mirrorY(); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two").mirrorY(); + AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three").mirrorY(); firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); secondSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(thirdSwipeTraj.cmd())); routine.active().onTrue(new LoggableSequentialCommandGroup( From d2d0c2c58503080332a75f45eb1e50e4ddba6d0b Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sat, 16 May 2026 15:23:08 -0400 Subject: [PATCH 32/64] Cleaned up code --- src/main/java/frc/robot/Robot.java | 11 +---------- src/main/java/frc/robot/RobotContainer.java | 3 ++- src/main/java/frc/robot/constants/GameConstants.java | 2 +- 3 files changed, 4 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 97497ce7..f43c54cc 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -52,8 +52,6 @@ public class Robot extends LoggedRobot { final CommandXboxController driverXbox = new CommandXboxController(0); - int autoCount = 0; - /** * This function is run when the robot is first started up and should be used for any * initialization code. @@ -108,7 +106,6 @@ public static RobotMode getMode() { */ @Override public void robotPeriodic() { - Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled // commands, running already-scheduled commands, removing finished or interrupted commands, // and running subsystem periodic() methods. This must be called from the robot's periodic @@ -139,6 +136,7 @@ public void robotPeriodic() { SmartDashboard.putNumber("driverXbox.getLeftY()", driverXbox.getLeftY()); SmartDashboard.putNumber("driverXbox::getRightX", driverXbox.getRightX()); if (!Constants.TESTBED) { + Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); SmartDashboard.putNumber("Robot X", robotContainer.getDriveBase().getPose().getX()); SmartDashboard.putNumber("Robot Y", robotContainer.getDriveBase().getPose().getY()); // Puts data on the elastic dashboard @@ -166,8 +164,6 @@ public void disabledPeriodic() { /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { - double start = Timer.getFPGATimestamp(); - //m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) @@ -180,18 +176,13 @@ public void autonomousInit() { /** This function is called periodically during autonomous. */ @Override public void autonomousPeriodic() { - double start = Timer.getFPGATimestamp(); - // schedule the autonomous command if (this.autonomousCommand == null) { autonomousCommand = robotContainer.getAutonomousCommand(); if (autonomousCommand != null) { CommandScheduler.getInstance().schedule(autonomousCommand); - Logger.recordOutput("/RobotTimer/autoCount", ++autoCount); } } - - Logger.recordOutput("/RobotTimer/autoPeriodic", Timer.getFPGATimestamp() - start); } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4bc1b61a..91e06a96 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -249,7 +249,7 @@ private void setUpAutoFactory() { drivebase); // example implementation of autoRoutine - + if(false){ // Uses autofactory to create a new routine straightRoutine = autoFactory.newRoutine("StraightRoutine"); @@ -295,6 +295,7 @@ private void setUpAutoFactory() { * trajectory.doneFor(int) * trajectory.recentlyDone() */ + } }} diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index c14fe2b7..17dfef6e 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -36,7 +36,7 @@ public enum Mode { public static final boolean ENABLE_LOGGING = true; //Debugs - public static final boolean DEBUG = true; + public static final boolean DEBUG = false; public static final boolean ARM_DEBUG = true; //Joystick From 853e4648ffae2a9c56be0aeb9a10551949e1a82f Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sat, 16 May 2026 16:05:56 -0400 Subject: [PATCH 33/64] Added lightStrip implimentation for shooter RPM thresholds --- src/main/java/frc/robot/RobotContainer.java | 2 + .../frc/robot/commands/lightStrip/SetLed.java | 59 ++++++------------- .../frc/robot/constants/GameConstants.java | 2 + .../robot/subsystems/LightStripSubsystem.java | 1 - .../robot/subsystems/ShooterSubsystem.java | 5 ++ .../logging/io/motor/MockSparkMaxIo.java | 4 ++ .../logging/io/motor/RealSparkMaxIo.java | 4 ++ .../utils/logging/io/motor/SparkMaxIo.java | 1 + 8 files changed, 35 insertions(+), 43 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index df12c6cc..3fef7836 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -47,6 +47,7 @@ import frc.robot.commands.intakeDeployment.RunDeployer; import frc.robot.commands.intakeDeployment.SetDeploymentState; import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.commands.lightStrip.SetLed; import frc.robot.commands.parallels.RunHopperAndFeeder; import frc.robot.commands.shooter.DefaultShooterControl; import frc.robot.commands.shooter.SetShootingState; @@ -316,6 +317,7 @@ private void configureBindings() { // m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); intakeSubsystem.setDefaultCommand(new SpinIntake(intakeSubsystem, intakeDeployer)); + lightStripSubsystem.setDefaultCommand(new SetLed(lightStripSubsystem,controllerSubsystem,shooterSubsystem)); if (controllerSubsystem != null) { intakeDeployer.setDefaultCommand(new RunDeployer(intakeDeployer)); anglerSubsystem.setDefaultCommand(new DefaultAnglerControl(anglerSubsystem, controllerSubsystem)); diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLed.java b/src/main/java/frc/robot/commands/lightStrip/SetLed.java index 87dc24e5..8e7a3f52 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLed.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLed.java @@ -1,9 +1,12 @@ package frc.robot.commands.lightStrip; +import frc.robot.constants.Constants; import frc.robot.constants.enums.ShootingState; import frc.robot.constants.enums.Trench; import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.ControllerSubsystem; import frc.robot.subsystems.LightStripSubsystem; +import frc.robot.subsystems.ShooterSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.BlinkinPattern; import frc.robot.utils.logging.commands.LoggableCommand; @@ -11,61 +14,33 @@ public class SetLed extends LoggableCommand{ private final LightStripSubsystem lightStrip; - private ShootingState shootingState; - private SwerveSubsystem drivebase; + private final ControllerSubsystem controllerSubsystem; + private final ShooterSubsystem shooterSubsystem; - public SetLed(LightStripSubsystem lightStrip, ShootingState shootingState, SwerveSubsystem drivebase) { + public SetLed(LightStripSubsystem lightStrip, ControllerSubsystem controllerSubsystem,ShooterSubsystem shooterSubsystem) { this.lightStrip = lightStrip; - this.drivebase = drivebase; - this.shootingState = shootingState; + this.controllerSubsystem = controllerSubsystem; + this.shooterSubsystem = shooterSubsystem; addRequirements(lightStrip); } @Override public void initialize() { - + if(controllerSubsystem.getTargetShooterVelocityRpm()>-1500){ + if(controllerSubsystem.getTargetShooterVelocityRpm() > shooterSubsystem.getRPM()*Constants.SHOOTER_RPM_THRESHOLD){ + lightStrip.setPattern(BlinkinPattern.STROBE_RED); + }else{ + lightStrip.setPattern(BlinkinPattern.GREEN); + } + }else{ + lightStrip.setPattern(BlinkinPattern.RAINBOW_PARTY_PALETTE); + } } @Override public void execute() { - double x = drivebase.getPose().getX(); - double y = drivebase.getPose().getY(); - - // If statement checks if the robot is near the trench - if (x > Trench.RED_BOTTOM_LOWER.getX() && x < Trench.RED_BOTTOM_HIGHER.getX() && y > Trench.RED_BOTTOM_LOWER.getY() && y < Trench.RED_BOTTOM_HIGHER.getY() || - x > Trench.RED_TOP_LOWER.getX() && x < Trench.RED_TOP_HIGHER.getX() && y > Trench.RED_TOP_LOWER.getY() && y < Trench.RED_TOP_HIGHER.getY() || - x > Trench.BLUE_BOTTOM_LOWER.getX() && x < Trench.BLUE_BOTTOM_HIGHER.getX() && y > Trench.BLUE_BOTTOM_LOWER.getY() && y < Trench.BLUE_BOTTOM_HIGHER.getY() || - x > Trench.BLUE_TOP_LOWER.getX() && x < Trench.BLUE_TOP_HIGHER.getX() && y > Trench.BLUE_TOP_LOWER.getY() && y < Trench.BLUE_TOP_HIGHER.getY()) { - - if (shootingState.getShootState() != ShootState.STOPPED) { // Light strip only blinks if the shooting state is not stopped - lightStrip.setPattern(BlinkinPattern.STROBE_RED); - } - - } else { - switch (shootingState.getShootState()) { - case STOPPED: - lightStrip.setPattern(BlinkinPattern.BLACK); - break; - case FIXED: - lightStrip.setPattern(BlinkinPattern.AQUA); - break; - case FIXED_2: - lightStrip.setPattern(BlinkinPattern.AQUA); - break; - case SHOOTING_HUB: - lightStrip.setPattern(BlinkinPattern.RAINBOW_RAINBOW_PALETTE); - break; - case AUTO_AIM: - lightStrip.setPattern(BlinkinPattern.RAINBOW_LAVA_PALETTE); - break; - case SHUTTLING: - lightStrip.setPattern(BlinkinPattern.GREEN); - break; - } - - } } @Override diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 17dfef6e..9c608890 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -186,4 +186,6 @@ public enum Mode { public static final double SHUTTLING_TARGET_HIGHER_Y_POSITION = 5.5; public static final int TCP_SERVER_PORT1 = 5806; public static final int TCP_SERVER_PORT2 = 5807; + + public static final double SHOOTER_RPM_THRESHOLD = 0.9; } diff --git a/src/main/java/frc/robot/subsystems/LightStripSubsystem.java b/src/main/java/frc/robot/subsystems/LightStripSubsystem.java index de7bb97f..9439efb2 100644 --- a/src/main/java/frc/robot/subsystems/LightStripSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LightStripSubsystem.java @@ -16,7 +16,6 @@ public class LightStripSubsystem extends SubsystemBase{ public LightStripSubsystem(SwerveSubsystem drivebase, ShootingState shootingState) { this.io = new Spark(Constants.LIGHT_STRIP_CHANNEL); - setDefaultCommand(new SetLed(this, shootingState, drivebase)); } public void setPattern(BlinkinPattern pattern) { diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 8d59d1cf..3612dd29 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -1,6 +1,8 @@ package frc.robot.subsystems; +import java.util.logging.Logger; + import com.ctre.phoenix6.controls.Follower; import com.revrobotics.spark.SparkLowLevel; import com.revrobotics.spark.SparkMax; @@ -58,6 +60,9 @@ private static SparkMaxPidConfig createPidConfig() { .setFF(0.0025); } + public double getRPM(){ + return io.getRPM(); + } // setSpeed expects a power value from -1 to 1 public void setSpeed(double speed) { io.set(speed); diff --git a/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java b/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java index a342233c..046bed81 100644 --- a/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java +++ b/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java @@ -42,6 +42,10 @@ public boolean isRevSwitchPressed() { public double getEncoderPosition() { return getInputs().getEncoderPosition(); } + @Override + public double getRPM(){ + return getInputs().getEncoderVelocity(); + } @Override protected void updateInputs(MotorLoggableInputs inputs) { diff --git a/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java b/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java index 68400e48..f11ebe0b 100644 --- a/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java +++ b/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java @@ -52,6 +52,10 @@ public double getEncoderPosition() { return getInputs().getEncoderPosition(); } + @Override + public double getRPM(){ + return getInputs().getEncoderVelocity(); + } @Override protected void updateInputs(MotorLoggableInputs inputs) { inputs.fromHardware(motor); diff --git a/src/main/java/frc/robot/utils/logging/io/motor/SparkMaxIo.java b/src/main/java/frc/robot/utils/logging/io/motor/SparkMaxIo.java index 3321e8c2..e1ae905d 100644 --- a/src/main/java/frc/robot/utils/logging/io/motor/SparkMaxIo.java +++ b/src/main/java/frc/robot/utils/logging/io/motor/SparkMaxIo.java @@ -15,4 +15,5 @@ public interface SparkMaxIo extends BaseIo { boolean isFwdSwitchPressed(); boolean isRevSwitchPressed(); double getEncoderPosition(); + double getRPM(); } From 8eda66e3b0788bb68c507726f970359f76abb413 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sat, 16 May 2026 16:15:01 -0400 Subject: [PATCH 34/64] Indentation fixes --- .../frc/robot/commands/lightStrip/SetLed.java | 28 ++++++++++--------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLed.java b/src/main/java/frc/robot/commands/lightStrip/SetLed.java index 8e7a3f52..155914c9 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLed.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLed.java @@ -11,13 +11,14 @@ import frc.robot.utils.BlinkinPattern; import frc.robot.utils.logging.commands.LoggableCommand; -public class SetLed extends LoggableCommand{ +public class SetLed extends LoggableCommand { private final LightStripSubsystem lightStrip; private final ControllerSubsystem controllerSubsystem; private final ShooterSubsystem shooterSubsystem; - - public SetLed(LightStripSubsystem lightStrip, ControllerSubsystem controllerSubsystem,ShooterSubsystem shooterSubsystem) { + + public SetLed(LightStripSubsystem lightStrip, ControllerSubsystem controllerSubsystem, + ShooterSubsystem shooterSubsystem) { this.lightStrip = lightStrip; this.controllerSubsystem = controllerSubsystem; @@ -28,16 +29,17 @@ public SetLed(LightStripSubsystem lightStrip, ControllerSubsystem controllerSubs @Override public void initialize() { - if(controllerSubsystem.getTargetShooterVelocityRpm()>-1500){ - if(controllerSubsystem.getTargetShooterVelocityRpm() > shooterSubsystem.getRPM()*Constants.SHOOTER_RPM_THRESHOLD){ - lightStrip.setPattern(BlinkinPattern.STROBE_RED); - }else{ - lightStrip.setPattern(BlinkinPattern.GREEN); - } - }else{ + if (controllerSubsystem.getTargetShooterVelocityRpm() > -1500) { + if (controllerSubsystem.getTargetShooterVelocityRpm() > shooterSubsystem.getRPM() + * Constants.SHOOTER_RPM_THRESHOLD) { + lightStrip.setPattern(BlinkinPattern.STROBE_RED); + } else { + lightStrip.setPattern(BlinkinPattern.GREEN); + } + } else { lightStrip.setPattern(BlinkinPattern.RAINBOW_PARTY_PALETTE); } - } + } @Override public void execute() { @@ -50,7 +52,7 @@ public boolean isFinished() { @Override public void end(boolean interrupted) { - + } - + } From 5b2d462b58d3dff7e16041c006014975fc4631bd Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Sat, 16 May 2026 16:33:37 -0400 Subject: [PATCH 35/64] Moved the Logic into execute --- src/main/java/frc/robot/commands/lightStrip/SetLed.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLed.java b/src/main/java/frc/robot/commands/lightStrip/SetLed.java index 155914c9..b395a321 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLed.