From aaaae9255e41baa6310f290f8cc0f82f86140cc3 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 21 Mar 2026 11:39:43 -0700 Subject: [PATCH 1/8] make auto factory method --- src/main/java/frc/robot/Autos.java | 238 ++++++++--------------------- 1 file changed, 64 insertions(+), 174 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index e522c47d..1c4bb9a9 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -451,237 +451,127 @@ public void setAllReqsFalsenotcmd() { autoClimb = false; } - public Command setleftClimbAutoTrue() { + public Command setLeftClimb() { return Commands.runOnce(() -> leftClimbAuto = true); } - public Command setleftClimbAutoFalse() { + public Command setRightClimb() { return Commands.runOnce(() -> leftClimbAuto = false); } - public Command getDepotScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = { - Path.PLtoD, - Path.DtoRL, - Path.RLtoIL, - // Path.ILtoILM, - Path.ILMtoML, - Path.MLtoCL - // Path.DtoIL, - }; // , Path.SLtoCL}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); + public Command createAuto( + String name, Path[] paths, Command setClimbSideCmd, Command... startingCommands) { + final AutoRoutine routine = factory.newRoutine(name); + lockHoodUnderTrench( + routine, + TrenchPoses.getClosestTrenchPose(swerve.getPose()), + 1); // TODO the lock under trench feels suspect + Command autoCommand = + paths[0] + .getTrajectory(routine) + .resetOdometry() + .alongWith(setClimbSideCmd) + .andThen(startingCommands); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); } - routine.active().onTrue(autoCommand); - return routine.cmd(); } - public Command getOutpostScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = { - Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoCR // , Path.SRtoCR - }; - // Path.OtoIR, - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } + public Command getDepotScoreClimbAuto() { + return createAuto( + "Depot Score Climb Auto", + new Path[] {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.ILMtoML, Path.MLtoCL}, + setLeftClimb()); + } - routine.active().onTrue(autoCommand); + public Command getOutpostScoreClimbAuto() { - return routine.cmd(); + return createAuto( + "Outpost Score Climb Auto", + new Path[] {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoCR}, + setRightClimb()); } public Command getDepotFeedClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Depot Feed Climb Auto", + new Path[] {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}, + setLeftClimb()); } public Command getOutpostFeedClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Outpost Feed Climb Auto", + new Path[] {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}, + setRightClimb()); } // awful names.. mb public Command getFillDepotScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Fill Depot Score Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); - // TODO set left climb true - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - return routine.cmd(); + return createAuto( + "Fill Depot Score Climb Auto", + new Path[] {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}, + setLeftClimb()); } public Command getFillOutpostScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Fill Outpost Score Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - return routine.cmd(); + return createAuto( + "Fill Outpost Score Climb Auto", + new Path[] {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}, + setRightClimb()); } public Command getRightBumpOutpostCenterAuto() { - final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Center Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - // Path[] paths = {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}; - Path[] paths = {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Right Bump Outpost Center Auto", + new Path[] {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore}, + setRightClimb()); } public Command getDepotClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Depot Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoCL}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - routine.active().whileTrue(autoCommand); - return routine.cmd(); + return createAuto("Depot Climb Auto", new Path[] {Path.PLtoD, Path.DtoCL}, setLeftClimb()); } public