L1 + L2 Autos work

chopshop-166 · Feb 8, 2025 · 443d56b · 443d56b
1 parent 7e8bb5e
commit 443d56b
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Showing 11 changed files with 97 additions and 29 deletions.
diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G1.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G1.auto
@@ -5,9 +5,22 @@
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "Start2 to ReefG "
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Start2 to ReefG "
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Position Coral L1"
+                }
+              }
+            ]
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G2.auto
@@ -0,0 +1,44 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Zero Da Elevatah"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Start2 to ReefG "
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Position Coral L2"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Score Coral L2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/1 - A go to top source.path b/src/main/deploy/pathplanner/paths/1 - A go to top source.path
@@ -45,7 +45,7 @@
     "rotation": -53.28579702395382
   },
   "reversed": false,
-  "folder": "New Folder",
+  "folder": null,
   "idealStartingState": {
     "velocity": 0,
     "rotation": -59.582522575463145

diff --git a/src/main/deploy/pathplanner/paths/1 - B go to top source.path b/src/main/deploy/pathplanner/paths/1 - B go to top source.path
@@ -45,7 +45,7 @@
     "rotation": -53.28579702395382
   },
   "reversed": false,
-  "folder": "New Folder",
+  "folder": null,
   "idealStartingState": {
     "velocity": 0,
     "rotation": -59.582522575463145

diff --git a/src/main/deploy/pathplanner/paths/1 - score coral.path b/src/main/deploy/pathplanner/paths/1 - score coral.path
@@ -45,7 +45,7 @@
     "rotation": -59.74193780533312
   },
   "reversed": false,
-  "folder": "New Folder",
+  "folder": null,
   "idealStartingState": {
     "velocity": 0,
     "rotation": -53.65165382024256

diff --git a/src/main/deploy/pathplanner/paths/From left 1 to source.path b/src/main/deploy/pathplanner/paths/From left 1 to source.path
@@ -45,7 +45,7 @@
     "rotation": -52.92646451172692
   },
   "reversed": false,
-  "folder": "New Folder",
+  "folder": null,
   "idealStartingState": {
     "velocity": 0,
     "rotation": -58.615935245141955

diff --git a/src/main/deploy/pathplanner/paths/Start2 to ReefG .path b/src/main/deploy/pathplanner/paths/Start2 to ReefG .path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.6,
+        "x": 7.2,
         "y": 3.85
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.457169117647059,
-        "y": 3.8736213235294112
+        "x": 6.710880681818183,
+        "y": 3.840525568181818
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 3.85
       },
       "prevControl": {
-        "x": 5.6108727973981285,
-        "y": 3.8291280828919345
+        "x": 6.28775641025641,
+        "y": 3.828910256410256
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.8763,
+  "robotLength": 0.8763,
   "holonomicMode": true,
   "pathFolders": [
     "CoralStationL to Reef",
@@ -16,23 +16,23 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
-  "robotMOI": 6.883,
+  "robotMass": 58.0,
+  "robotMOI": 4.889,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
+  "driveWheelRadius": 0.1016,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
-  "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2,
-  "flModuleX": 0.273,
-  "flModuleY": 0.273,
-  "frModuleX": 0.273,
-  "frModuleY": -0.273,
-  "blModuleX": -0.273,
-  "blModuleY": 0.273,
-  "brModuleX": -0.273,
-  "brModuleY": -0.273,
+  "driveMotorType": "vortex",
+  "driveCurrentLimit": 50.0,
+  "wheelCOF": 1.0,
+  "flModuleX": 0.289,
+  "flModuleY": 0.289,
+  "frModuleX": 0.289,
+  "frModuleY": -0.289,
+  "blModuleX": -0.289,
+  "blModuleY": 0.289,
+  "brModuleX": -0.289,
+  "brModuleY": -0.289,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []

diff --git a/src/main/java/frc/robot/CommandSequences.java b/src/main/java/frc/robot/CommandSequences.java
@@ -62,8 +62,16 @@ public Command scoreCoralAuto(ElevatorPresets level) {
     // L1 is different from the other scoring presets which is why its has it own
     // move to and score command
 
+    public Command positionL1Auto() {
+        return moveElevator(ElevatorPresets.SCOREL1);
+    }
+
     public Command scoreL1Auto() {
-        return moveElevator(ElevatorPresets.SCOREL1).andThen(scoreL1());
+        return scoreL1();
+    }
+
+    public Command positionL2Auto() {
+        return moveElevator(ElevatorPresets.SCOREL2);
     }
 
     // Scores on L1 preset, then stows elevator

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -62,9 +62,12 @@ public final class Robot extends CommandRobot {
     public void registerNamedCommands() {
 
         NamedCommands.registerCommand("Intake Game Piece", commandSequences.intake());
+        NamedCommands.registerCommand("Position Coral L1", commandSequences.positionL1Auto());
+        NamedCommands.registerCommand("Position Coral L2", commandSequences.positionL2Auto());
         NamedCommands.registerCommand("Score Coral L1", commandSequences.scoreL1Auto());
         NamedCommands.registerCommand("Score Coral L2", commandSequences.scoreCoralAuto(ElevatorPresets.SCOREL2));
         NamedCommands.registerCommand("Score Coral L3", commandSequences.scoreCoralAuto(ElevatorPresets.SCOREL3));
+        NamedCommands.registerCommand("Zero Da Elevatah", elevator.zero());
     }
 
     @Autonomous(name = "No Auto", defaultAuto = true)

diff --git a/src/main/java/frc/robot/maps/ColdStart.java b/src/main/java/frc/robot/maps/ColdStart.java
@@ -98,7 +98,7 @@ public SwerveDriveMap getDriveMap() {
 
         final double maxRotationRadianPerSecond = Math.PI;
 
-        RobotConfig config = new RobotConfig(68, 5000, new ModuleConfig(
+        RobotConfig config = new RobotConfig(68, 4.889, new ModuleConfig(
                 0.1016, 6000, 1.0, DCMotor.getNeoVortex(1), 50, 1),
                 new Translation2d(MODULE_OFFSET_XY, MODULE_OFFSET_XY),
                 new Translation2d(MODULE_OFFSET_XY, -MODULE_OFFSET_XY),