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLed.java @@ -29,6 +29,10 @@ public SetLed(LightStripSubsystem lightStrip, ControllerSubsystem controllerSubs @Override public void initialize() { + } + + @Override + public void execute() { if (controllerSubsystem.getTargetShooterVelocityRpm() > -1500) { if (controllerSubsystem.getTargetShooterVelocityRpm() > shooterSubsystem.getRPM() * Constants.SHOOTER_RPM_THRESHOLD) { @@ -41,10 +45,6 @@ public void initialize() { } } - @Override - public void execute() { - } - @Override public boolean isFinished() { return false; From f576f1683ef93e7a772d8e6836222a06fb81f8b9 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 24 May 2026 11:59:52 -0400 Subject: [PATCH 36/64] added dot auto --- src/main/deploy/choreo/swipe_two_dot.traj | 128 ++++++++++++++++++++++ 1 file changed, 128 insertions(+) create mode 100644 src/main/deploy/choreo/swipe_two_dot.traj diff --git a/src/main/deploy/choreo/swipe_two_dot.traj b/src/main/deploy/choreo/swipe_two_dot.traj new file mode 100644 index 00000000..e6f27ee7 --- /dev/null +++ b/src/main/deploy/choreo/swipe_two_dot.traj @@ -0,0 +1,128 @@ +{ + "name":"swipe_two_dot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.3580899238586426, "y":6.388722896575928, "heading":-1.5707963267948966, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3558921813964844, "y":7.33, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.573210716247559, "y":7.33, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.840419292449951, "y":7.33, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.253122329711914, "y":7.326460838317871, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.083395957946777, "y":7.326460838317871, "heading":-1.5707963267948966, "intervals":15, "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":1, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"2.3580899238586426 m", "val":2.3580899238586426}, "y":{"exp":"6.388722896575928 m", "val":6.388722896575928}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.3558921813964844 m", "val":3.3558921813964844}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.573210716247559 m", "val":4.573210716247559}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.840419292449951 m", "val":5.840419292449951}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.253122329711914 m", "val":7.253122329711914}, "y":{"exp":"7.326460838317871 m", "val":7.326460838317871}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.083395957946777 m", "val":8.083395957946777}, "y":{"exp":"7.326460838317871 m", "val":7.326460838317871}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":15, "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":{"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":1, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.6728,0.95605,1.21915,1.54674,2.09032], + "samples":[ + {"t":0.0, "x":2.35809, "y":6.38872, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.39134, "ay":7.32211, "alpha":11.75848, "fx":[29.07892,-22.40045,-60.95149,63.14841], "fy":[59.33431,62.16169,25.29617,19.27057]}, + {"t":0.04205, "x":2.35844, 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"fx":[-14.26555,-62.72558,-52.95253,32.53683], "fy":[64.41553,20.64504,-39.43048,-57.20696]}, + {"t":1.93501, "x":8.05643, "y":7.32843, "heading":-1.36871, "vx":0.39593, "vy":-0.01592, "omega":-2.57214, "ax":-3.37642, "ay":-0.0884, "alpha":16.01738, "fx":[2.12881,-60.35541,-53.35253,35.00316], "fy":[65.95841,26.81707,-38.91312,-55.8673]}, + {"t":1.97384, "x":8.06926, "y":7.32775, "heading":-1.45651, "vx":0.26484, "vy":-0.01936, "omega":-1.95023, "ax":-2.72084, "ay":0.10422, "alpha":16.49038, "fx":[15.18856,-57.76258,-54.06409,34.93052], "fy":[64.23799,32.0375,-37.93744,-55.97436]}, + {"t":2.01267, "x":8.07749, "y":7.32708, "heading":-1.5198, "vx":0.15919, "vy":-0.01531, "omega":-1.30995, "ax":-2.2334, "ay":0.1836, "alpha":16.77785, "fx":[24.52359,-55.32792,-54.63317,34.78482], "fy":[61.3006,36.09111,-37.12795,-56.09973]}, + {"t":2.05149, "x":8.08199, "y":7.32662, "heading":-1.55801, "vx":0.07248, "vy":-0.00818, "omega":-0.65851, "ax":-1.86663, "ay":0.21069, "alpha":16.96008, "fx":[30.55121,-53.39692,-54.80874,35.31994], "fy":[58.54459,38.90029,-36.87978,-55.78664]}, + {"t":2.09032, "x":8.0834, "y":7.32646, "heading":-1.5708, "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] + }, + "events":[ + {"name":"intakeStart", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeStop", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} From 0b09da1373d86fbfe9e102098e9f938b13c817e5 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 24 May 2026 13:05:10 -0400 Subject: [PATCH 37/64] meow --- src/main/java/frc/robot/Robot.java | 4 +-- src/main/java/frc/robot/RobotContainer.java | 7 ++--- .../java/frc/robot/autochooser/AutoPath.java | 5 +++- .../frc/robot/autochooser/RoutineChooser.java | 30 ++++++++++++++++++- 4 files changed, 38 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1b556642..c9ba6a41 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -132,13 +132,13 @@ public void robotPeriodic() { if (DriverStation.isDSAttached() && allianceColor.isEmpty()) { allianceColor = DriverStation.getAlliance(); } - + Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); + SmartDashboard.putBoolean("Hub Active?", hubActive()); if (Constants.DEBUG) { SmartDashboard.putNumber("driverXbox.getLeftY()", driverXbox.getLeftY()); SmartDashboard.putNumber("driverXbox::getRightX", driverXbox.getRightX()); if (!Constants.TESTBED) { - Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); SmartDashboard.putNumber("Robot X", robotContainer.getDriveBase().getPose().getX()); SmartDashboard.putNumber("Robot Y", robotContainer.getDriveBase().getPose().getY()); // Puts data on the elastic dashboard diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8256b5f6..5a49b4fe 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -546,7 +546,7 @@ public void putShuffleboardCommands() { } //basic drive command - if (!Constants.TESTBED) { + if (!Constants.TESTBED) { Command driveDirectionTime = new DriveDirectionTime(drivebase, 0.1, 0.1, true, 1); SmartDashboard.putData("Drive Command", driveDirectionTime); SmartDashboard.putData("Fake vision near trench", new FakeVision(drivebase, 4, 1)); @@ -554,10 +554,9 @@ public void putShuffleboardCommands() { SmartDashboard.putData("AddApriltagReading", new AddApriltagReading(apriltagSubsystem, new ApriltagReading(0, 0, 0, 0, 0, 0, 0, 0, 0))); SmartDashboard.putData("AddGarbageReading", new AddGarbageReading(apriltagSubsystem)); SmartDashboard.putData("AddTunedApriltagReading", new AddTunableApriltagReading(apriltagSubsystem)); - - } - } + } + } /** * Use this to pass the autonomous command to the main {@link Robot} class. diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index 9843da5a..66289c74 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -3,7 +3,10 @@ public enum AutoPath { DO_NOTHING("Do nothing"), SWIPE_DEPOT("Swipe depot"), - SWIPE_OUTPOST("Swipe outpost"); + SWIPE_OUTPOST("Swipe outpost"), + SWIPE_DEPOT_DOT("Swipe Depot Dot"), + SWIPE_OUTPOST_DOT("Swipe Outpost Dot"), + MID_DEPOT("mid depot"); private final String name; private AutoPath(String name){ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index fb041731..a47acdb8 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -36,7 +36,7 @@ public RoutineChooser(AutoFactory factory, this.intake = intake; this.deployer = deployer; factory.bind("intakeDeployer", new ForceDeployDown(deployer)); - factory.bind("intakeStart", new SpinIntake(intake, deployer)); + factory.bind("intakeStart", new SpinIntake(intake)); factory.bind("intakeStop", new StopIntake(intake)); autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { @@ -52,6 +52,12 @@ public AutoRoutine getAuto() { return swipeDepot(); case SWIPE_OUTPOST: return swipeOutpost(); + case SWIPE_DEPOT_DOT: + return swipeDepotDot(); + case SWIPE_OUTPOST_DOT: + return swipeOutpostDot(); + case MID_DEPOT: + return midDepot(); default: return factory.newRoutine("do_nothing"); } @@ -92,4 +98,26 @@ public AutoRoutine midDepot() { new LoggableCommandWrapper(traj.cmd()))); return routine; } + + public AutoRoutine swipeDepotDot() { + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot"); + firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), + new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + return routine; + } + + public AutoRoutine swipeOutpostDot() { + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot"); + firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), + new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + return routine; + } } From 72e7afbfb5140eb925856d337d15b80cd03f9d3b Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 27 May 2026 08:49:27 -0400 Subject: [PATCH 38/64] changed paths, added all markers. swipe_two_dot still needs markers --- src/main/deploy/choreo/swipe_one.traj | 329 ++++++++------- src/main/deploy/choreo/swipe_three.traj | 117 +++--- src/main/deploy/choreo/swipe_two.traj | 394 +++++++++--------- src/main/deploy/choreo/swipe_two_dot.traj | 138 +++--- .../java/frc/robot/autochooser/AutoPath.java | 2 +- .../frc/robot/autochooser/RoutineChooser.java | 39 +- .../intakeDeployment/ForceDeployUp.java | 37 ++ 7 files changed, 570 insertions(+), 486 deletions(-) create mode 100644 src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java diff --git a/src/main/deploy/choreo/swipe_one.traj b/src/main/deploy/choreo/swipe_one.traj index 9acc99a1..8a3b2beb 100644 --- a/src/main/deploy/choreo/swipe_one.traj +++ b/src/main/deploy/choreo/swipe_one.traj @@ -13,14 +13,14 @@ {"x":6.089869976043701, "y":6.747931480407715, "heading":2.0926308086284435, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.561034679412842, "y":7.33, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.4035844802856445, "y":7.33, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8969032764434814, "y":7.33, "heading":3.141592653589793, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8909850120544434, "y":7.339378833770752, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.136833906173706, "y":7.314766883850098, "heading":-3.1093458983153135, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.236395835876465, "y":6.180448532104492, "heading":-2.132718149410888, "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":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":9, "to":10, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":8, "to":10, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":2, "to":5, "data":{"type":"MaxVelocity", "props":{"max":1.6}}, "enabled":true}], "targetDt":0.05 }, @@ -36,14 +36,14 @@ {"x":{"exp":"6.089869976043701 m", "val":6.089869976043701}, "y":{"exp":"6.747931480407715 m", "val":6.747931480407715}, "heading":{"exp":"2.0926308086284435 rad", "val":2.0926308086284435}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.561034679412842 m", "val":5.561034679412842}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.4035844802856445 m", "val":4.4035844802856445}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.8969032764434814 m", "val":2.8969032764434814}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.8909850120544434 m", "val":2.8909850120544434}, "y":{"exp":"7.339378833770752 m", "val":7.339378833770752}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.136833906173706 m", "val":3.136833906173706}, "y":{"exp":"7.314766883850098 m", "val":7.314766883850098}, "heading":{"exp":"-3.1093458983153135 rad", "val":-3.1093458983153135}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.236395835876465 m", "val":2.236395835876465}, "y":{"exp":"6.180448532104492 m", "val":6.180448532104492}, "heading":{"exp":"-2.1327181494108878 rad", "val":-2.132718149410888}, "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":{"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":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":9, "to":10, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":8, "to":10, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, {"from":2, "to":5, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.6 m / s", "val":1.6}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", @@ -75,167 +75,176 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.58772,0.9955,1.78446,2.52688,3.16124,3.6738,4.08974,4.45008,4.75965,5.2085,5.75257], + 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{"name":"shooting", "from":{"target":11, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/deploy/choreo/swipe_three.traj b/src/main/deploy/choreo/swipe_three.traj index add265e2..974e754d 100644 --- a/src/main/deploy/choreo/swipe_three.traj +++ b/src/main/deploy/choreo/swipe_three.traj @@ -1,13 +1,13 @@ { - "name":"swipe_tres", + "name":"swipe_three", "version":3, "snapshot":{ "waypoints":[ - {"x":2.368067979812622, "y":6.388722896575928, "heading":-1.5707963267948966, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.236395835876465, "y":6.180448532104492, "heading":-2.132718149410888, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.3958041667938232, "y":7.33, "heading":0.0, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.4434967041015625, "y":7.33, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.810485363006592, "y":7.33, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.568815231323242, "y":6.109338283538818, "heading":-0.6889247823490412, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.810485363006592, "y":7.33, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.806346416473389, "y":6.97602653503418, "heading":-0.6889247823490412, "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}, @@ -17,11 +17,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.368067979812622 m", "val":2.368067979812622}, "y":{"exp":"6.388722896575928 m", "val":6.388722896575928}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.236395835876465 m", "val":2.236395835876465}, "y":{"exp":"6.180448532104492 m", "val":6.180448532104492}, "heading":{"exp":"-2.1327181494108878 rad", "val":-2.132718149410888}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.3958041667938232 m", "val":3.3958041667938232}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.4434967041015625 m", "val":4.4434967041015625}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, 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b/src/main/deploy/choreo/swipe_two.traj index 4e298031..4a69c7c5 100644 --- a/src/main/deploy/choreo/swipe_two.traj +++ b/src/main/deploy/choreo/swipe_two.traj @@ -1,9 +1,9 @@ { - "name":"swipe_dos", + "name":"swipe_two", "version":3, "snapshot":{ "waypoints":[ - {"x":2.3580899238586426, "y":6.388722896575928, "heading":-1.5707963267948966, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.236395835876465, "y":6.180448532104492, "heading":-2.132718149410888, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.3558921813964844, "y":7.33, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.573210716247559, "y":7.33, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.840419292449951, "y":7.33, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -15,7 +15,7 @@ {"x":5.830441474914551, "y":7.33, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.573210716247559, "y":7.33, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.3558921813964844, "y":7.33, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.368067979812622, "y":6.388722896575928, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.236395835876465, "y":6.180448532104492, "heading":-2.132718149410888, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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"fx":[22.44487,-55.75158,-55.15506,32.74927], "fy":[62.0905,35.43538,-36.35049,-57.30885]}, + {"t":2.15854, "x":8.1653, "y":7.32603, "heading":-1.55808, "vx":0.08083, "vy":-0.00795, "omega":-0.65483, "ax":-2.0811, "ay":0.20458, "alpha":16.85889, "fx":[28.63796,-53.92106,-55.33295,33.41758], "fy":[59.50209,38.17211,-36.09045,-56.94384]}, + {"t":2.19738, "x":8.16687, "y":7.32587, "heading":-1.5708, "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] }, "events":[ diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index 66289c74..502ea3ba 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -6,7 +6,7 @@ public enum AutoPath { SWIPE_OUTPOST("Swipe outpost"), SWIPE_DEPOT_DOT("Swipe Depot Dot"), SWIPE_OUTPOST_DOT("Swipe Outpost Dot"), - MID_DEPOT("mid depot"); + MID_DEPOT("Mid Depot"); private final String name; private AutoPath(String name){ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index a47acdb8..d8b80624 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -10,12 +10,16 @@ import frc.robot.commands.intake.SpinIntake; import frc.robot.commands.intake.StopIntake; import frc.robot.commands.intakeDeployment.ForceDeployDown; +import frc.robot.commands.intakeDeployment.ForceDeployUp; import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.commands.shooter.SetShootingState; import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; import frc.robot.subsystems.ControllerSubsystem; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.subsystems.ShooterSubsystem; import frc.robot.utils.logging.commands.LoggableCommandWrapper; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; @@ -25,19 +29,27 @@ public class RoutineChooser { private final FeederSubsystem feeder; private final IntakeSubsystem intake; private final IntakeDeployerSubsystem deployer; + private final ShootingState shootState; private final LoggedDashboardChooser autoChooser; public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsystem intake, - IntakeDeployerSubsystem deployer) { + IntakeDeployerSubsystem deployer, + ShootingState shootState) { this.factory = factory; this.feeder = feeder; this.intake = intake; this.deployer = deployer; - factory.bind("intakeDeployer", new ForceDeployDown(deployer)); - factory.bind("intakeStart", new SpinIntake(intake)); - factory.bind("intakeStop", new StopIntake(intake)); + this.shootState = shootState; + + factory.bind("intakeDeploy", new ForceDeployDown(deployer)); //intake deploy marker + factory.bind("intakeStart", new SpinIntake(intake)); //intake start marker + factory.bind("intakeStop", new StopIntake(intake)); //intake stop marker + factory.bind("intakeUp", new ForceDeployUp(deployer)); //intake up marker + factory.bind("shooting", new SetShootingState(shootState, ShootState.SHOOTING_HUB)); //shoot state to shooting marker + factory.bind("stopShooting", new SetShootingState(shootState, ShootState.STOPPED)); //shoot state to stop marker + autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { autoChooser.addOption(paths.getName(), paths); @@ -119,5 +131,24 @@ public AutoRoutine swipeOutpostDot() { new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), new LoggableCommandWrapper(firstSwipeTraj.cmd()))); return routine; + + /* + + Swipe Auto + swipe_one + 2 - intakeDeploy, intakeStart + 9 - intakeStop + 12 - shooting + + swipe_two + 1 - shootingStop + 2 - intakeStart + 11 - intakeStop + 12 - shootingStart + + swipe_three + 1 - shootingStop + //go to neutral zone for the beginning of teleop + */ } } diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java new file mode 100644 index 00000000..6afd9b4b --- /dev/null +++ b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java @@ -0,0 +1,37 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.intakeDeployment; + +import frc.robot.constants.enums.DeploymentState; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.IntakeDeployerSubsystem; +import frc.robot.utils.logging.commands.LoggableCommand; + +public class ForceDeployUp extends LoggableCommand { + private final IntakeDeployerSubsystem subsystem; + + public ForceDeployUp(IntakeDeployerSubsystem subsystem) { + this.subsystem = subsystem; + } + + @Override + public void initialize() { + subsystem.setDeploymentState(DeploymentState.UP); + } + + @Override + public void execute() { + } + + @Override + public void end(boolean interrupted) { + } + + @Override + public boolean isFinished() { + return true; + } +} From fee930d3f981638448417deb07a1e5c3a7606676 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 27 May 2026 08:54:04 -0400 Subject: [PATCH 39/64] previous commit did not build, fixed it --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5a49b4fe..348d6870 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -216,7 +216,7 @@ public RobotContainer() { } setUpAutoFactory(); - autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer); + autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer, shootState); configureBindings(); putShuffleboardCommands(); } From 8d7c1d0bae86c4ae341c8b824efc3ec792185c7e Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 27 May 2026 08:56:48 -0400 Subject: [PATCH 40/64] finished out the dot auto markers --- src/main/deploy/choreo/swipe_two_dot.traj | 4 ++-- src/main/java/frc/robot/autochooser/RoutineChooser.java | 8 ++++++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/src/main/deploy/choreo/swipe_two_dot.traj b/src/main/deploy/choreo/swipe_two_dot.traj index 652e3b0d..2f513a48 100644 --- a/src/main/deploy/choreo/swipe_two_dot.traj +++ b/src/main/deploy/choreo/swipe_two_dot.traj @@ -125,6 +125,6 @@ "splits":[0] }, "events":[ - {"name":"intakeStart", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"intakeStop", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"shootingStop", "from":{"target":0, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeUp", "from":{"target":0, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index d8b80624..11a29dc5 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -149,6 +149,14 @@ public AutoRoutine swipeOutpostDot() { swipe_three 1 - shootingStop //go to neutral zone for the beginning of teleop + + Swipe-dot Auto + swipe_one + 2 - intakeDeploy, intakeStart + 9 - intakeStop + 12 - shooting + swipe_two_dot + 1 - shootingStop, intakeUp */ } } From 5ee3c2749d5d41a2fb8f2f6b64d0aae0d05f6076 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Fri, 29 May 2026 20:28:31 -0400 Subject: [PATCH 41/64] testring 5-29-26 --- .../deploy/YAGSL/real/modules/backleft.json | 2 +- .../deploy/YAGSL/real/modules/backright.json | 2 +- .../deploy/YAGSL/real/modules/frontleft.json | 2 +- .../deploy/YAGSL/real/modules/frontright.json | 2 +- src/main/deploy/choreo/test.traj | 99 +++++++++++++++++++ .../frc/robot/autochooser/RoutineChooser.java | 7 +- 6 files changed, 107 insertions(+), 7 deletions(-) create mode 100644 src/main/deploy/choreo/test.traj diff --git a/src/main/deploy/YAGSL/real/modules/backleft.json b/src/main/deploy/YAGSL/real/modules/backleft.json index b90a4c7b..5c14c904 100644 --- a/src/main/deploy/YAGSL/real/modules/backleft.json +++ b/src/main/deploy/YAGSL/real/modules/backleft.json @@ -3,7 +3,7 @@ "front": -9, "left": 9 }, - "absoluteEncoderOffset": 37.44140625, + "absoluteEncoderOffset": 38.9, "drive": { "type": "sparkmax_neo", "id": 58, diff --git a/src/main/deploy/YAGSL/real/modules/backright.json b/src/main/deploy/YAGSL/real/modules/backright.json index 7ca51663..36ec566c 100644 --- a/src/main/deploy/YAGSL/real/modules/backright.json +++ b/src/main/deploy/YAGSL/real/modules/backright.json @@ -3,7 +3,7 @@ "front": -9, "left": -9 }, - "absoluteEncoderOffset": 99.31640625, + "absoluteEncoderOffset": 99.4, "drive": { "type": "sparkmax_neo", "id": 59, diff --git a/src/main/deploy/YAGSL/real/modules/frontleft.json b/src/main/deploy/YAGSL/real/modules/frontleft.json index d74a46d1..f06ff723 100644 --- a/src/main/deploy/YAGSL/real/modules/frontleft.json +++ b/src/main/deploy/YAGSL/real/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 9, "left": 9 }, - "absoluteEncoderOffset": 28.037109375, + "absoluteEncoderOffset": 29.5, "drive": { "type": "sparkmax_neo", "id": 57, diff --git a/src/main/deploy/YAGSL/real/modules/frontright.json b/src/main/deploy/YAGSL/real/modules/frontright.json index 45189cd0..7820ce80 100644 --- a/src/main/deploy/YAGSL/real/modules/frontright.json +++ b/src/main/deploy/YAGSL/real/modules/frontright.json @@ -3,7 +3,7 @@ "front": 9, "left": -9 }, - "absoluteEncoderOffset": 79.27734375, + "absoluteEncoderOffset": 350.59, "drive": { "type": "sparkmax_neo", "id": 60, diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj new file mode 100644 index 00000000..8176beb3 --- /dev/null +++ b/src/main/deploy/choreo/test.traj @@ -0,0 +1,99 @@ +{ + "name":"test", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":1.0, "y":7.162744998931885, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0, "y":7.162744998931885, "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"1 m", "val":1.0}, "y":{"exp":"7.162744998931885 m", "val":7.162744998931885}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3 m", "val":3.0}, "y":{"exp":"7.162744998931885 m", "val":7.162744998931885}, "heading":{"exp":"0 deg", "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,2.09281], + "samples":[ + {"t":0.0, "x":1.0, "y":7.16274, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":11.64693, "ay":0.0, "alpha":0.0, "fx":[66.03699,66.03699,66.03699,66.03699], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.05104, "x":1.01517, "y":7.16274, "heading":0.0, "vx":0.59451, "vy":0.0, "omega":0.0, "ax":7.94012, "ay":0.0, "alpha":0.0, "fx":[45.01971,45.01971,45.01971,45.01971], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.10209, "x":1.05586, "y":7.16274, "heading":0.0, "vx":0.99981, "vy":0.0, "omega":0.0, "ax":0.00001, "ay":0.0, "alpha":0.0, "fx":[0.00007,0.00007,0.00007,0.00007], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.15313, "x":1.1069, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":0.20418, "x":1.15793, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":0.25522, "x":1.20897, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":0.30627, "x":1.26, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":0.35731, "x":1.31104, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":0.40835, "x":1.36207, "y":7.16274, "heading":0.0, 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"alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.02089, "x":1.97448, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.07193, "x":2.02552, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.12297, "x":2.07655, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.17402, "x":2.12759, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.22506, "x":2.17862, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.27611, "x":2.22965, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.32715, "x":2.28069, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.37819, "x":2.33172, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.42924, "x":2.38276, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.48028, "x":2.43379, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.53133, "x":2.48483, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.58237, "x":2.53586, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.63342, "x":2.5869, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.68446, "x":2.63793, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.7355, "x":2.68896, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.78655, "x":2.74, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.83759, "x":2.79103, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.88864, "x":2.84207, "y":7.16274, "heading":0.0, "vx":0.99981, "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]}, + {"t":1.93968, "x":2.8931, "y":7.16274, "heading":0.0, "vx":0.99981, "vy":0.0, "omega":0.0, "ax":-0.00001, "ay":0.0, "alpha":0.0, "fx":[-0.00007,-0.00007,-0.00007,-0.00007], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.99073, "x":2.94414, "y":7.16274, "heading":0.0, "vx":0.99981, "vy":0.0, "omega":0.0, "ax":-7.94012, "ay":0.0, "alpha":0.0, "fx":[-45.01971,-45.01971,-45.01971,-45.01971], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.04177, "x":2.98483, "y":7.16274, "heading":0.0, "vx":0.59451, "vy":0.0, "omega":0.0, "ax":-11.64693, "ay":0.0, "alpha":0.0, "fx":[-66.03699,-66.03699,-66.03699,-66.03699], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.09281, "x":3.0, "y":7.16274, "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] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 11a29dc5..0b4cc525 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -102,8 +102,8 @@ public AutoRoutine swipeOutpost() { } public AutoRoutine midDepot() { - AutoRoutine routine = factory.newRoutine("depot"); - AutoTrajectory traj = routine.trajectory("depot_hook"); + AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory traj = routine.trajectory("test"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), @@ -131,6 +131,7 @@ public AutoRoutine swipeOutpostDot() { new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), new LoggableCommandWrapper(firstSwipeTraj.cmd()))); return routine; + } /* @@ -158,5 +159,5 @@ public AutoRoutine swipeOutpostDot() { swipe_two_dot 1 - shootingStop, intakeUp */ - } + } From 57694f3f8a5c504b0a2f4e1e588bb98008dbd7ad Mon Sep 17 00:00:00 2001 From: Jackson Date: Sun, 31 May 2026 19:47:39 -0400 Subject: [PATCH 42/64] Added checks to handle null cases in routine chooser --- src/main/java/frc/robot/autochooser/RoutineChooser.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 0b4cc525..25784976 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -1,11 +1,14 @@ package frc.robot.autochooser; +import java.util.Optional; + import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import choreo.auto.AutoFactory; import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; +import frc.robot.Robot; import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.intake.SpinIntake; import frc.robot.commands.intake.StopIntake; @@ -57,7 +60,8 @@ public RoutineChooser(AutoFactory factory, } public AutoRoutine getAuto() { - switch (autoChooser.get()) { + AutoPath selectedPath = autoChooser.get(); + switch (selectedPath == null ? AutoPath.DO_NOTHING : selectedPath) { case DO_NOTHING: return factory.newRoutine("do_nothing"); case SWIPE_DEPOT: From f3276c7f1dc2b8a19d01197aafca65a0c3eb6fb3 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 1 Jun 2026 08:38:58 -0400 Subject: [PATCH 43/64] added big dot autos --- src/main/deploy/choreo/bigDot.traj | 78 +++++++++++++++++++ src/main/deploy/choreo/swipe_one.traj | 2 +- .../java/frc/robot/autochooser/AutoPath.java | 5 +- .../frc/robot/autochooser/RoutineChooser.java | 44 ++++++++++- 4 files changed, 123 insertions(+), 6 deletions(-) create mode 100644 src/main/deploy/choreo/bigDot.traj diff --git a/src/main/deploy/choreo/bigDot.traj b/src/main/deploy/choreo/bigDot.traj new file mode 100644 index 00000000..d77fbee3 --- /dev/null +++ b/src/main/deploy/choreo/bigDot.traj @@ -0,0 +1,78 @@ +{ + "name":"bigDot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.40815544128418, "y":7.33, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.277971267700195, "y":7.33, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"4.40815544128418 m", "val":4.40815544128418}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.277971267700195 m", "val":8.277971267700195}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "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":"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", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.2102], + "samples":[ + {"t":0.0, "x":4.40816, "y":7.33, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":11.65354, "ay":0.0, "alpha":0.0, "fx":[66.07446,66.07446,66.07446,66.07446], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.06051, "x":4.42949, "y":7.33, "heading":0.0, "vx":0.70516, "vy":0.0, "omega":0.0, "ax":11.65189, "ay":0.0, "alpha":0.0, "fx":[66.06508,66.06508,66.06508,66.06508], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.12102, "x":4.49349, "y":7.33, "heading":0.0, "vx":1.41021, "vy":0.0, "omega":0.0, "ax":11.64943, "ay":0.0, "alpha":0.0, "fx":[66.05115,66.05115,66.05115,66.05115], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.18153, "x":4.60015, "y":7.33, "heading":0.0, "vx":2.11512, "vy":0.0, "omega":0.0, "ax":11.6454, "ay":0.0, "alpha":0.0, "fx":[66.02829,66.02829,66.02829,66.02829], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.24204, "x":4.74946, "y":7.33, "heading":0.0, "vx":2.81978, "vy":0.0, "omega":0.0, "ax":11.63756, "ay":0.0, "alpha":0.0, "fx":[65.98386,65.98386,65.98386,65.98386], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.30255, "x":4.94139, "y":7.33, "heading":0.0, "vx":3.52397, "vy":0.0, "omega":0.0, "ax":11.61575, "ay":0.0, "alpha":0.0, "fx":[65.8602,65.8602,65.8602,65.8602], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.36306, "x":5.17589, "y":7.33, "heading":0.0, "vx":4.22684, "vy":0.0, "omega":0.0, "ax":11.2403, "ay":0.0, "alpha":0.0, "fx":[63.73145,63.73145,63.73145,63.73145], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.42357, "x":5.45223, "y":7.33, "heading":0.0, "vx":4.90699, "vy":0.0, "omega":0.0, "ax":0.00707, "ay":0.0, "alpha":0.0, "fx":[0.04011,0.04011,0.04011,0.04011], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.48408, "x":5.74917, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, + {"t":0.54459, "x":6.04611, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, + {"t":0.6051, "x":6.34306, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, + {"t":0.66561, "x":6.64001, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, + {"t":0.72612, "x":6.93696, "y":7.33, "heading":0.0, "vx":4.90742, "vy":0.0, "omega":0.0, "ax":-0.00707, "ay":0.0, "alpha":0.0, "fx":[-0.04011,-0.04011,-0.04011,-0.04011], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.78663, "x":7.2339, "y":7.33, "heading":0.0, "vx":4.90699, "vy":0.0, "omega":0.0, "ax":-11.2403, "ay":0.0, "alpha":0.0, "fx":[-63.73145,-63.73145,-63.73145,-63.73145], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.84714, "x":7.51024, "y":7.33, "heading":0.0, "vx":4.22684, "vy":0.0, "omega":0.0, "ax":-11.61575, "ay":0.0, "alpha":0.0, "fx":[-65.8602,-65.8602,-65.8602,-65.8602], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.90765, "x":7.74474, "y":7.33, "heading":0.0, "vx":3.52397, "vy":0.0, "omega":0.0, "ax":-11.63756, "ay":0.0, "alpha":0.0, "fx":[-65.98386,-65.98386,-65.98386,-65.98386], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.96816, "x":7.93667, "y":7.33, "heading":0.0, "vx":2.81978, "vy":0.0, "omega":0.0, "ax":-11.6454, "ay":0.0, "alpha":0.0, "fx":[-66.02829,-66.02829,-66.02829,-66.02829], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.02867, "x":8.08598, "y":7.33, "heading":0.0, "vx":2.11512, "vy":0.0, "omega":0.0, "ax":-11.64943, "ay":0.0, "alpha":0.0, "fx":[-66.05115,-66.05115,-66.05115,-66.05115], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.08918, "x":8.19264, "y":7.33, "heading":0.0, "vx":1.41021, "vy":0.0, "omega":0.0, "ax":-11.65189, "ay":0.0, "alpha":0.0, "fx":[-66.06508,-66.06508,-66.06508,-66.06508], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.14969, "x":8.25664, "y":7.33, "heading":0.0, "vx":0.70516, "vy":0.0, "omega":0.0, "ax":-11.65354, "ay":0.0, "alpha":0.0, "fx":[-66.07446,-66.07446,-66.07446,-66.07446], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.2102, "x":8.27797, "y":7.33, "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] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/swipe_one.traj b/src/main/deploy/choreo/swipe_one.traj index 8a3b2beb..adf81505 100644 --- a/src/main/deploy/choreo/swipe_one.traj +++ b/src/main/deploy/choreo/swipe_one.traj @@ -37,7 +37,7 @@ {"x":{"exp":"5.561034679412842 m", "val":5.561034679412842}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.4035844802856445 m", "val":4.4035844802856445}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.136833906173706 