diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 1F2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 1F2.auto new file mode 100644 index 0000000..1ce689e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 1F2.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": "Start3 to ReefF" + } + }, + { + "type": "named", + "data": { + "name": "Position Coral L2" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 1I2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 1I2.auto new file mode 100644 index 0000000..59e21a9 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 1I2.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": "Start1 to ReefI" + } + }, + { + "type": "named", + "data": { + "name": "Position Coral L2" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 1I3.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 1I3.auto new file mode 100644 index 0000000..af93c20 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 1I3.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": "Start1 to ReefI" + } + }, + { + "type": "named", + "data": { + "name": "Position Coral L3" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 1J1.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 1J1.auto new file mode 100644 index 0000000..de6a6bc --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 1J1.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start1 to ReefJ" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 1J2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 1J2.auto new file mode 100644 index 0000000..fc69df5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 1J2.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start1 to ReefJ" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G1.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G1.auto new file mode 100644 index 0000000..b0f2ba5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G1.auto @@ -0,0 +1,38 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start2 to ReefG " + } + }, + { + "type": "named", + "data": { + "name": "Position Coral L1" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G2.auto new file mode 100644 index 0000000..78b3d51 --- /dev/null +++ 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 +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G3.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G3.auto new file mode 100644 index 0000000..dfa4723 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G3.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 L3" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 2G4.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G4.auto new file mode 100644 index 0000000..8e03f29 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 2G4.auto @@ -0,0 +1,50 @@ +{ + "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 L4" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L4" + } + }, + { + "type": "path", + "data": { + "pathName": "Backup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 3E1.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 3E1.auto new file mode 100644 index 0000000..11a53b6 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 3E1.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start3 to ReefE" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L1" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1-Piece Coral 3E2.auto b/src/main/deploy/pathplanner/autos/1-Piece Coral 3E2.auto new file mode 100644 index 0000000..194fba4 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Piece Coral 3E2.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start3 to ReefE" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral L2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file 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 index 5d53185..177dfbc 100644 --- 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 index a32373e..81f3eae 100644 --- 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 index a786f6d..46257c9 100644 --- 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/Backup I.path b/src/main/deploy/pathplanner/paths/Backup I.path new file mode 100644 index 0000000..3935342 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Backup I.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.317628205128204, + "y": 5.149935897435898 + }, + "prevControl": null, + "nextControl": { + "x": 5.467628205128206, + "y": 5.349935897435897 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.503397435897435, + "y": 5.449230769230769 + }, + "prevControl": { + "x": 5.382917748454396, + "y": 5.230176792061607 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -119.99999999999999 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -119.99999999999999 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Backup.path b/src/main/deploy/pathplanner/paths/Backup.path new file mode 100644 index 0000000..600795f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Backup.