Command getOutpostClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Outpost Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PRtoO, Path.OtoS, Path.OtoCR}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - routine.active().whileTrue(autoCommand); - return routine.cmd(); + return createAuto( + "Outpost Climb Auto", new Path[] {Path.PRtoO, Path.OtoS, Path.OtoCR}, setRightClimb()); } public Command getDepotOutpostClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Depot Outpost Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoD, Path.DtoS, Path.StoO, Path.OtoCR}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Depot Outpost Climb Auto", + new Path[] {Path.PLtoD, Path.DtoS, Path.StoO, Path.OtoCR}, + setRightClimb()); } public Command getLeftBumpDepotOutpostClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Left Bump Outpost Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR}; - Command autoCommand = - paths[0] - .getTrajectory(routine) - .resetOdometry() - .alongWith(setleftClimbAutoFalse()) - .andThen(shootPreload()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Left Bump Outpost Climb Auto", + new Path[] {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR}, + setRightClimb(), + shootPreload()); } // this is so cursed and im not proud of it public Command getRightBumpOutpostClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Right Bump Outpost Climb Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - // Path[] paths = {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR}; - Path[] paths = {Path.RBtoO, Path.noScoreOtoCR}; - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoFalse()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + return createAuto( + "Right Bump Outpost Climb Auto", + new Path[] {Path.RBtoO, Path.noScoreOtoCR}, + setRightClimb()); } public Command getCenterScoreAuto() { - final AutoRoutine routine = factory.newRoutine("Center Score Auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PMtoM}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); + // no climb so don't need to set climb target + return createAuto("Center Score Auto", new Path[] {Path.PMtoM}, Commands.none()); } public Command getTestAuto() { From 5dc9bb5c038ac0c3a657cb6017c59cf3156e511c Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 21 Mar 2026 11:44:43 -0700 Subject: [PATCH 2/8] maybe fix the under trench thing --- src/main/java/frc/robot/Autos.java | 128 +++++++++++++++-------------- 1 file changed, 67 insertions(+), 61 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 1c4bb9a9..0dea80a6 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.climber.ClimberSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; +import frc.robot.utils.FieldUtils; import frc.robot.utils.FieldUtils.ClimbTargets; import frc.robot.utils.FieldUtils.TrenchPoses; import org.littletonrobotics.junction.AutoLogOutput; @@ -232,8 +233,8 @@ public Command runPath(Path path, AutoRoutine routine) { public Command climbScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoIntakeReqFalse(), + stopScoring(), + stopIntaking(), // Commands.parallel( path.getTrajectory(routine) @@ -245,9 +246,9 @@ public Command climbScorePath(Path path, AutoRoutine routine) { // path.getTrajectory(routine).getRawTrajectory().getTotalTime() // - (0.3)))), path.getTrajectory(routine).done()), - Commands.parallel(swerve.stop(), setAutoScoreReqTrue()).repeatedly().withTimeout(2.5), - setAutoScoreReqFalse(), - setAutoPreClimbReqTrue(), + Commands.parallel(swerve.stop(), startScoring()).repeatedly().withTimeout(2.5), + stopScoring(), + startPreClimb(), swerve.stop().until(() -> climber.atFullExtension()), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), @@ -256,14 +257,14 @@ public Command climbScorePath(Path path, AutoRoutine routine) { .debounce(0.2)) .andThen( // Commands.print("hooray!") - setAutoClimbReqTrue()))); + startClimb()))); } public Command climbNoScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoIntakeReqFalse(), - setAutoPreClimbReqTrue(), + stopScoring(), + stopIntaking(), + startPreClimb(), // Commands.parallel( path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), swerve.stop().until(() -> climber.atFullExtension()), @@ -272,27 +273,27 @@ public Command climbNoScorePath(Path path, AutoRoutine routine) { Commands.waitUntil( new Trigger(() -> swerve.isInAutoAimTolerance(getClimbAutoTarget().getPose())) .debounce(0.2)) - .andThen(setAutoClimbReqTrue()))); + .andThen(startClimb()))); } public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoFeedReqTrue(), - setAutoIntakeReqTrue(), + stopScoring(), + startFeeding(), + startIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - setAutoFeedReqFalse()); + stopFeeding()); } public Command scorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoIntakeReqFalse(), + stopIntaking(), // setAutoScoreReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), // setAutoScoreReqTrue() // , // setAutoScoreReqFalse() - setAutoScoreReqTrue(), + startScoring(), swerve.stop().repeatedly().withTimeout(3)); } @@ -303,29 +304,29 @@ public Command emptyPath(Path path, AutoRoutine routine) { public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoFlowReqFalse(), - setAutoIntakeReqTrue(), + stopScoring(), + stopFlowing(), + startIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - setAutoIntakeReqFalse()); + stopIntaking()); } public Command intakeScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoFlowReqFalse(), - setAutoIntakeReqTrue(), + stopScoring(), + stopFlowing(), + startIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - setAutoIntakeReqFalse(), - setAutoScoreReqTrue(), + stopIntaking(), + startScoring(), swerve.stop().repeatedly().withTimeout(4), - setAutoScoreReqFalse()); + stopScoring()); } public Command flowPath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqTrue(), - setAutoFlowReqTrue(), + startScoring(), + startFlowing(), // setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } @@ -343,9 +344,9 @@ public ClimbTargets getClimbAutoTarget() { public Command outpostPath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoFlowReqFalse(), - setAutoIntakeReqFalse(), + stopScoring(), + stopFlowing(), + stopIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), swerve.stop().repeatedly().withTimeout(2) // Commands.waitSeconds(1) @@ -354,92 +355,98 @@ public Command outpostPath(Path path, AutoRoutine routine) { public Command outpostScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - setAutoScoreReqFalse(), - setAutoFlowReqFalse(), - setAutoIntakeReqFalse(), + stopScoring(), + stopFlowing(), + stopIntaking(), // spin up before we get there // Commands.parallel( path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), // Commands.waitUntil(path.getTrajectory(routine).atTimeBeforeEnd(0.2)) // .andThen( - setAutoScoreReqTrue() + startScoring() // )) , swerve.stop().repeatedly().withTimeout(4), - setAutoScoreReqFalse() + stopScoring() // Commands.waitSeconds(1) ); } - public void lockHoodUnderTrench(AutoRoutine routine, Pose2d trench, double tolerance) { + public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { routine .observe( () -> // swerve.getPose().getTranslation().minus(trench.getTranslation()).getNorm() - swerve.getPose().minus(trench).getTranslation().getNorm() < tolerance) - .whileTrue(Commands.run(() -> setAutoScoreReqFalse())); + // swerve.getPose().minus(trench).getTranslation().getNorm() < tolerance) + { + for (TrenchPoses t : FieldUtils.TrenchPoses.values()) { + if (swerve.getPose().minus(t.getPose()).getTranslation().getNorm() < toleranceMeters) return true; + } + return false; + }) + .whileTrue(Commands.run(() -> stopScoring())); } public Command shootPreload() { - return Commands.sequence(setAutoScoreReqTrue(), swerve.stop().repeatedly().withTimeout(3)); + return Commands.sequence(startScoring(), swerve.stop().repeatedly().withTimeout(3)); } - public Command setAutoIntakeReqTrue() { + public Command startIntaking() { return Commands.runOnce(() -> autoIntake = true); } - public Command setAutoIntakeReqFalse() { + public Command stopIntaking() { return Commands.runOnce(() -> autoIntake = false); } - public Command setAutoScoreReqTrue() { + public Command startScoring() { return Commands.runOnce(() -> autoScore = true); } - public Command setAutoScoreReqFalse() { + public Command stopScoring() { return Commands.runOnce(() -> autoScore = false); } - public Command setAutoFeedReqTrue() { + public