m", "val":3.136833906173706}, "y":{"exp":"7.314766883850098 m", "val":7.314766883850098}, "heading":{"exp":"-3.1093458983153135 rad", "val":-3.1093458983153135}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.236395835876465 m", "val":2.236395835876465}, "y":{"exp":"6.180448532104492 m", "val":6.180448532104492}, "heading":{"exp":"-2.1327181494108878 rad", "val":-2.132718149410888}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"2.236395835876465 m", "val":2.236395835876465}, "y":{"exp":"6.180448532104492 m", "val":6.180448532104492}, "heading":{"exp":"-2.1587986689559444 rad", "val":-2.1587986689559444}, "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}, diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index 502ea3ba..ba349061 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -6,7 +6,10 @@ public enum AutoPath { SWIPE_OUTPOST("Swipe outpost"), SWIPE_DEPOT_DOT("Swipe Depot Dot"), SWIPE_OUTPOST_DOT("Swipe Outpost Dot"), - MID_DEPOT("Mid Depot"); + MID_DEPOT("Mid Depot"), + TEST("Test"), + BIG_DOT_OUTPOST("Big Dot Outpost"), + BIG_DOT_DEPOT("Big Dot Depot"); private final String name; private AutoPath(String name){ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 0b4cc525..7c118e8b 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -70,6 +70,12 @@ public AutoRoutine getAuto() { return swipeOutpostDot(); case MID_DEPOT: return midDepot(); + case TEST: + return test(); + case BIG_DOT_DEPOT: + return bigDotDepot(); + case BIG_DOT_OUTPOST: + return bigDotDepot(); default: return factory.newRoutine("do_nothing"); } @@ -102,8 +108,8 @@ public AutoRoutine swipeOutpost() { } public AutoRoutine midDepot() { - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory traj = routine.trajectory("test"); + AutoRoutine routine = factory.newRoutine("depot"); + AutoTrajectory traj = routine.trajectory("depot_hook"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), @@ -124,8 +130,8 @@ public AutoRoutine swipeDepotDot() { public AutoRoutine swipeOutpostDot() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot"); + AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one").mirrorY(); + AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot").mirrorY(); firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), @@ -133,6 +139,36 @@ public AutoRoutine swipeOutpostDot() { return routine; } + public AutoRoutine test() { + AutoRoutine routine = factory.newRoutine("test"); + AutoTrajectory traj = routine.trajectory("test"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + return routine; + } + + public AutoRoutine bigDotDepot() { + AutoRoutine routine = factory.newRoutine("dot"); + AutoTrajectory traj = routine.trajectory("bigDot"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + return routine; + } + + public AutoRoutine bigDotOutpost() { + AutoRoutine routine = factory.newRoutine("dot"); + AutoTrajectory traj = routine.trajectory("bigDot").mirrorY(); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + return routine; + } + /* Swipe Auto From b53387351d23873bc2d68de783941bea8167c609 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 1 Jun 2026 08:50:19 -0400 Subject: [PATCH 44/64] added depot swipes --- src/main/deploy/choreo/swipe_one_depot.traj | 253 ++++++++++++++++ src/main/deploy/choreo/swipe_three_depot.traj | 113 +++++++ src/main/deploy/choreo/swipe_two_depot.traj | 278 ++++++++++++++++++ 3 files changed, 644 insertions(+) create mode 100644 src/main/deploy/choreo/swipe_one_depot.traj create mode 100644 src/main/deploy/choreo/swipe_three_depot.traj create mode 100644 src/main/deploy/choreo/swipe_two_depot.traj diff --git a/src/main/deploy/choreo/swipe_one_depot.traj b/src/main/deploy/choreo/swipe_one_depot.traj new file mode 100644 index 00000000..64203a7f --- /dev/null +++ b/src/main/deploy/choreo/swipe_one_depot.traj @@ -0,0 +1,253 @@ +{ + "name":"swipe_one_depot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.40815544128418, "y":7.33, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.249518394470215, "y":7.33, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.646441459655762, "y":6.987403869628906, "heading":-1.0153019352030257, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.165298461914062, "y":5.849909782409668, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.94578218460083, "y":4.6924591064453125, "heading":-2.2264918938186735, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.967936038970947, "y":4.4629645347595215, "heading":-3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.860374927520752, "y":5.390920639038086, "heading":1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.089869976043701, "y":6.747931480407715, "heading":2.0926308086284435, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.561034679412842, "y":7.33, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.4035844802856445, "y":7.33, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.136833906173706, "y":7.314766883850098, "heading":-3.1093458983153135, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.5680079460144043, "y":5.777284145355225, "heading":0.9332470401886044, "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":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":8, "to":10, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":5, "data":{"type":"MaxVelocity", "props":{"max":1.6}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"4.40815544128418 m", "val":4.40815544128418}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.249518394470215 m", "val":6.249518394470215}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.646441459655762 m", "val":7.646441459655762}, "y":{"exp":"6.987403869628906 m", "val":6.987403869628906}, "heading":{"exp":"-1.0153019352030255 rad", "val":-1.0153019352030257}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"8.165298461914062 m", "val":8.165298461914062}, "y":{"exp":"5.849909782409668 m", "val":5.849909782409668}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":20, 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{"name":"intakeStop", "from":{"target":10, "targetTimestamp":5.7687, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"shooting", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} From 2b80528235214c4d49b840cb1085e7ac5b247ac8 Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 1 Jun 2026 20:05:31 -0400 Subject: [PATCH 45/64] Cherry pick from WPI branch --- src/main/java/frc/robot/RobotContainer.java | 6 +++--- src/main/java/frc/robot/constants/GameConstants.java | 4 ++-- src/main/java/frc/robot/subsystems/ControllerSubsystem.java | 6 +++--- .../java/frc/robot/subsystems/IntakeDeployerSubsystem.java | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 348d6870..3dc5928f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -308,10 +308,10 @@ private void configureBindings() { controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED)); controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB)); - controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING)); + //controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING)); controller.leftTrigger().whileTrue(new ReverseHopper(hopperSubsystem)); controller.rightTrigger().whileTrue(new ReverseIntake(intakeSubsystem)); - driveJoystick.trigger().whileTrue((new SetShootingState(shootState, ShootState.STOPPED))); + driveJoystick.trigger().whileTrue(new ShootButton(controllerSubsystem)); // Schedule `ExampleCommand` when `exampleCondition` changes to `true` // new Trigger(m_exampleSubsystem::exampleCondition) @@ -327,7 +327,7 @@ private void configureBindings() { intakeDeployer.setDefaultCommand(new RunDeployer(intakeDeployer)); anglerSubsystem.setDefaultCommand(new DefaultAnglerControl(anglerSubsystem, controllerSubsystem)); shooterSubsystem.setDefaultCommand(new DefaultShooterControl(shooterSubsystem, controllerSubsystem)); - turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem)); + //turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem)); hopperSubsystem.setDefaultCommand(new DefaultSpinHopper(hopperSubsystem, controllerSubsystem, shootState)); feederSubsystem.setDefaultCommand(new DefaultSpinFeeder(feederSubsystem, controllerSubsystem)); } diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 7a6028cd..18a47542 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -61,7 +61,7 @@ public enum Mode { public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.3; public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.3; public static final double AGITATOR_DOWN = -0.15; - public static final double AGITATIOR_UP = 0.15; + public static final double AGITATIOR_UP = 0.3; //Diags @@ -84,7 +84,7 @@ public enum Mode { public static final double SHOOTER_TIMEOUT = 5; public static final double INTAKE_DEPLOYER_TIMEOUT_TIMER = 5; public static final double TURRET_TIMEOUT = 5; - public static final int AGITATOR_CYCLE_TIME = 3; + public static final int AGITATOR_CYCLE_TIME = 1; //Angles public static final Rotation2d ANGLER_MIN_ANGLE = Rotation2d.fromDegrees(45); diff --git a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java index 29e67776..67677e61 100644 --- a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java @@ -305,9 +305,9 @@ private double calculateAnglerAngleDegrees(ShootState state, double computedDist private double calculateShooterVelocity(ShootState state, double computedDistanceMeters, PoseControlProfile profile) { double distance = (UnitConversion.METER_TO_FOOT * computedDistanceMeters) - Constants.COMPUTATED_DISTANCE_OFFSET; if (state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM) { - return (-3.35357 * distance * distance - -36.02163 * distance - -1920.78263); + return (-5.24406 * distance * distance + + 3.98 * distance + - 2063.94375); } else if (state == ShootState.SHUTTLING) { return (((-distance * distance) - 5 * distance) - 2800); } diff --git a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java index 83ec368f..c21e8e01 100644 --- a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java @@ -33,7 +33,7 @@ public class IntakeDeployerSubsystem extends SubsystemBase { public static final String LOGGING_NAME = "IntakeDeployer"; - public DeploymentState deploymentState = DeploymentState.UP; + public DeploymentState deploymentState = DeploymentState.STOPPED; private final SparkMaxIo io; public IntakeDeployerSubsystem(SparkMaxIo io) { From 21f44b7744e565e134d761be11059b2b43e7cf6e Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 09:45:39 -0400 Subject: [PATCH 46/64] added all the paths we wanted yesteday; fixed issue with mirroring the paths, still need to update sequences --- src/main/deploy/choreo/bigDot.traj | 78 -- src/main/deploy/choreo/bigDot_depot_1.traj | 91 ++ src/main/deploy/choreo/bigDot_depot_2.traj | 119 +++ src/main/deploy/choreo/bigDot_outpost_1.traj | 89 ++ src/main/deploy/choreo/bigDot_outpost_2.traj | 119 +++ src/main/deploy/choreo/shoot_depot_1.traj | 79 ++ src/main/deploy/choreo/shoot_depot_2.traj | 77 ++ src/main/deploy/choreo/shoot_outpost_1.traj | 77 ++ src/main/deploy/choreo/shoot_outpost_2.traj | 79 ++ src/main/deploy/choreo/swipe_1.traj | 232 +++++ src/main/deploy/choreo/swipe_2.traj | 240 +++++ src/main/deploy/choreo/swipe_3.traj | 99 ++ src/main/deploy/choreo/swipe_one.traj | 250 ----- src/main/deploy/choreo/swipe_one_depot.traj | 253 ----- src/main/deploy/choreo/swipe_one_slow.traj | 836 ---------------- src/main/deploy/choreo/swipe_three.traj | 115 --- src/main/deploy/choreo/swipe_three_depot.traj | 113 --- src/main/deploy/choreo/swipe_three_slow.traj | 344 ------- src/main/deploy/choreo/swipe_two.traj | 278 ------ src/main/deploy/choreo/swipe_two_depot.traj | 278 ------ src/main/deploy/choreo/swipe_two_dot.traj | 130 --- src/main/deploy/choreo/swipe_two_slow.traj | 910 ------------------ src/main/deploy/choreo/test.traj | 76 +- src/main/java/frc/robot/Drive.java | 4 +- .../frc/robot/autochooser/RoutineChooser.java | 3 +- .../frc/robot/commands/auto/AutoShoot.java | 7 +- .../commands/auto/newauto/FastDepotBlue.java | 4 +- .../commands/auto/newauto/FastDepotRed.java | 4 +- 28 files changed, 1338 insertions(+), 3646 deletions(-) delete mode 100644 src/main/deploy/choreo/bigDot.traj create mode 100644 src/main/deploy/choreo/bigDot_depot_1.traj create mode 100644 src/main/deploy/choreo/bigDot_depot_2.traj create mode 100644 src/main/deploy/choreo/bigDot_outpost_1.traj create mode 100644 src/main/deploy/choreo/bigDot_outpost_2.traj create mode 100644 src/main/deploy/choreo/shoot_depot_1.traj create mode 100644 src/main/deploy/choreo/shoot_depot_2.traj create mode 100644 src/main/deploy/choreo/shoot_outpost_1.traj create mode 100644 src/main/deploy/choreo/shoot_outpost_2.traj create mode 100644 src/main/deploy/choreo/swipe_1.traj create mode 100644 src/main/deploy/choreo/swipe_2.traj create mode 100644 src/main/deploy/choreo/swipe_3.traj delete mode 100644 src/main/deploy/choreo/swipe_one.traj delete mode 100644 src/main/deploy/choreo/swipe_one_depot.traj delete mode 100644 src/main/deploy/choreo/swipe_one_slow.traj delete mode 100644 src/main/deploy/choreo/swipe_three.traj delete mode 100644 src/main/deploy/choreo/swipe_three_depot.traj delete mode 100644 src/main/deploy/choreo/swipe_three_slow.traj delete mode 100644 src/main/deploy/choreo/swipe_two.traj delete mode 100644 src/main/deploy/choreo/swipe_two_depot.traj delete mode 100644 src/main/deploy/choreo/swipe_two_dot.traj delete mode 100644 src/main/deploy/choreo/swipe_two_slow.traj diff --git a/src/main/deploy/choreo/bigDot.traj b/src/main/deploy/choreo/bigDot.traj deleted file mode 100644 index d77fbee3..00000000 --- a/src/main/deploy/choreo/bigDot.traj +++ /dev/null @@ -1,78 +0,0 @@ -{ - "name":"bigDot", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":4.40815544128418, "y":7.33, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.277971267700195, "y":7.33, "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":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"4.40815544128418 m", "val":4.40815544128418}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"8.277971267700195 m", "val":8.277971267700195}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"0 deg", "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":"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", - "val":0.05 - } - }, - "trajectory":{ - "config":{ - "frontLeft":{ - "x":0.2794, - "y":0.2794 - }, - "backLeft":{ - "x":-0.2794, - "y":0.2794 - }, - "mass":22.6796185, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.19, - "bumper":{ - "front":0.43, - "side":0.43, - "back":0.43 - }, - "differentialTrackWidth":0.5588 - }, - "sampleType":"Swerve", - "waypoints":[0.0,1.2102], - "samples":[ - {"t":0.0, "x":4.40816, "y":7.33, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":11.65354, "ay":0.0, "alpha":0.0, "fx":[66.07446,66.07446,66.07446,66.07446], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.06051, "x":4.42949, "y":7.33, "heading":0.0, "vx":0.70516, "vy":0.0, "omega":0.0, "ax":11.65189, "ay":0.0, "alpha":0.0, "fx":[66.06508,66.06508,66.06508,66.06508], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.12102, "x":4.49349, "y":7.33, "heading":0.0, "vx":1.41021, "vy":0.0, "omega":0.0, "ax":11.64943, "ay":0.0, "alpha":0.0, "fx":[66.05115,66.05115,66.05115,66.05115], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.18153, "x":4.60015, "y":7.33, "heading":0.0, "vx":2.11512, "vy":0.0, "omega":0.0, "ax":11.6454, "ay":0.0, "alpha":0.0, "fx":[66.02829,66.02829,66.02829,66.02829], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.24204, "x":4.74946, "y":7.33, "heading":0.0, "vx":2.81978, "vy":0.0, "omega":0.0, "ax":11.63756, "ay":0.0, "alpha":0.0, "fx":[65.98386,65.98386,65.98386,65.98386], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.30255, "x":4.94139, "y":7.33, "heading":0.0, "vx":3.52397, "vy":0.0, "omega":0.0, "ax":11.61575, "ay":0.0, "alpha":0.0, "fx":[65.8602,65.8602,65.8602,65.8602], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.36306, "x":5.17589, "y":7.33, "heading":0.0, "vx":4.22684, "vy":0.0, "omega":0.0, "ax":11.2403, "ay":0.0, "alpha":0.0, "fx":[63.73145,63.73145,63.73145,63.73145], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.42357, "x":5.45223, "y":7.33, "heading":0.0, "vx":4.90699, "vy":0.0, "omega":0.0, "ax":0.00707, "ay":0.0, "alpha":0.0, "fx":[0.04011,0.04011,0.04011,0.04011], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.48408, "x":5.74917, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, - {"t":0.54459, "x":6.04611, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, - {"t":0.6051, "x":6.34306, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, - {"t":0.66561, "x":6.64001, "y":7.33, "heading":0.0, "vx":4.90742, "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]}, - {"t":0.72612, "x":6.93696, "y":7.33, "heading":0.0, "vx":4.90742, "vy":0.0, "omega":0.0, "ax":-0.00707, "ay":0.0, "alpha":0.0, "fx":[-0.04011,-0.04011,-0.04011,-0.04011], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.78663, "x":7.2339, "y":7.33, "heading":0.0, "vx":4.90699, "vy":0.0, "omega":0.0, "ax":-11.2403, "ay":0.0, "alpha":0.0, "fx":[-63.73145,-63.73145,-63.73145,-63.73145], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.84714, "x":7.51024, "y":7.33, "heading":0.0, "vx":4.22684, "vy":0.0, "omega":0.0, "ax":-11.61575, "ay":0.0, "alpha":0.0, "fx":[-65.8602,-65.8602,-65.8602,-65.8602], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.90765, "x":7.74474, "y":7.33, "heading":0.0, "vx":3.52397, "vy":0.0, "omega":0.0, "ax":-11.63756, "ay":0.0, "alpha":0.0, "fx":[-65.98386,-65.98386,-65.98386,-65.98386], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.96816, "x":7.93667, "y":7.33, "heading":0.0, "vx":2.81978, "vy":0.0, "omega":0.0, "ax":-11.6454, "ay":0.0, "alpha":0.0, "fx":[-66.02829,-66.02829,-66.02829,-66.02829], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.02867, "x":8.08598, "y":7.33, "heading":0.0, "vx":2.11512, "vy":0.0, "omega":0.0, "ax":-11.64943, "ay":0.0, "alpha":0.0, "fx":[-66.05115,-66.05115,-66.05115,-66.05115], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.08918, "x":8.19264, "y":7.33, "heading":0.0, "vx":1.41021, "vy":0.0, "omega":0.0, "ax":-11.65189, "ay":0.0, "alpha":0.0, "fx":[-66.06508,-66.06508,-66.06508,-66.06508], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.14969, "x":8.25664, "y":7.33, "heading":0.0, "vx":0.70516, "vy":0.0, "omega":0.0, "ax":-11.65354, "ay":0.0, "alpha":0.0, "fx":[-66.07446,-66.07446,-66.07446,-66.07446], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.2102, "x":8.27797, "y":7.33, "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] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/bigDot_depot_1.traj 