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.86, + "y": 3.85 + }, + "prevControl": null, + "nextControl": { + "x": 6.109999434822366, + "y": 3.8494684094642295 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.967820512820513, + "y": 3.85 + }, + "prevControl": { + "x": 5.717821042663119, + "y": 3.8494852952085 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0.0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file 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 index 791e47f..b82fc7d 100644 --- 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/ReefA to StationL.path b/src/main/deploy/pathplanner/paths/ReefA to StationL.path index d5e0a9f..804c723 100644 --- a/src/main/deploy/pathplanner/paths/ReefA to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefA to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/ReefA to StationR.path b/src/main/deploy/pathplanner/paths/ReefA to StationR.path index 38efe43..50912dc 100644 --- a/src/main/deploy/pathplanner/paths/ReefA to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefA to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/ReefB to StationL.path b/src/main/deploy/pathplanner/paths/ReefB to StationL.path index 3c43faa..773087f 100644 --- a/src/main/deploy/pathplanner/paths/ReefB to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefB to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/ReefB to StationR.path b/src/main/deploy/pathplanner/paths/ReefB to StationR.path index 3b4f0bf..9aa31b2 100644 --- a/src/main/deploy/pathplanner/paths/ReefB to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefB to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/ReefC to StationR.path b/src/main/deploy/pathplanner/paths/ReefC to StationR.path index a2c46b1..a2ecb7a 100644 --- a/src/main/deploy/pathplanner/paths/ReefC to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefC to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 59.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefD to StationR.path b/src/main/deploy/pathplanner/paths/ReefD to StationR.path index 60fef56..e941266 100644 --- a/src/main/deploy/pathplanner/paths/ReefD to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefD to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 59.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefE to StationR.path b/src/main/deploy/pathplanner/paths/ReefE to StationR.path index baa495b..6f74c50 100644 --- a/src/main/deploy/pathplanner/paths/ReefE to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefE to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 119.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefF to StationR.path b/src/main/deploy/pathplanner/paths/ReefF to StationR.path index 91ce08c..ad2bb1d 100644 --- a/src/main/deploy/pathplanner/paths/ReefF to StationR.path +++ b/src/main/deploy/pathplanner/paths/ReefF to StationR.path @@ -45,7 +45,7 @@ "rotation": 55.0 }, "reversed": false, - "folder": "Reef to StationR", + "folder": "Reef to CoralStationR", "idealStartingState": { "velocity": 0, "rotation": 119.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefI to StationL.path b/src/main/deploy/pathplanner/paths/ReefI to StationL.path index b1f2efc..ecd6240 100644 --- a/src/main/deploy/pathplanner/paths/ReefI to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefI to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": -119.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefJ to StationL.path b/src/main/deploy/pathplanner/paths/ReefJ to StationL.path index 0acc42c..be17e1f 100644 --- a/src/main/deploy/pathplanner/paths/ReefJ to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefJ to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": -119.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefK to StationL.path b/src/main/deploy/pathplanner/paths/ReefK to StationL.path index 511a732..2adfbbe 100644 --- a/src/main/deploy/pathplanner/paths/ReefK to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefK to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": -59.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/ReefL to StationL.path b/src/main/deploy/pathplanner/paths/ReefL to StationL.path index c6cd1b8..38d32d3 100644 --- a/src/main/deploy/pathplanner/paths/ReefL to StationL.path +++ b/src/main/deploy/pathplanner/paths/ReefL to StationL.path @@ -45,7 +45,7 @@ "rotation": -55.0 }, "reversed": false, - "folder": "Reef to StationL", + "folder": "Reef to Coral StationL", "idealStartingState": { "velocity": 0, "rotation": -59.99999999999999 diff --git a/src/main/deploy/pathplanner/paths/Start1 to ReefI.path b/src/main/deploy/pathplanner/paths/Start1 to ReefI.path index 204db5b..a308442 100644 --- a/src/main/deploy/pathplanner/paths/Start1 to ReefI.path +++ b/src/main/deploy/pathplanner/paths/Start1 to ReefI.