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100644 --- a/src/main/deploy/choreo/test.traj +++ b/src/main/deploy/choreo/test.traj @@ -3,22 +3,20 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.0, "y":7.162744998931885, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.0, "y":7.162744998931885, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.008200168609619, "y":7.139357089996338, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.9848122596740723, "y":5.443727016448975, "heading":3.141592653589793, "intervals":10, "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}, - 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"omega":2.90187, "ax":1.40211, "ay":9.01563, "alpha":-8.23984, "fx":[-8.19397,-47.98507,51.3134,36.66499], "fy":[65.38685,44.96078,39.43207,54.69127]}, + {"t":0.55752, "x":2.99736, "y":5.88018, "heading":2.76417, "vx":-0.13636, "vy":-2.8582, "omega":2.48425, "ax":0.99342, "ay":9.28759, "alpha":-8.10532, "fx":[-11.63628,-47.78856,49.85411,32.10116], "fy":[64.96483,45.38367,42.64823,57.64231]}, + {"t":0.6082, "x":2.99172, "y":5.74725, "heading":2.87967, "vx":-0.08601, "vy":-2.38747, "omega":2.07344, "ax":0.70453, "ay":9.34197, "alpha":-8.20542, "fx":[-14.59024,-48.12979,49.89306,28.8055], "fy":[64.40414,45.10139,42.95502,59.41178]}, + {"t":0.65888, "x":2.98827, "y":5.63824, "heading":2.97422, "vx":-0.0503, "vy":-1.91399, "omega":1.65757, "ax":0.46752, "ay":9.38134, "alpha":-8.24108, "fx":[-16.96924,-48.31094,49.68357,26.19978], "fy":[63.83882,44.94943,43.34417,60.63275]}, + {"t":0.70957, "x":2.98632, "y":5.55328, "heading":3.04764, "vx":-0.02661, "vy":-1.43851, "omega":1.23988, "ax":0.28459, "ay":9.42233, "alpha":-8.21453, "fx":[-18.77196,-48.2676,49.30656,24.18746], "fy":[63.34478,45.02304,43.84814,61.47893]}, + {"t":0.76025, "x":2.98533, "y":5.49248, "heading":3.09993, "vx":-0.01218, "vy":-0.96095, "omega":0.82354, "ax":0.1571, "ay":9.46248, "alpha":-8.15611, "fx":[-20.01784,-48.06842,48.90248,22.7467], "fy":[62.97089,45.25573,44.34212,62.03669]}, + {"t":0.81093, "x":2.98492, "y":5.45593, "heading":3.1312, "vx":-0.00422, "vy":-0.48136, "omega":0.41016, "ax":0.08325, "ay":9.49743, "alpha":-8.09259, "fx":[-20.72876,-47.80947,48.55792,21.86835], "fy":[62.74694,45.54588,44.74647,62.35889]}, + {"t":0.86162, "x":2.98481, "y":5.44373, "heading":3.14159, "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] }, "events":[] diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java index 7e1a926b..185913ae 100644 --- a/src/main/java/frc/robot/Drive.java +++ b/src/main/java/frc/robot/Drive.java @@ -9,8 +9,8 @@ public class Drive extends SubsystemBase{ - private final PIDController xController = new PIDController(10, 0.0, 0.0); - private final PIDController yController = new PIDController(10, 0.0, 0.0); + private final PIDController xController = new PIDController(20, 0.0, 0.0); + private final PIDController yController = new PIDController(20, 0.0, 0.0); private final PIDController headingController = new PIDController(1, 0.0, 0); private SwerveSubsystem subsystem; diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index bcccaded..c7d32f6c 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -50,8 +50,6 @@ public RoutineChooser(AutoFactory factory, factory.bind("intakeStart", new SpinIntake(intake)); //intake start marker factory.bind("intakeStop", new StopIntake(intake)); //intake stop marker factory.bind("intakeUp", new ForceDeployUp(deployer)); //intake up marker - factory.bind("shooting", new SetShootingState(shootState, ShootState.SHOOTING_HUB)); //shoot state to shooting marker - factory.bind("stopShooting", new SetShootingState(shootState, ShootState.STOPPED)); //shoot state to stop marker autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { @@ -170,6 +168,7 @@ public AutoRoutine bigDotOutpost() { routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); + return routine; } diff --git a/src/main/java/frc/robot/commands/auto/AutoShoot.java b/src/main/java/frc/robot/commands/auto/AutoShoot.java index ec0ebfe4..dfb83360 100644 --- a/src/main/java/frc/robot/commands/auto/AutoShoot.java +++ b/src/main/java/frc/robot/commands/auto/AutoShoot.java @@ -2,15 +2,18 @@ import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.hopper.AutoSpinHopper; -import frc.robot.commands.hopper.SpinHopper; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; import frc.robot.utils.logging.commands.LoggableRaceCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; public class AutoShoot extends LoggableRaceCommandGroup{ - public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, double time){ + public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, ShootingState shootState, double time){ super( + new SetShootingState(shootState, ShootState.SHOOTING_HUB), new AutoSpinHopper(hopperSubsystem), new SpinFeeder(feederSubsystem), new LoggableWaitCommand(time) diff --git a/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java b/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java index a7118706..2c0c7db2 100644 --- a/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java +++ b/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java @@ -30,10 +30,10 @@ public FastDepotBlue( LoggableCommandWrapper.wrap(auto.resetOdometry("Depot_Fast")), LoggableCommandWrapper.wrap(auto.trajectoryCmd("Depot_Fast")) ), - new AutoShoot(hopper, feeder, 1), + new AutoShoot(hopper, feeder, shootstate, 1), new ToggleDeployment(intake), new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, 20), + new AutoShoot(hopper, feeder, shootstate, 20), new LoggableSequentialCommandGroup( new DriveSwerve(drivetrain, DriveDirection.FORWARD, 5, 0.3), new DriveSwerve(drivetrain, DriveDirection.BACKWARD, 0.5, 0.6), diff --git a/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java b/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java index 972425c3..3f8131e1 100644 --- a/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java +++ b/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java @@ -30,10 +30,10 @@ public FastDepotRed( LoggableCommandWrapper.wrap(auto.resetOdometry("Depot_Fast")), LoggableCommandWrapper.wrap(auto.trajectoryCmd("Depot_Fast")) ), - new AutoShoot(hopper, feeder, 1), + new AutoShoot(hopper, feeder, shootstate, 1), new ToggleDeployment(intake), new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, 20), + new AutoShoot(hopper, feeder, shootstate, 20), new LoggableSequentialCommandGroup( new DriveSwerve(drivetrain, DriveDirection.BACKWARD, 6, 0.3), new DriveSwerve(drivetrain, DriveDirection.FORWARD, 0.5, 0.6), From 91434bb31cee6e9980b4932d1c2062cbe09638b8 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 10:15:00 -0400 Subject: [PATCH 47/64] wip sequences --- .../frc/robot/autochooser/RoutineChooser.java | 43 +++++++++++++++---- 1 file changed, 35 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index c7d32f6c..f5c9e0b7 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -9,6 +9,7 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import frc.robot.Robot; +import frc.robot.commands.auto.AutoShoot; import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.intake.SpinIntake; import frc.robot.commands.intake.StopIntake; @@ -20,10 +21,12 @@ import frc.robot.constants.enums.ShootingState.ShootState; import frc.robot.subsystems.ControllerSubsystem; import frc.robot.subsystems.FeederSubsystem; +import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.ShooterSubsystem; import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; @@ -33,18 +36,21 @@ public class RoutineChooser { private final IntakeSubsystem intake; private final IntakeDeployerSubsystem deployer; private final ShootingState shootState; + private final HopperSubsystem hopper; private final LoggedDashboardChooser autoChooser; public RoutineChooser(AutoFactory factory, FeederSubsystem feeder, IntakeSubsystem intake, IntakeDeployerSubsystem deployer, - ShootingState shootState) { + ShootingState shootState, + HopperSubsystem hopper) { this.factory = factory; this.feeder = feeder; this.intake = intake; this.deployer = deployer; this.shootState = shootState; + this.hopper = hopper; factory.bind("intakeDeploy", new ForceDeployDown(deployer)); //intake deploy marker factory.bind("intakeStart", new SpinIntake(intake)); //intake start marker @@ -86,16 +92,37 @@ public AutoRoutine getAuto() { public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two"); - AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three"); - firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); - secondSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(thirdSwipeTraj.cmd())); + AutoTrajectory swipe1 = routine.trajectory("swipe_1"); + AutoTrajectory swipe2 = routine.trajectory("swipe_2"); + AutoTrajectory swipe3 = routine.trajectory("swipe_2"); + AutoTrajectory shoot1 = routine.trajectory("shoot_depot_1"); + AutoTrajectory shoot2 = routine.trajectory("shoot_depot_2"); + routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), - new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + new LoggableCommandWrapper(swipe1.resetOdometry()), + new LoggableCommandWrapper(swipe1.cmd()) + )); + + swipe1.done().onTrue(shoot1.cmd()); + + shoot1.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableWaitCommand(3) + )); + shoot2.cmd(); + + swipe2.cmd(); + + swipe2.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableWaitCommand(3) + )); + swipe3.cmd(); + return routine; } + + public AutoRoutine swipeOutpost() { AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one").mirrorY(); From 07e48707d81951193a063b02a20b2be3f595a203 Mon Sep 17 00:00:00 2001 From: Jackson Date: Tue, 2 Jun 2026 18:32:51 -0400 Subject: [PATCH 48/64] Fixed build error --- src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3dc5928f..15b0d044 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -216,7 +216,7 @@ public RobotContainer() { } setUpAutoFactory(); - autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer, shootState); + autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer, shootState, hopperSubsystem); configureBindings(); putShuffleboardCommands(); } From 65058fa1e8c6f740c840e15b3273296c437dfe1c Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 19:37:11 -0400 Subject: [PATCH 49/64] wip --- .../java/frc/robot/autochooser/RoutineChooser.java | 8 +++++--- .../java/frc/robot/commands/auto/AutoShoot.java | 14 ++++++++++---- 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index f5c9e0b7..5cea2136 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -111,13 +111,15 @@ public AutoRoutine swipeDepot() { )); shoot2.cmd(); - swipe2.cmd(); + shoot2.done().onTrue(shoot1.cmd()); - swipe2.done().onTrue(new LoggableParallelCommandGroup( + shoot1.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), new LoggableWaitCommand(3) )); - swipe3.cmd(); + shoot2.cmd(); + + shoot2.done().onTrue(swipe3.cmd()); return routine; } diff --git a/src/main/java/frc/robot/commands/auto/AutoShoot.java b/src/main/java/frc/robot/commands/auto/AutoShoot.java index dfb83360..d1b195a2 100644 --- a/src/main/java/frc/robot/commands/auto/AutoShoot.java +++ b/src/main/java/frc/robot/commands/auto/AutoShoot.java @@ -8,15 +8,21 @@ import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; import frc.robot.utils.logging.commands.LoggableRaceCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; -public class AutoShoot extends LoggableRaceCommandGroup{ +public class AutoShoot extends LoggableSequentialCommandGroup{ public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, ShootingState shootState, double time){ super( new SetShootingState(shootState, ShootState.SHOOTING_HUB), - new AutoSpinHopper(hopperSubsystem), - new SpinFeeder(feederSubsystem), - new LoggableWaitCommand(time) + + new LoggableRaceCommandGroup( + new AutoSpinHopper(hopperSubsystem), + new SpinFeeder(feederSubsystem), + new LoggableWaitCommand(time) + ), + + new SetShootingState(shootState, ShootState.STOPPED) ); } } \ No newline at end of file From 6b44d9115f466f62af826f9dc12a6337dc408cd8 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 19:37:53 -0400 Subject: [PATCH 50/64] wip more --- src/main/java/frc/robot/autochooser/RoutineChooser.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 5cea2136..bfc6191f 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -111,9 +111,9 @@ public AutoRoutine swipeDepot() { )); shoot2.cmd(); - shoot2.done().onTrue(shoot1.cmd()); + shoot2.done().onTrue(swipe2.cmd()); - shoot1.done().onTrue(new LoggableParallelCommandGroup( + swipe2.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), new LoggableWaitCommand(3) )); From f48ced1e5c4d7d2526a2f4c9a54f7a8b8c2de0cd Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 19:51:23 -0400 Subject: [PATCH 51/64] constants changes --- src/main/java/frc/robot/constants/GameConstants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 18a47542..938f2885 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -45,7 +45,7 @@ public enum Mode { public static final int XBOX_CONTROLLER_PORT = 2; //Speeds - public static final double INTAKE_SPEED = 0.8; + public static final double INTAKE_SPEED = 1; public static final double INTAKE_REVERSE_SPEED = -0.5; public static final double HOPPER_SPEED = 1; public static final double HOPPER_AUTO_SPEED = 0.35; @@ -60,7 +60,7 @@ public enum Mode { public static final double INTAKE_RETRACTION_SPEED = 0.075; public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.3; public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.3; - public static final double AGITATOR_DOWN = -0.15; + public static final double AGITATOR_DOWN = -0.3; public static final double AGITATIOR_UP = 0.3; @@ -84,7 +84,7 @@ public enum Mode { public static final double SHOOTER_TIMEOUT = 5; public static final double INTAKE_DEPLOYER_TIMEOUT_TIMER = 5; public static final double TURRET_TIMEOUT = 5; - public static final int AGITATOR_CYCLE_TIME = 1; + public static final double AGITATOR_CYCLE_TIME = 0.25; //Angles public static final Rotation2d ANGLER_MIN_ANGLE = Rotation2d.fromDegrees(45); From ceec287b2ae184c6a455ccc5273c09d3113f7b0d Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 20:07:44 -0400 Subject: [PATCH 52/64] more constants changes --- src/main/java/frc/robot/constants/GameConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 938f2885..9135d3c1 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -60,7 +60,7 @@ public enum Mode { public static final double INTAKE_RETRACTION_SPEED = 0.075; public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.3; public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.3; - public static final double AGITATOR_DOWN = -0.3; + public static final double AGITATOR_DOWN = -0.15; public static final double AGITATIOR_UP = 0.3; @@ -84,7 +84,7 @@ public enum Mode { public static final double SHOOTER_TIMEOUT = 5; public static final double INTAKE_DEPLOYER_TIMEOUT_TIMER = 5; public static final double TURRET_TIMEOUT = 5; - public static final double AGITATOR_CYCLE_TIME = 0.25; + public static final double AGITATOR_CYCLE_TIME = 1; //Angles public static final Rotation2d ANGLER_MIN_ANGLE = Rotation2d.fromDegrees(45); From 62800f024bb0ccfd11d927f7c89fb15fa83f2a1e Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 20:10:26 -0400 Subject: [PATCH 53/64] routine chooser wip --- .../frc/robot/autochooser/RoutineChooser.java | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index bfc6191f..2db92c87 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -13,6 +13,7 @@ import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.intake.SpinIntake; import frc.robot.commands.intake.StopIntake; +import frc.robot.commands.intakeDeployment.Agitate; import frc.robot.commands.intakeDeployment.ForceDeployDown; import frc.robot.commands.intakeDeployment.ForceDeployUp; import frc.robot.commands.intakeDeployment.ToggleDeployment; @@ -93,8 +94,6 @@ public AutoRoutine getAuto() { public AutoRoutine swipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory swipe1 = routine.trajectory("swipe_1"); - AutoTrajectory swipe2 = routine.trajectory("swipe_2"); - AutoTrajectory swipe3 = routine.trajectory("swipe_2"); AutoTrajectory shoot1 = routine.trajectory("shoot_depot_1"); AutoTrajectory shoot2 = routine.trajectory("shoot_depot_2"); @@ -107,19 +106,15 @@ public AutoRoutine swipeDepot() { shoot1.