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.618295454545455, - "y": 6.961633522727272 + "x": 7.165, + "y": 5.604038461538462 }, "prevControl": null, "nextControl": { - "x": 6.618856762159768, - "y": 6.317157036817611 + "x": 5.917025058275057, + "y": 5.463910256410256 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.32, - "y": 5.16 + "x": 5.307307692307692, + "y": 5.170576923076924 }, "prevControl": { - "x": 5.785703969628975, - "y": 5.532189509009637 + "x": 5.8622435897435885, + "y": 5.346282051282053 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Start2 to ReefG .path b/src/main/deploy/pathplanner/paths/Start2 to ReefG .path new file mode 100644 index 0000000..f010feb --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Start2 to ReefG .path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.2, + "y": 3.85 + }, + "prevControl": null, + "nextControl": { + "x": 6.710880681818183, + "y": 3.840525568181818 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.86, + "y": 3.85 + }, + "prevControl": { + "x": 6.28775641025641, + "y": 3.828910256410256 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0.0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Start3 to ReefF.path b/src/main/deploy/pathplanner/paths/Start3 to ReefF.path index 2a83f78..7aa1e46 100644 --- a/src/main/deploy/pathplanner/paths/Start3 to ReefF.path +++ b/src/main/deploy/pathplanner/paths/Start3 to ReefF.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.6, - "y": 1.2 + "x": 7.3, + "y": 2.3943589743589744 }, "prevControl": null, "nextControl": { - "x": 6.7315068493150685, - "y": 1.598351883561644 + "x": 6.431506849315069, + "y": 2.7927108579206186 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.35, - "y": 2.9 + "x": 5.296987179487179, + "y": 2.88974358974359 }, "prevControl": { - "x": 5.844940068493151, - "y": 2.433642979452054 + "x": 5.79192724798033, + "y": 2.423386569195644 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefA.path b/src/main/deploy/pathplanner/paths/StationL To ReefA.path index cddbee2..8a87ed3 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefA.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefA.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefB.path b/src/main/deploy/pathplanner/paths/StationL To ReefB.path index 8ef4760..eb52bf8 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefB.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefB.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefI.path b/src/main/deploy/pathplanner/paths/StationL To ReefI.path index c862f32..ffcd7d6 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefI.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefI.path @@ -45,7 +45,7 @@ "rotation": -119.99999999999999 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefJ.path b/src/main/deploy/pathplanner/paths/StationL To ReefJ.path index 1859132..a23bb2c 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefJ.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefJ.path @@ -45,7 +45,7 @@ "rotation": -119.99999999999999 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefK.path b/src/main/deploy/pathplanner/paths/StationL To ReefK.path index f98a634..1a7a091 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefK.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefK.path @@ -45,7 +45,7 @@ "rotation": -59.99999999999999 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationL To ReefL.path b/src/main/deploy/pathplanner/paths/StationL To ReefL.path index 37714ae..c02e530 100644 --- a/src/main/deploy/pathplanner/paths/StationL To ReefL.path +++ b/src/main/deploy/pathplanner/paths/StationL To ReefL.path @@ -45,7 +45,7 @@ "rotation": -59.99999999999999 }, "reversed": false, - "folder": "StationL to Reef", + "folder": "CoralStationL to Reef", "idealStartingState": { "velocity": 0, "rotation": -55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefA.path b/src/main/deploy/pathplanner/paths/StationR to ReefA.path index 9f03965..d6e64a7 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefA.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefA.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefB.path b/src/main/deploy/pathplanner/paths/StationR to ReefB.path index 837cb36..a518b3f 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefB.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefB.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefC.path b/src/main/deploy/pathplanner/paths/StationR to ReefC.path index d39b2df..f0e7804 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefC.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefC.path @@ -45,7 +45,7 @@ "rotation": 59.99999999999999 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefD.path b/src/main/deploy/pathplanner/paths/StationR to ReefD.path index eb081c7..94bcef4 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefD.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefD.path @@ -45,7 +45,7 @@ "rotation": 59.99999999999999 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefE.path b/src/main/deploy/pathplanner/paths/StationR to ReefE.path index ea92f16..bb7d8a9 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefE.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefE.path @@ -45,7 +45,7 @@ "rotation": 119.99999999999999 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/paths/StationR to ReefF.path b/src/main/deploy/pathplanner/paths/StationR to ReefF.path index 3c6e56c..fec8c91 100644 --- a/src/main/deploy/pathplanner/paths/StationR to ReefF.path +++ b/src/main/deploy/pathplanner/paths/StationR to ReefF.path @@ -45,7 +45,7 @@ "rotation": 119.99999999999999 }, "reversed": false, - "folder": "StationR to Reef", + "folder": "CoralStationR to Reef", "idealStartingState": { "velocity": 0, "rotation": 55.0 diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 2508445..912ac95 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -1,12 +1,12 @@ { - "robotWidth": 0.9, - "robotLength": 0.9, + "robotWidth": 0.8763, + "robotLength": 0.8763, "holonomicMode": true, "pathFolders": [ - "Reef to StationL", - "Reef to StationR", - "StationL to Reef", - "StationR to Reef", + "CoralStationL to Reef", + "CoralStationR to Reef", + "Reef to Coral StationL", + "Reef to CoralStationR", "Start1 to Reef", "Start3 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 index 71149b0..56ab870 100644 --- a/src/main/java/frc/robot/CommandSequences.java +++ b/src/main/java/frc/robot/CommandSequences.java @@ -62,8 +62,24 @@ 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 positionAuto(ElevatorPresets level) { + return elevator.moveTo(level); + } + public Command scoreL1Auto() { - return moveElevator(ElevatorPresets.SCOREL1).andThen(scoreL1()); + return scoreL1(); + } + + public Command positionL2Auto() { + return moveElevator(ElevatorPresets.SCOREL2); + } + + public Command positionL3Auto() { + return moveElevator(ElevatorPresets.SCOREL3); + } + + public Command positionL4Auto() { + return moveElevator(ElevatorPresets.SCOREL4); } // Scores on L1 preset, then stows elevator @@ -95,6 +111,6 @@ public Command setRumble(ButtonXboxController controller, int rumbleAmount) { // Resets all commands public Command resetAll() { - return drive.resetCmd().andThen(coralManip.resetCmd(), algaeDestage.resetCmd(), elevator.resetCmd()); + return drive.resetCmd().andThen(coralManip.resetCmd(), algaeDestage.resetCmd()); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b17fcb0..46c52d3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -19,6 +19,7 @@ import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.maps.RobotMap; @@ -61,9 +62,16 @@ public final class Robot extends CommandRobot { public void registerNamedCommands() { NamedCommands.registerCommand("Intake Game Piece", commandSequences.intake()); + NamedCommands.registerCommand("Position Coral L1", commandSequences.positionAuto(ElevatorPresets.SCOREL1)); + NamedCommands.registerCommand("Position Coral L2", commandSequences.positionAuto(ElevatorPresets.SCOREL2)); + NamedCommands.registerCommand("Position Coral L3", commandSequences.positionAuto(ElevatorPresets.SCOREL3)); + NamedCommands.registerCommand("Position Coral L4", commandSequences.positionAuto(ElevatorPresets.SCOREL4)); 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("Score Coral L4", commandSequences.scoreL4()); + NamedCommands.registerCommand("Stow", commandSequences.moveElevator(ElevatorPresets.STOW)); + NamedCommands.registerCommand("Zero Da Elevatah", elevator.zero()); } @Autonomous(name = "No Auto", defaultAuto = true) @@ -154,7 +162,7 @@ public void configureButtonBindings() { @Override public void populateDashboard() { - + SmartDashboard.putData("AutoChooser", autoChooser); } /** diff --git a/src/main/java/frc/robot/maps/ColdStart.java b/src/main/java/frc/robot/maps/ColdStart.java index d075309..039257f 100644 --- 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, 58, 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), @@ -144,7 +144,7 @@ public ElevatorMap getElevatorMap() { ElevatorFeedforward feedForward = new ElevatorFeedforward(0, 0.01, 0); return new ElevatorMap(leftMotor, leftMotor.getEncoder(), - new ElevatorMap.ElevatorPresetValues(16, 5, 14, 29, 56, 57.5, 1), + new ElevatorMap.ElevatorPresetValues(16, 5, 14, 29.5, 56, 57.5, 1), new ValueRange(0, 57.5), new ValueRange(3, 53), pid, feedForward); } diff --git a/src/main/java/frc/robot/subsystems/CoralManip.java b/src/main/java/frc/robot/subsystems/CoralManip.java index e628471..ab1c15e 100644 --- a/src/main/java/frc/robot/subsystems/CoralManip.java +++ b/src/main/java/frc/robot/subsystems/CoralManip.java @@ -10,7 +10,7 @@ public class CoralManip extends LoggedSubsystem { - private final double RELEASE_SPEEDRIGHT = 0.3; + private final double RELEASE_SPEEDRIGHT = 0.5; private final double RELEASE_SPEEDLEFT = 0.1; private final double INTAKE_SPEED = -0.3; private final double RELEASE_DELAY = 1; diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java index 1ad7e3a..b09b88a 100644 --- a/src/main/java/frc/robot/subsystems/Elevator.java +++ b/src/main/java/frc/robot/subsystems/Elevator.java @@ -105,6 +105,7 @@ private double getElevatorHeight() { @Override public void reset() { + level = ElevatorPresets.OFF; getMap().encoder.reset(); }