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), - new LoggableWaitCommand(3) + new LoggableWaitCommand(6), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(3), + new Agitate(deployer) + ) )); shoot2.cmd(); - shoot2.done().onTrue(swipe2.cmd()); - - swipe2.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableWaitCommand(3) - )); - shoot2.cmd(); - - shoot2.done().onTrue(swipe3.cmd()); + shoot2.done().onTrue(shoot2.cmd()); return routine; } From b6afe74352b0dbc6fdb7a60997d9e6440e6439c5 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 2 Jun 2026 21:06:39 -0400 Subject: [PATCH 54/64] changes from today --- src/main/deploy/choreo/swipe_1.traj | 376 ++++++++++-------- src/main/deploy/choreo/test_spin.traj | 75 ++++ src/main/java/frc/robot/Drive.java | 2 +- .../java/frc/robot/autochooser/AutoPath.java | 4 +- .../frc/robot/autochooser/RoutineChooser.java | 51 ++- .../intakeDeployment/ForceDeployDown.java | 4 +- 6 files changed, 317 insertions(+), 195 deletions(-) create mode 100644 src/main/deploy/choreo/test_spin.traj diff --git a/src/main/deploy/choreo/swipe_1.traj b/src/main/deploy/choreo/swipe_1.traj index 65cce99f..e7f9d2e6 100644 --- a/src/main/deploy/choreo/swipe_1.traj +++ b/src/main/deploy/choreo/swipe_1.traj @@ -4,13 +4,13 @@ "snapshot":{ "waypoints":[ {"x":4.40815544128418, "y":7.33, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.249518394470215, "y":7.33, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.646441459655762, "y":6.987403869628906, "heading":-1.0153019352030257, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.165298461914062, "y":5.849909782409668, "heading":-1.5707963267948966, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.94578218460083, "y":4.6924591064453125, "heading":-2.2264918938186735, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.967936038970947, "y":4.4629645347595215, "heading":-3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.860374927520752, "y":5.390920639038086, "heading":1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.089869976043701, "y":6.747931480407715, 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}, "events":[ - {"name":"intakeDeploy", "from":{"target":1, "targetTimestamp":0.58772, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"intakeStop", "from":{"target":8, "targetTimestamp":4.45835, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"intakeStart", "from":{"target":1, "targetTimestamp":0.58772, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"shooting", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"intakeDeploy", "from":{"target":1, "targetTimestamp":0.59402, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeStop", "from":{"target":8, "targetTimestamp":4.02209, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"intakeStart", "from":{"target":1, "targetTimestamp":0.59402, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/deploy/choreo/test_spin.traj b/src/main/deploy/choreo/test_spin.traj new file mode 100644 index 00000000..cd9ac2ee --- /dev/null +++ b/src/main/deploy/choreo/test_spin.traj @@ -0,0 +1,75 @@ +{ + "name":"test_spin", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.008200168609619, "y":7.139357089996338, "heading":1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.008200168609619, "y":7.139357089996338, "heading":-3.141592653589793, "intervals":17, "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":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"3.008200168609619 m", "val":3.008200168609619}, "y":{"exp":"7.139357089996338 m", "val":7.139357089996338}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.008200168609619 m", "val":3.008200168609619}, "y":{"exp":"7.139357089996338 m", "val":7.139357089996338}, "heading":{"exp":"-180 deg", "val":-3.141592653589793}, "intervals":17, "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":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.90381], + "samples":[ + {"t":0.0, "x":3.0082, "y":7.13936, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":17.40341, "fx":[-46.71638,46.71638,46.71638,-46.71638], "fy":[-46.71638,-46.71638,46.71638,46.71638]}, + {"t":0.05317, "x":3.0082, "y":7.13936, "heading":1.59539, "vx":0.0, "vy":0.0, "omega":0.92526, "ax":0.0, "ay":0.0, "alpha":17.38878, "fx":[-45.51503,47.81095,45.51503,-47.81095], "fy":[-47.81095,-45.51503,47.81095,45.51503]}, + {"t":0.10633, "x":3.0082, "y":7.13936, "heading":1.66916, "vx":0.0, "vy":0.0, "omega":1.84975, "ax":0.0, "ay":0.0, "alpha":2.81882, "fx":[-6.78698,8.27315,6.78698,-8.27315], "fy":[-8.27315,-6.78698,8.27315,6.78698]}, + {"t":0.1595, "x":3.0082, "y":7.13936, "heading":1.77149, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,0.00001,0.00001,-0.00001], "fy":[-0.00001,-0.00001,0.00001,0.00001]}, + {"t":0.21266, "x":3.0082, "y":7.13936, "heading":1.8778, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.26583, "x":3.0082, "y":7.13936, "heading":1.98411, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.31899, "x":3.0082, "y":7.13936, "heading":2.09042, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.37216, "x":3.0082, "y":7.13936, "heading":2.19673, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.42532, "x":3.0082, "y":7.13936, "heading":2.30304, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.47849, "x":3.0082, "y":7.13936, "heading":2.40935, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.53166, "x":3.0082, "y":7.13936, "heading":2.51566, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.58482, "x":3.0082, "y":7.13936, "heading":2.62197, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.63799, "x":3.0082, "y":7.13936, "heading":2.72828, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.69115, "x":3.0082, "y":7.13936, "heading":2.83459, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,0.00001,0.00001], "fy":[0.00001,-0.00001,-0.00001,0.00001]}, + {"t":0.74432, "x":3.0082, "y":7.13936, "heading":2.9409, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":-2.81882, "fx":[-5.90639,-8.92315,5.90639,8.92315], "fy":[8.92315,-5.90639,-8.92315,5.90639]}, + {"t":0.79748, "x":3.0082, "y":7.13936, "heading":3.04323, "vx":0.0, "vy":0.0, "omega":1.84975, "ax":0.0, "ay":0.0, "alpha":-17.38878, "fx":[-41.86756,-51.03541,41.86756,51.03541], "fy":[51.03541,-41.86756,-51.03541,41.86756]}, + {"t":0.85065, "x":3.0082, "y":7.13936, "heading":3.117, "vx":0.0, "vy":0.0, "omega":0.92526, "ax":0.0, "ay":0.0, "alpha":-17.40341, "fx":[-45.55333,-47.85117,45.55333,47.85117], "fy":[47.85117,-45.55333,-47.85117,45.55333]}, + {"t":0.90381, "x":3.0082, "y":7.13936, "heading":-3.14159, "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] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java index 185913ae..e0e3dcde 100644 --- a/src/main/java/frc/robot/Drive.java +++ b/src/main/java/frc/robot/Drive.java @@ -11,7 +11,7 @@ public class Drive extends SubsystemBase{ private final PIDController xController = new PIDController(20, 0.0, 0.0); private final PIDController yController = new PIDController(20, 0.0, 0.0); - private final PIDController headingController = new PIDController(1, 0.0, 0); + private final PIDController headingController = new PIDController(10, 0.0, 0); private SwerveSubsystem subsystem; public Drive(SwerveSubsystem subsystem) { diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index ba349061..864e7d6f 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -2,8 +2,8 @@ public enum AutoPath { DO_NOTHING("Do nothing"), - SWIPE_DEPOT("Swipe depot"), - SWIPE_OUTPOST("Swipe outpost"), + SINGLE_SWIPE_DEPOT("Single swipe depot"), + SINGLE_SWIPE_OUTPOST("Single Swipe outpost"), SWIPE_DEPOT_DOT("Swipe Depot Dot"), SWIPE_OUTPOST_DOT("Swipe Outpost Dot"), MID_DEPOT("Mid Depot"), diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 2db92c87..36dbe18b 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -69,10 +69,10 @@ public AutoRoutine getAuto() { switch (selectedPath == null ? AutoPath.DO_NOTHING : selectedPath) { case DO_NOTHING: return factory.newRoutine("do_nothing"); - case SWIPE_DEPOT: - return swipeDepot(); - case SWIPE_OUTPOST: - return swipeOutpost(); + case SINGLE_SWIPE_DEPOT: + return singleSwipeDepot(); + case SINGLE_SWIPE_OUTPOST: + return singleSwipeOutpost(); case SWIPE_DEPOT_DOT: return swipeDepotDot(); case SWIPE_OUTPOST_DOT: @@ -91,11 +91,11 @@ public AutoRoutine getAuto() { } - public AutoRoutine swipeDepot() { + public AutoRoutine singleSwipeDepot() { AutoRoutine routine = factory.newRoutine("swipe"); + AutoTrajectory swipe1 = routine.trajectory("swipe_1"); AutoTrajectory shoot1 = routine.trajectory("shoot_depot_1"); - AutoTrajectory shoot2 = routine.trajectory("shoot_depot_2"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(swipe1.resetOdometry()), @@ -106,32 +106,41 @@ public AutoRoutine swipeDepot() { shoot1.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), - new LoggableWaitCommand(6), + new LoggableWaitCommand(8), new LoggableSequentialCommandGroup( - new LoggableWaitCommand(3), + new LoggableWaitCommand(4), new Agitate(deployer) ) )); - shoot2.cmd(); - - shoot2.done().onTrue(shoot2.cmd()); return routine; } - - public AutoRoutine swipeOutpost() { + public AutoRoutine singleSwipeOutpost() { AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one").mirrorY(); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two").mirrorY(); - AutoTrajectory thirdSwipeTraj = routine.trajectory("swipe_three").mirrorY(); - firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); - secondSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(thirdSwipeTraj.cmd())); + + AutoTrajectory swipe1 = routine.trajectory("swipe_1").mirrorY(); + AutoTrajectory shoot1 = routine.trajectory("shoot_outpost_1"); + routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), - new LoggableCommandWrapper(firstSwipeTraj.cmd()))); + new LoggableCommandWrapper(swipe1.resetOdometry()), + new LoggableCommandWrapper(swipe1.cmd()) + )); + + swipe1.done().onTrue(shoot1.cmd()); + + shoot1.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableWaitCommand(8), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer) + ) + )); + return routine; } + public AutoRoutine midDepot() { AutoRoutine routine = factory.newRoutine("depot"); @@ -167,7 +176,7 @@ public AutoRoutine swipeOutpostDot() { public AutoRoutine test() { AutoRoutine routine = factory.newRoutine("test"); - AutoTrajectory traj = routine.trajectory("test"); + AutoTrajectory traj = routine.trajectory("test_spin"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java index 72e1a119..94bc444b 100644 --- a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java +++ b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java @@ -4,6 +4,7 @@ package frc.robot.commands.intakeDeployment; +import frc.robot.constants.Constants; import frc.robot.constants.enums.DeploymentState; import frc.robot.constants.enums.ShootingState; import frc.robot.constants.enums.ShootingState.ShootState; @@ -24,6 +25,7 @@ public void initialize() { @Override public void execute() { + subsystem.setSpeed(Constants.INITIAL_INTAKE_DEPLOYMENT_SPEED); } @Override @@ -32,6 +34,6 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { - return true; + return subsystem.getRevLimitSwitchState(); } } From e691adc873b1fa8e1e89a40d205295f06625a1e7 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Wed, 3 Jun 2026 18:00:04 -0400 Subject: [PATCH 55/64] commented out b to stop intake, and fixed shooting state --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 15c21094..dfdc4071 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -303,11 +303,11 @@ private void setUpAutoFactory() { private void configureBindings() { controller.a().onTrue(new ToggleDeployment(intakeDeployer)); - controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); + //controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); controller.x().whileTrue(new SpinIntake(intakeSubsystem)); controller.y().whileTrue(new Agitate(intakeDeployer)); controller.leftStick().whileTrue(new ManualTurretMove(turretSubsystem, controller::getLeftX)); - controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); + //controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED)); controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB)); //controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING)); From 87f1eb6a70a5506282c32dda3b4e6cfd64d8f0a4 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Thu, 4 Jun 2026 08:47:39 -0400 Subject: [PATCH 56/64] fixed dip and dot autos --- src/main/deploy/choreo/midHook.traj | 85 +++++++++++++ .../java/frc/robot/autochooser/AutoPath.java | 16 ++- .../frc/robot/autochooser/RoutineChooser.java | 119 ++++++++---------- 3 files changed, 141 insertions(+), 79 deletions(-) create mode 100644 src/main/deploy/choreo/midHook.traj diff --git a/src/main/deploy/choreo/midHook.traj b/src/main/deploy/choreo/midHook.traj new file mode 100644 index 00000000..92092996 --- /dev/null +++ b/src/main/deploy/choreo/midHook.traj @@ -0,0 +1,85 @@ +{ + "name":"midHook", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.273311138153076, "y":4.037035942077637, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.599778890609741, "y":4.037035942077637, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.766224026679993, "y":4.037035942077637, "heading":1.5707963267948966, "intervals":18, "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":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"3.273311138153076 m", "val":3.273311138153076}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.599778890609741 m", "val":3.599778890609741}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.7662240266799927 m", "val":1.766224026679993}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":18, "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":{"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":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.32026,1.21108], + "samples":[ + {"t":0.0, "x":3.27331, "y":4.03704, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.54334, "ay":0.06594, "alpha":-5.65019, "fx":[63.74148,63.57699,55.61599,56.18439], "fy":[-17.44073,18.03147,35.62504,-34.72024]}, + {"t":0.06405, "x":3.29494, "y":4.03717, "heading":-0.01159, "vx":0.67532, "vy":0.00422, "omega":-0.36191, "ax":10.63767, "ay":0.05429, "alpha":-5.36039, "fx":[63.77281,63.74572,56.54015,57.19967], "fy":[-17.17968,17.28185,34.00239,-32.87337]}, + {"t":0.1281, "x":3.36002, "y":4.03755, "heading":-0.04577, "vx":1.35669, "vy":0.0077, "omega":-0.70525, "ax":6.12773, "ay":-0.20775, "alpha":12.49044, "fx":[13.7046,8.76036,57.31795,59.19172], "fy":[60.02017,-60.68342,-28.67049,24.62205]}, + {"t":0.19216, "x":3.45949, "y":4.03762, "heading":-0.06532, "vx":1.74918, "vy":-0.00561, "omega":0.09479, "ax":-10.17761, "ay":0.02543, "alpha":6.5556, "fx":[-62.82953,-63.53655,-51.57,-52.88815], "fy":[20.35872,-18.0394,-41.14521,39.40268]}, + {"t":0.25621, "x":3.55065, "y":4.03731, "heading":-0.0458, "vx":1.09729, "vy":-0.00398, "omega":0.51469, "ax":-10.31089, "ay":-0.01103, "alpha":6.25549, "fx":[-63.16495,-63.57437,-52.96926,-54.13836], "fy":[19.42437,-18.04219,-39.45288,37.82061]}, + {"t":0.32026, "x":3.59978, "y":4.03704, "heading":0.0, "vx":0.43685, "vy":-0.00468, "omega":0.91537, "ax":-10.32654, "ay":-0.07112, "alpha":6.21687, "fx":[-63.48721,-63.29604,-53.36572,-54.05306], "fy":[18.33019,-18.98024,-38.89639,37.93349]}, + {"t":0.36975, "x":3.60875, "y":4.03672, "heading":0.05291, "vx":-0.07421, "vy":-0.0082, "omega":1.22304, "ax":-10.32016, "ay":-0.13815, "alpha":6.22385, "fx":[-63.80045,-62.922,-53.6072,-53.72765], "fy":[17.18374,-20.16158,-38.53103,38.37568]}, + {"t":0.41924, "x":3.59244, "y":4.03614, "heading":0.12106, "vx":-0.58495, "vy":-0.01504, "omega":1.53106, "ax":-10.32507, "ay":-0.22266, "alpha":6.18553, "fx":[-64.17856,-62.41308,-54.10468,-53.47225], "fy":[15.67578,-21.65383,-37.7802,38.70845]}, + {"t":0.46873, "x":3.55085, "y":4.03512, "heading":0.20441, "vx":-1.09594, "vy":-0.02606, "omega":1.83718, "ax":-10.35093, "ay":-0.31592, "alpha":6.06728, "fx":[-64.59633,-61.75299,-55.0287,-53.37722], "fy":[13.7917,-23.42507,-36.33903,38.80754]}, + {"t":0.51822, "x":3.48393, "y":4.03345, "heading":0.30276, "vx":-1.60821, "vy":-0.04169, "omega":2.13745, "ax":-10.40833, "ay":-0.39775, "alpha":5.83235, "fx":[-65.0168,-60.92907,-56.59546,-53.51573], "fy":[11.52717,-25.42122,-33.69096,38.5643]}, + {"t":0.56771, "x":3.3916, "y":4.0309, "heading":0.41569, "vx":-2.12332, "vy":-0.06138, "omega":2.42609, "ax":-10.50344, "ay":-0.42727, "alpha":5.45658, "fx":[-65.38485,-59.93928,-58.97575,-53.9142], "fy":[8.90541,-27.5446,-28.95283,37.90164]}, + {"t":0.6172, "x":3.27365, "y":4.02734, "heading":0.54244, "vx":-2.64313, "vy":-0.08252, "omega":2.69614, "ax":-10.6163, "ay":-0.31687, "alpha":4.9654, "fx":[-65.58931,-58.8082,-61.91406,-54.462], "fy":[6.05511,-29.53423,-20.51527,36.80781]}, + {"t":0.66669, "x":3.12984, "y":4.02286, "heading":0.68195, "vx":-3.16853, "vy":-0.09821, "omega":2.94187, "ax":-9.96528, "ay":1.40665, "alpha":4.39699, "fx":[-62.63745,-57.7398,-55.50864,-50.12296], "fy":[7.87065,-22.68486,9.97604,36.74048]}, + {"t":0.71618, "x":2.96083, "y":4.01973, "heading":0.83293, "vx":-3.66171, "vy":-0.02859, "omega":3.15948, "ax":-2.71487, "ay":3.51757, "alpha":-5.8082, "fx":[9.23442,-14.96374,-36.18488,-19.658], "fy":[26.37884,39.02644,18.04955,-3.67765]}, + {"t":0.76567, "x":2.77628, "y":4.02262, "heading":0.98218, "vx":-3.79607, "vy":0.14549, "omega":2.87203, "ax":-3.92173, "ay":0.34212, "alpha":-8.48659, "fx":[11.17286,-30.72665,-48.07065,-21.31886], "fy":[13.35667,32.60877,-3.98862,-34.21761]}, + {"t":0.81516, "x":2.58361, "y":4.03024, "heading":1.11392, "vx":-3.99016, "vy":0.16243, "omega":2.45203, "ax":7.29341, "ay":-2.46396, "alpha":-9.38916, "fx":[62.58081,44.70309,11.48351,46.64428], "fy":[0.92468,38.75397,-54.25411,-41.30625]}, + {"t":0.86465, "x":2.39507, "y":4.03526, "heading":1.22377, "vx":-3.62921, "vy":0.04048, "omega":1.98736, "ax":10.45523, "ay":-0.41245, "alpha":-5.5533, "fx":[65.05671,54.0251,57.54399,60.4948], "fy":[10.22448,37.33696,-30.98482,-25.93072]}, + {"t":0.91414, "x":2.22827, "y":4.03676, "heading":1.31533, "vx":-3.11178, "vy":0.02007, "omega":1.71253, "ax":10.48353, "ay":-0.25565, "alpha":-5.64528, "fx":[64.77451,54.13031,57.21982,61.63775], "fy":[12.56688,37.54511,-32.40341,-23.50656]}, + {"t":0.96363, "x":2.0871, "y":4.03744, "heading":1.39317, "vx":-2.59295, "vy":0.00742, "omega":1.43315, "ax":10.47695, "ay":-0.15541, "alpha":-5.74204, "fx":[64.43942,54.22633,56.5977,62.34981], "fy":[14.39095,37.53226,-33.74192,-21.70582]}, + {"t":1.01312, "x":1.97161, "y":4.03762, "heading":1.45706, "vx":-2.07445, "vy":-0.00027, "omega":1.14897, "ax":10.47328, "ay":-0.07517, "alpha":-5.79518, "fx":[64.12425,54.40109,56.14353,62.8612], "fy":[15.83097,37.34396,-34.61722,-20.26245]}, + {"t":1.06261, "x":1.88177, "y":4.03751, "heading":1.50683, "vx":-1.55612, "vy":-0.00399, "omega":0.86217, "ax":10.47529, "ay":-0.01241, "alpha":-5.8128, "fx":[63.85895,54.61999,55.86774,63.22896], "fy":[16.9235,37.06434,-35.13134,-19.13792]}, + {"t":1.1121, "x":1.81759, "y":4.0373, "heading":1.54238, "vx":-1.0377, "vy":-0.00461, "omega":0.57449, "ax":10.48074, "ay":0.03268, "alpha":-5.80978, "fx":[63.66105,54.83216,55.72648,63.47952], "fy":[17.68847,36.77911,-35.39945,-18.32686]}, + {"t":1.16159, "x":1.77907, "y":4.03711, "heading":1.5637, "vx":-0.51901, "vy":-0.00299, "omega":0.28697, "ax":10.48716, "ay":0.06037, "alpha":-5.7985, "fx":[63.54117,54.99379,55.68103,63.62868], "fy":[18.13931,36.55964,-35.50072,-17.82905]}, + {"t":1.21108, "x":1.76622, "y":4.03704, "heading":1.5708, "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] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java index 864e7d6f..b1ca41ed 100644 --- a/src/main/java/frc/robot/autochooser/AutoPath.java +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -1,15 +1,13 @@ package frc.robot.autochooser; public enum AutoPath { - DO_NOTHING("Do nothing"), - SINGLE_SWIPE_DEPOT("Single swipe depot"), - SINGLE_SWIPE_OUTPOST("Single Swipe outpost"), - SWIPE_DEPOT_DOT("Swipe Depot Dot"), - SWIPE_OUTPOST_DOT("Swipe Outpost Dot"), - MID_DEPOT("Mid Depot"), - TEST("Test"), - BIG_DOT_OUTPOST("Big Dot Outpost"), - BIG_DOT_DEPOT("Big Dot Depot"); + DO_NOTHING("do nothing"), + SINGLE_SWIPE_DEPOT("depot side, single swipe"), + SINGLE_SWIPE_OUTPOST("outpost side, single swipe"), + MID_DEPOT("mid, depot"), + DIP_AND_DOT_DEPOT("depot side, dip and dot"), + DIP_AND_DOT_OUTPOST("outpost side, dip and dot"), + TEST("test"); private final String name; private AutoPath(String name){ diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 36dbe18b..0b76da0b 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -70,28 +70,24 @@ public AutoRoutine getAuto() { case DO_NOTHING: return factory.newRoutine("do_nothing"); case SINGLE_SWIPE_DEPOT: - return singleSwipeDepot(); + return depotSingleSwipe(); case SINGLE_SWIPE_OUTPOST: - return singleSwipeOutpost(); - case SWIPE_DEPOT_DOT: - return swipeDepotDot(); - case SWIPE_OUTPOST_DOT: - return swipeOutpostDot(); + return outpostSingleSwipe(); case MID_DEPOT: - return midDepot(); + return depotMid(); + case DIP_AND_DOT_DEPOT: + return depotDipAndDot(); + case DIP_AND_DOT_OUTPOST: + return outpostDipAndDot(); case TEST: return test(); - case BIG_DOT_DEPOT: - return bigDotDepot(); - case BIG_DOT_OUTPOST: - return bigDotDepot(); default: return factory.newRoutine("do_nothing"); } } - public AutoRoutine singleSwipeDepot() { + public AutoRoutine depotSingleSwipe() { AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory swipe1 = routine.trajectory("swipe_1"); @@ -106,7 +102,6 @@ public AutoRoutine singleSwipeDepot() { shoot1.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), - new LoggableWaitCommand(8), new LoggableSequentialCommandGroup( new LoggableWaitCommand(4), new Agitate(deployer) @@ -116,7 +111,7 @@ public AutoRoutine singleSwipeDepot() { return routine; } - public AutoRoutine singleSwipeOutpost() { + public AutoRoutine outpostSingleSwipe() { AutoRoutine routine = factory.newRoutine("swipe"); AutoTrajectory swipe1 = routine.trajectory("swipe_1").mirrorY(); @@ -131,7 +126,6 @@ public AutoRoutine singleSwipeOutpost() { shoot1.done().onTrue(new LoggableParallelCommandGroup( new AutoShoot(hopper, feeder, shootState, 5), - new LoggableWaitCommand(8), new LoggableSequentialCommandGroup( new LoggableWaitCommand(4), new Agitate(deployer) @@ -142,38 +136,26 @@ public AutoRoutine singleSwipeOutpost() { } - public AutoRoutine midDepot() { + public AutoRoutine depotMid() { AutoRoutine routine = factory.newRoutine("depot"); - AutoTrajectory traj = routine.trajectory("depot_hook"); + AutoTrajectory traj = routine.trajectory("midHook"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); - return routine; - } - public AutoRoutine swipeDepotDot() { - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one"); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot"); - firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); - routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), - new LoggableCommandWrapper(firstSwipeTraj.cmd()))); - return routine; - } + traj.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer) + ) + )); - public AutoRoutine swipeOutpostDot() { - AutoRoutine routine = factory.newRoutine("swipe"); - AutoTrajectory firstSwipeTraj = routine.trajectory("swipe_one").mirrorY(); - AutoTrajectory secondSwipeTraj = routine.trajectory("swipe_two_dot").mirrorY(); - firstSwipeTraj.done().onTrue(new LoggableWaitCommand(3).andThen(secondSwipeTraj.cmd())); - routine.active().onTrue(new LoggableSequentialCommandGroup( - new LoggableCommandWrapper(firstSwipeTraj.resetOdometry()), - new LoggableCommandWrapper(firstSwipeTraj.cmd()))); return routine; } + public AutoRoutine test() { AutoRoutine routine = factory.newRoutine("test"); AutoTrajectory traj = routine.trajectory("test_spin"); @@ -184,52 +166,49 @@ public AutoRoutine test() { return routine; } - public AutoRoutine bigDotDepot() { + public AutoRoutine depotDipAndDot() { AutoRoutine routine = factory.newRoutine("dot"); - AutoTrajectory traj = routine.trajectory("bigDot"); + AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); + AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); + routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); + + traj.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer) + ) + )); + + traj1.cmd(); //dot + return routine; } - public AutoRoutine bigDotOutpost() { + public AutoRoutine outpostDipAndDot() { AutoRoutine routine = factory.newRoutine("dot"); - AutoTrajectory traj = routine.trajectory("bigDot").mirrorY(); + AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); + AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); + routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); - return routine; - } + traj.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer) + ) + )); - /* - - Swipe Auto - swipe_one - 2 - intakeDeploy, intakeStart - 9 - intakeStop - 12 - shooting - - swipe_two - 1 - shootingStop - 2 - intakeStart - 11 - intakeStop - 12 - shootingStart - - swipe_three - 1 - shootingStop - //go to neutral zone for the beginning of teleop - - Swipe-dot Auto - swipe_one - 2 - intakeDeploy, intakeStart - 9 - intakeStop - 12 - shooting - swipe_two_dot - 1 - shootingStop, intakeUp - */ - + traj1.cmd(); //dot + + return routine; + } } From 495e639480564ba5c24b88d5d8e78f504156e9fd Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:13:56 -0400 Subject: [PATCH 57/64] Fixed it to be a boolean --- src/main/java/frc/robot/Robot.java | 10 ++++++++++ src/main/java/frc/robot/RobotContainer.java | 12 +++++++++++- .../java/frc/robot/commands/lightStrip/SetLed.java | 11 +---------- 3 files changed, 22 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b63fc361..ba6ff4e3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -250,6 +250,16 @@ public void teleopPeriodic() { determineHubActive(); determineHubCountdown(); } + if (robotContainer.getControllerSubsystem().getTargetShooterVelocityRpm() > -1500) { + if (robotContainer.getControllerSubsystem().getTargetShooterVelocityRpm() > robotContainer.getShooterSubsystem().getRPM() + * Constants.SHOOTER_RPM_THRESHOLD) { + Logger.recordOutput("CanShoot", false); + } else { + Logger.recordOutput("CanShoot", true); + } + }else{ + Logger.recordOutput("CanShoot", false); + } } private void determineAutonomousWinner() { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b08a8223..d1c1cf0c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -316,7 +316,7 @@ private void configureBindings() { // cancelling on release. // m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); - intakeSubsystem.setDefaultCommand(new SpinIntake(intakeSubsystem, intakeDeployer)); + intakeSubsystem.setDefaultCommand(new SpinIntake(intakeSubsystem)); lightStripSubsystem.setDefaultCommand(new SetLed(lightStripSubsystem,controllerSubsystem,shooterSubsystem)); if (controllerSubsystem != null) { intakeDeployer.setDefaultCommand(new RunDeployer(intakeDeployer)); @@ -597,4 +597,14 @@ public IntakeDeployerSubsystem getDeployer(){ public LightStripSubsystem getLightStrip() { return lightStripSubsystem; } + + + public ControllerSubsystem getControllerSubsystem() { + return controllerSubsystem; + } + + + public ShooterSubsystem getShooterSubsystem() { + return shooterSubsystem; + } } diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLed.java b/src/main/java/frc/robot/commands/lightStrip/SetLed.java index b395a321..53193f4e 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLed.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLed.java @@ -33,16 +33,7 @@ public void initialize() { @Override public void execute() { - if (controllerSubsystem.getTargetShooterVelocityRpm() > -1500) { - if (controllerSubsystem.getTargetShooterVelocityRpm() > shooterSubsystem.getRPM() - * Constants.SHOOTER_RPM_THRESHOLD) { - lightStrip.setPattern(BlinkinPattern.STROBE_RED); - } else { - lightStrip.setPattern(BlinkinPattern.GREEN); - } - } else { - lightStrip.setPattern(BlinkinPattern.RAINBOW_PARTY_PALETTE); - } + lightStrip.setPattern(BlinkinPattern.ORANGE); } @Override From fb91f474ed209e3a543aaa794b1826f831abb6aa Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:21:26 -0400 Subject: [PATCH 58/64] Changed threshold to be higher --- src/main/java/frc/robot/constants/GameConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index db86b908..7784c4c8 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -36,7 +36,7 @@ public enum Mode { public static final boolean ENABLE_LOGGING = true; //Debugs - public static final boolean DEBUG = false; + public static final boolean DEBUG = true; public static final boolean ARM_DEBUG = true; //Joystick @@ -190,5 +190,5 @@ public enum Mode { public static final int TCP_SERVER_PORT1 = 5806; public static final int TCP_SERVER_PORT2 = 5807; - public static final double SHOOTER_RPM_THRESHOLD = 0.9; + public static final double SHOOTER_RPM_THRESHOLD = 0.95; } From b019a8b566e9fb719fd2c2c06e78aa9b75bfc75b Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:23:24 -0400 Subject: [PATCH 59/64] Fixed condition about the starting of teh boolean --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ba6ff4e3..eb9f0361 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -250,7 +250,7 @@ public void teleopPeriodic() { determineHubActive(); determineHubCountdown(); } - if (robotContainer.getControllerSubsystem().getTargetShooterVelocityRpm() > -1500) { + if (robotContainer.getControllerSubsystem().getTargetShooterVelocityRpm() < -1500) { if (robotContainer.getControllerSubsystem().getTargetShooterVelocityRpm() > robotContainer.getShooterSubsystem().getRPM() * Constants.SHOOTER_RPM_THRESHOLD) { Logger.recordOutput("CanShoot", false); From 87205c666e528b215c1b67431a4a32ef104f7174 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Thu, 4 Jun 2026 19:26:44 -0400 Subject: [PATCH 60/64] latest stuff --- src/main/deploy/choreo/midHook.traj | 71 +++++++++++-------- .../frc/robot/autochooser/RoutineChooser.java | 6 +- .../frc/robot/commands/auto/AutoShoot.java | 6 +- 3 files changed, 46 insertions(+), 37 deletions(-) diff --git a/src/main/deploy/choreo/midHook.traj b/src/main/deploy/choreo/midHook.traj index 92092996..b67217d2 100644 --- a/src/main/deploy/choreo/midHook.traj +++ b/src/main/deploy/choreo/midHook.traj @@ -3,26 +3,30 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.273311138153076, "y":4.037035942077637, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.599778890609741, "y":4.037035942077637, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.599778890609741, "y":4.037035942077637, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.273311138153076, "y":4.037035942077637, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.766224026679993, "y":4.037035942077637, "heading":1.5707963267948966, "intervals":18, "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":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":1, "to":0, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"3.273311138153076 m", "val":3.273311138153076}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.599778890609741 m", "val":3.599778890609741}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.599778890609741 m", "val":3.599778890609741}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.273311138153076 m", "val":3.273311138153076}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7662240266799927 m", "val":1.766224026679993}, "y":{"exp":"4.037035942077637 m", "val":4.037035942077637}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":18, "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":{"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":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":1, "to":0, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -53,32 +57,37 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.32026,1.21108], + "waypoints":[0.0,0.24418,1.08465], "samples":[ - {"t":0.0, "x":3.27331, "y":4.03704, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.54334, "ay":0.06594, "alpha":-5.65019, "fx":[63.74148,63.57699,55.61599,56.18439], "fy":[-17.44073,18.03147,35.62504,-34.72024]}, - {"t":0.06405, "x":3.29494, "y":4.03717, "heading":-0.01159, "vx":0.67532, "vy":0.00422, 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"fx":[9.20294,0.04134,-9.20294,-0.04134], "fy":[-0.04107,9.20321,0.04162,-9.20268]}, + {"t":0.60961, "x":2.54268, "y":4.03704, "heading":0.91797, "vx":-1.99946, "vy":0.0, "omega":3.70654, "ax":0.0, "ay":0.00001, "alpha":-6.46525, "fx":[24.32808,-3.24424,-24.32808,3.24424], "fy":[3.24431,24.32813,-3.24417,-24.32803]}, + {"t":0.64615, "x":2.46961, "y":4.03704, "heading":1.0491, "vx":-1.99946, "vy":0.0, "omega":3.47029, "ax":0.0, "ay":-0.00002, "alpha":-9.12098, "fx":[33.42822,-9.02521,-33.4282,9.02518], "fy":[9.02508,33.42814,-9.02531,-33.42828]}, + {"t":0.68269, "x":2.39655, "y":4.03704, "heading":1.16982, "vx":-1.99946, "vy":0.0, "omega":3.13699, "ax":0.0, "ay":-0.00002, "alpha":-10.83925, "fx":[38.14487,-15.4315,-38.14482,15.43144], "fy":[15.43133,38.14476,-15.43161,-38.14492]}, + {"t":0.71923, "x":2.32348, "y":4.03704, "heading":1.27722, "vx":-1.99946, "vy":0.0, "omega":2.7409, "ax":0.0, "ay":-0.00001, "alpha":-12.00536, "fx":[40.17315,-21.52176,-40.1731,21.52171], "fy":[21.52166,40.17308,-21.52182,-40.17317]}, + {"t":0.75577, "x":2.25042, "y":4.03704, "heading":1.36936, "vx":-1.99946, "vy":0.0, "omega":2.30219, "ax":0.0, "ay":0.0, "alpha":-12.83819, "fx":[40.66009,-26.86994,-40.66011,26.86995], "fy":[26.86996,40.66011,-26.86993,-40.66009]}, + {"t":0.79232, "x":2.17735, "y":4.03704, "heading":1.44491, "vx":-1.99946, "vy":0.0, "omega":1.83306, "ax":0.0, "ay":0.00005, "alpha":-13.45905, "fx":[40.37833,-31.30645,-40.37868,31.3068], "fy":[31.30697,40.37876,-31.30628,-40.37825]}, + {"t":0.82886, "x":2.10429, "y":4.03704, "heading":1.50291, "vx":-1.99946, "vy":0.0, "omega":1.34124, "ax":0.0, "ay":0.00034, "alpha":-13.93819, "fx":[39.86514,-34.78928,-39.86759,34.79173], "fy":[34.7926,39.86813,-34.7884,-39.8646]}, + {"t":0.8654, "x":2.03122, "y":4.03704, "heading":1.54262, "vx":-1.99946, "vy":0.00001, "omega":0.8319, "ax":0.00059, "ay":0.00194, "alpha":-14.31844, "fx":[39.49881,-37.32626,-39.50719,37.34802], "fy":[37.34628,39.51581,-37.328,-39.49018]}, + {"t":0.90194, "x":1.95816, "y":4.03704, "heading":1.56346, "vx":-1.99943, "vy":0.00008, "omega":0.30868, "ax":8.1933, "ay":-0.00352, "alpha":-7.82102, "fx":[57.52531,35.47895,35.40232,57.41431], "fy":[20.04451,41.863,-41.6795,-20.30778]}, + {"t":0.93848, "x":1.89057, "y":4.03704, "heading":1.56951, "vx":-1.70003, "vy":-0.00004, "omega":0.02288, "ax":11.60178, "ay":0.00056, "alpha":-0.27198, "fx":[65.78885,65.77303,65.77324,65.78889], "fy":[1.4217,1.48931,-1.47907,-1.41918]}, + {"t":0.97503, "x":1.83619, "y":4.03704, "heading":1.57017, "vx":-1.27608, "vy":-0.00002, "omega":0.01294, "ax":11.63187, "ay":0.00029, "alpha":-0.15217, "fx":[65.95374,65.94938,65.94944,65.95376], "fy":[0.80586,0.827,-0.82266,-0.80365]}, + {"t":1.01157, "x":1.79733, "y":4.03704, "heading":1.57054, "vx":-0.85102, "vy":-0.00001, "omega":0.00738, "ax":11.64191, "ay":0.0002, "alpha":-0.11129, "fx":[66.00954,66.00743,66.00745,66.00955], "fy":[0.59197,0.60305,-0.60051,-0.59008]}, + {"t":1.04811, "x":1.774, "y":4.03704, "heading":1.57074, "vx":-0.4256, "vy":-0.00001, "omega":0.00331, "ax":11.64692, "ay":0.00015, "alpha":-0.09066, "fx":[66.03758,66.0363,66.03631,66.03759], "fy":[0.4833,0.49052,-0.48877,-0.4817]}, + {"t":1.08465, "x":1.76622, "y":4.03704, "heading":1.5708, "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] }, "events":[] diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 0b76da0b..d9a56300 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -145,11 +145,7 @@ public AutoRoutine depotMid() { new LoggableCommandWrapper(traj.cmd()))); traj.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableSequentialCommandGroup( - new LoggableWaitCommand(4), - new Agitate(deployer) - ) + new AutoShoot(hopper, feeder, shootState, 5) )); return routine; diff --git a/src/main/java/frc/robot/commands/auto/AutoShoot.java b/src/main/java/frc/robot/commands/auto/AutoShoot.java index d1b195a2..8ff3b7bd 100644 --- a/src/main/java/frc/robot/commands/auto/AutoShoot.java +++ b/src/main/java/frc/robot/commands/auto/AutoShoot.java @@ -7,6 +7,7 @@ import frc.robot.constants.enums.ShootingState.ShootState; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableRaceCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; @@ -18,7 +19,10 @@ public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsyste new LoggableRaceCommandGroup( new AutoSpinHopper(hopperSubsystem), - new SpinFeeder(feederSubsystem), + new LoggableParallelCommandGroup( + new SpinFeeder(feederSubsystem), + new LoggableWaitCommand(2) + ), new LoggableWaitCommand(time) ), From ff31558ec540740b224c4a2689063ab84d93864d Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:30:22 -0400 Subject: [PATCH 61/64] Changed depotMid to use and then --- .../frc/robot/autochooser/RoutineChooser.java | 73 +++++++------------ 1 file changed, 28 insertions(+), 45 deletions(-) diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index d9a56300..7b1b038a 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -53,10 +53,10 @@ public RoutineChooser(AutoFactory factory, this.shootState = shootState; this.hopper = hopper; - factory.bind("intakeDeploy", new ForceDeployDown(deployer)); //intake deploy marker - factory.bind("intakeStart", new SpinIntake(intake)); //intake start marker - factory.bind("intakeStop", new StopIntake(intake)); //intake stop marker - factory.bind("intakeUp", new ForceDeployUp(deployer)); //intake up marker + factory.bind("intakeDeploy", new ForceDeployDown(deployer)); // intake deploy marker + factory.bind("intakeStart", new SpinIntake(intake)); // intake start marker + factory.bind("intakeStop", new StopIntake(intake)); // intake stop marker + factory.bind("intakeUp", new ForceDeployUp(deployer)); // intake up marker autoChooser = new LoggedDashboardChooser<>("AutoAction"); for (AutoPath paths : AutoPath.values()) { @@ -95,18 +95,15 @@ public AutoRoutine depotSingleSwipe() { routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(swipe1.resetOdometry()), - new LoggableCommandWrapper(swipe1.cmd()) - )); - + new LoggableCommandWrapper(swipe1.cmd()))); + swipe1.done().onTrue(shoot1.cmd()); shoot1.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableSequentialCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( new LoggableWaitCommand(4), - new Agitate(deployer) - ) - )); + new Agitate(deployer)))); return routine; } @@ -119,39 +116,31 @@ public AutoRoutine outpostSingleSwipe() { routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(swipe1.resetOdometry()), - new LoggableCommandWrapper(swipe1.cmd()) - )); - + new LoggableCommandWrapper(swipe1.cmd()))); + swipe1.done().onTrue(shoot1.cmd()); shoot1.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableSequentialCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( new LoggableWaitCommand(4), - new Agitate(deployer) - ) - )); + new Agitate(deployer)))); return routine; } - - + public AutoRoutine depotMid() { AutoRoutine routine = factory.newRoutine("depot"); AutoTrajectory traj = routine.trajectory("midHook"); routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), - new LoggableCommandWrapper(traj.cmd()))); - - traj.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5) - )); + new LoggableCommandWrapper(traj.cmd().andThen(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5)))))); return routine; } - public AutoRoutine test() { AutoRoutine routine = factory.newRoutine("test"); AutoTrajectory traj = routine.trajectory("test_spin"); @@ -167,20 +156,17 @@ public AutoRoutine depotDipAndDot() { AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); - routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); traj.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableSequentialCommandGroup( - new LoggableWaitCommand(4), - new Agitate(deployer) - ) - )); + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); - traj1.cmd(); //dot + traj1.cmd(); // dot return routine; } @@ -190,21 +176,18 @@ public AutoRoutine outpostDipAndDot() { AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); - routine.active().onTrue(new LoggableSequentialCommandGroup( new LoggableCommandWrapper(traj.resetOdometry()), new LoggableCommandWrapper(traj.cmd()))); traj.done().onTrue(new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, shootState, 5), - new LoggableSequentialCommandGroup( - new LoggableWaitCommand(4), - new Agitate(deployer) - ) - )); + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); - traj1.cmd(); //dot + traj1.cmd(); // dot return routine; - } + } } From 6707033f8f8014177f4447cd9eb062b1b38b0728 Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:32:56 -0400 Subject: [PATCH 62/64] Improved autoshoot --- src/main/java/frc/robot/commands/auto/AutoShoot.java | 9 ++------- .../java/frc/robot/commands/hopper/AutoSpinHopper.java | 6 +++++- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/AutoShoot.java b/src/main/java/frc/robot/commands/auto/AutoShoot.java index 8ff3b7bd..a2178938 100644 --- a/src/main/java/frc/robot/commands/auto/AutoShoot.java +++ b/src/main/java/frc/robot/commands/auto/AutoShoot.java @@ -16,16 +16,11 @@ public class AutoShoot extends LoggableSequentialCommandGroup{ public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, ShootingState shootState, double time){ super( new SetShootingState(shootState, ShootState.SHOOTING_HUB), - + new LoggableWaitCommand(2), new LoggableRaceCommandGroup( - new AutoSpinHopper(hopperSubsystem), - new LoggableParallelCommandGroup( - new SpinFeeder(feederSubsystem), - new LoggableWaitCommand(2) - ), + new AutoSpinHopper(hopperSubsystem, feederSubsystem), new LoggableWaitCommand(time) ), - new SetShootingState(shootState, ShootState.STOPPED) ); } diff --git a/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java b/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java index ed325892..8e6256b8 100644 --- a/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java +++ b/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java @@ -2,18 +2,21 @@ import edu.wpi.first.wpilibj.Timer; import frc.robot.constants.Constants; +import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; import frc.robot.utils.logging.commands.LoggableCommand; public class AutoSpinHopper extends LoggableCommand { + public final FeederSubsystem feedersubsystem; public final HopperSubsystem subsystem; public final Timer timer; - public AutoSpinHopper(HopperSubsystem subsystem){ + public AutoSpinHopper(HopperSubsystem subsystem, FeederSubsystem feedersubsystem){ timer = new Timer(); this.subsystem = subsystem; + this.feedersubsystem = feedersubsystem; addRequirements(subsystem); } @@ -25,6 +28,7 @@ public void initialize() { @Override public void execute() { subsystem.setSpeed(Constants.HOPPER_AUTO_SPEED); + feedersubsystem.setSpeed(Constants.FEEDER_SPEED); } @Override From 622c21faf398ab10f88c6d5f48af2b40017033ef Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 19:57:04 -0400 Subject: [PATCH 63/64] Added a do nothing auto --- src/main/deploy/choreo/doNothing.traj | 59 +++++++++++++++++++ .../frc/robot/autochooser/RoutineChooser.java | 20 ++++++- 2 files changed, 77 insertions(+), 2 deletions(-) create mode 100644 src/main/deploy/choreo/doNothing.traj diff --git a/src/main/deploy/choreo/doNothing.traj b/src/main/deploy/choreo/doNothing.traj new file mode 100644 index 00000000..26b5a635 --- /dev/null +++ b/src/main/deploy/choreo/doNothing.traj @@ -0,0 +1,59 @@ +{ + "name":"doNothing", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":0.0, "y":0.0, "heading":0.0, "intervals":1, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.0, "y":0.0, "heading":1.7453292519943296e-6, "intervals":17, "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":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":1, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "heading":{"exp":"1e-4 deg", "val":1.7453292519943296e-6}, "intervals":17, "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":0, "to":0, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.00001], + "samples":[ + {"t":0.0, "x":0.0, "y":0.0, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":-0.00008, "fx":[0.00021,0.00021,-0.00021,-0.00021], "fy":[-0.00021,0.00021,0.00021,-0.00021]}, + {"t":0.00001, "x":0.0, "y":0.0, "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] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 7b1b038a..8533d6f7 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -8,6 +8,10 @@ import choreo.auto.AutoFactory; import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.RunCommand; import frc.robot.Robot; import frc.robot.commands.auto.AutoShoot; import frc.robot.commands.feeder.SpinFeeder; @@ -26,6 +30,7 @@ import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.ShooterSubsystem; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.logging.commands.LoggableCommandWrapper; import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; @@ -38,6 +43,7 @@ public class RoutineChooser { private final IntakeDeployerSubsystem deployer; private final ShootingState shootState; private final HopperSubsystem hopper; + private final SwerveSubsystem swerveSubsystem; private final LoggedDashboardChooser autoChooser; public RoutineChooser(AutoFactory factory, @@ -45,13 +51,14 @@ public RoutineChooser(AutoFactory factory, IntakeSubsystem intake, IntakeDeployerSubsystem deployer, ShootingState shootState, - HopperSubsystem hopper) { + HopperSubsystem hopper, SwerveSubsystem swerveSubsystem) { this.factory = factory; this.feeder = feeder; this.intake = intake; this.deployer = deployer; this.shootState = shootState; this.hopper = hopper; + this.swerveSubsystem = swerveSubsystem; factory.bind("intakeDeploy", new ForceDeployDown(deployer)); // intake deploy marker factory.bind("intakeStart", new SpinIntake(intake)); // intake start marker @@ -68,7 +75,7 @@ public AutoRoutine getAuto() { AutoPath selectedPath = autoChooser.get(); switch (selectedPath == null ? AutoPath.DO_NOTHING : selectedPath) { case DO_NOTHING: - return factory.newRoutine("do_nothing"); + return doNothing(); case SINGLE_SWIPE_DEPOT: return depotSingleSwipe(); case SINGLE_SWIPE_OUTPOST: @@ -107,6 +114,15 @@ public AutoRoutine depotSingleSwipe() { return routine; } + + public AutoRoutine doNothing() { + AutoRoutine routine = factory.newRoutine("donothing"); + AutoTrajectory donothing = routine.trajectory("doNothing"); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(donothing.resetOdometry()), + new LoggableCommandWrapper(donothing.cmd()))); + return routine; + } public AutoRoutine outpostSingleSwipe() { AutoRoutine routine = factory.newRoutine("swipe"); From b7d52c857182c9d362126a81f1664aa245b3efda Mon Sep 17 00:00:00 2001 From: Jackson Date: Thu, 4 Jun 2026 20:04:53 -0400 Subject: [PATCH 64/64] Fixed errors --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/autochooser/RoutineChooser.java | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index dfdc4071..fd4b4793 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -359,7 +359,7 @@ public void putShuffleboardCommands() { "Shooting State: Auto aim", new SetShootingState(shootState, ShootState.AUTO_AIM)); SmartDashboard.putData("AutoRunHopper", - new AutoSpinHopper(hopperSubsystem)); + new AutoSpinHopper(hopperSubsystem, feederSubsystem)); if (!Constants.DEBUG) { SmartDashboard.putNumber(RunDashboardShotTest.ANGLER_TARGET_POSITION_KEY, 0.0); diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java index 8533d6f7..92eef245 100644 --- a/src/main/java/frc/robot/autochooser/RoutineChooser.java +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -43,7 +43,6 @@ public class RoutineChooser { private final IntakeDeployerSubsystem deployer; private final ShootingState shootState; private final HopperSubsystem hopper; - private final SwerveSubsystem swerveSubsystem; private final LoggedDashboardChooser autoChooser; public RoutineChooser(AutoFactory factory, @@ -51,14 +50,13 @@ public RoutineChooser(AutoFactory factory, IntakeSubsystem intake, IntakeDeployerSubsystem deployer, ShootingState shootState, - HopperSubsystem hopper, SwerveSubsystem swerveSubsystem) { + HopperSubsystem hopper) { this.factory = factory; this.feeder = feeder; this.intake = intake; this.deployer = deployer; this.shootState = shootState; this.hopper = hopper; - this.swerveSubsystem = swerveSubsystem; factory.bind("intakeDeploy", new ForceDeployDown(deployer)); // intake deploy marker factory.bind("intakeStart", new SpinIntake(intake)); // intake start marker