Command startFeeding() { return Commands.runOnce(() -> autoFeed = true); } - public Command setAutoFeedReqFalse() { + public Command stopFeeding() { return Commands.runOnce(() -> autoFeed = false); } - public Command setAutoPreClimbReqTrue() { + public Command startPreClimb() { return Commands.runOnce(() -> autoPreClimb = true); } - public Command setAutoPreClimbReqFalse() { + public Command stopPreClimb() { return Commands.runOnce(() -> autoPreClimb = false); } - public Command setAutoFlowReqTrue() { + public Command startFlowing() { return Commands.runOnce(() -> autoFlow = true); } - public Command setAutoFlowReqFalse() { + public Command stopFlowing() { return Commands.runOnce(() -> autoFlow = false); } - public Command setAutoClimbReqTrue() { + public Command startClimb() { return Commands.runOnce(() -> autoClimb = true); } - public Command setAutoClimbReqFalse() { + public Command stopClimb() { return Commands.runOnce(() -> autoClimb = false); } public Command setAllReqsFalse() { return Commands.sequence( - setAutoIntakeReqFalse(), - setAutoScoreReqFalse(), - setAutoFeedReqFalse(), - setAutoPreClimbReqFalse(), - setAutoFlowReqFalse(), - setAutoClimbReqFalse()); + stopIntaking(), + stopScoring(), + stopFeeding(), + stopPreClimb(), + stopFlowing(), + stopClimb()); } public void setAllReqsFalsenotcmd() { @@ -464,8 +471,7 @@ public Command createAuto( final AutoRoutine routine = factory.newRoutine(name); lockHoodUnderTrench( routine, - TrenchPoses.getClosestTrenchPose(swerve.getPose()), - 1); // TODO the lock under trench feels suspect + 1); Command autoCommand = paths[0] @@ -593,6 +599,6 @@ public Command waitUntilEmpty() { } public Command getJustScoreAuto() { - return setAutoScoreReqTrue().andThen(Commands.waitSeconds(5)).andThen(setAutoScoreReqFalse()); + return startScoring().andThen(Commands.waitSeconds(5)).andThen(stopScoring()); } } From 641d366917cee27eea4480beda9de36fbf253aa2 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 21 Mar 2026 13:31:44 -0700 Subject: [PATCH 3/8] start renaming stuff --- src/main/deploy/choreo/DLOtoDLT.traj | 113 -------- src/main/deploy/choreo/DROtoDRT.traj | 113 -------- .../choreo/{DtoCL.traj => DepottoLClimb.traj} | 8 +- .../choreo/{DtoRL.traj => DepottoRL.traj} | 6 +- .../choreo/{DtoS.traj => DepottoS.traj} | 4 +- .../{FLtoFLM.traj => FLtoLNeutral.traj} | 4 +- .../{FRtoFRM.traj => FRtoRNeutral.traj} | 4 +- .../choreo/{BtoD.traj => LBumptoDepot.traj} | 8 +- .../{FLMtoEL.traj => LNeutraltoEL.traj} | 4 +- .../{FLMtoML.traj => LNeutraltoML.traj} | 4 +- src/main/deploy/choreo/LTrenchtoDepot.traj | 113 ++++++++ .../choreo/{PLtoFL.traj => LTrenchtoFL.traj} | 2 +- .../choreo/{MLtoD.traj => MLtoDepot.traj} | 4 +- .../choreo/{MLtoCL.traj => MLtoLClimb.traj} | 4 +- .../choreo/{MRtoO.traj => MRtoOutpost.traj} | 8 +- .../choreo/{MRtoCR.traj => MRtoRClimb.traj} | 4 +- .../{OtoCR.traj => OutposttoRClimb.traj} | 4 +- .../choreo/{OtoRR.traj => OutposttoRR.traj} | 2 +- .../choreo/{OtoS.traj => OutposttoS.traj} | 2 +- src/main/deploy/choreo/PLtoD.traj | 113 -------- src/main/deploy/choreo/PLtoDRO.traj | 2 +- src/main/deploy/choreo/PRtoDRO.traj | 4 +- .../choreo/{RBtoO.traj => RBtoOutpost.traj} | 2 +- .../choreo/{RLtoFL.traj => RLtoLNeutral.traj} | 4 +- .../{FRMtoMR.traj => RNeutraltoMR.traj} | 4 +- .../choreo/{PRtoFR.traj => RTrenchtoFR.traj} | 2 +- .../{PRtoO.traj => RTrenchtoOutpost.traj} | 4 +- src/main/deploy/choreo/SLBtoCL.traj | 115 -------- .../choreo/{StoO.traj => StoOutpost.traj} | 2 +- src/main/deploy/choreo/rebuiltChoreo.chor | 246 +++++------------- src/main/deploy/choreo/testposes.traj | 4 +- src/main/java/frc/robot/Autos.java | 152 +++++------ .../indexer/SpindexerSubsystem.java | 20 +- 33 files changed, 303 insertions(+), 782 deletions(-) delete mode 100644 src/main/deploy/choreo/DLOtoDLT.traj delete mode 100644 src/main/deploy/choreo/DROtoDRT.traj rename src/main/deploy/choreo/{DtoCL.traj => DepottoLClimb.traj} (96%) rename src/main/deploy/choreo/{DtoRL.traj => DepottoRL.traj} (98%) rename src/main/deploy/choreo/{DtoS.traj => DepottoS.traj} (98%) rename src/main/deploy/choreo/{FLtoFLM.traj => FLtoLNeutral.traj} (95%) rename src/main/deploy/choreo/{FRtoFRM.traj => FRtoRNeutral.traj} (95%) rename src/main/deploy/choreo/{BtoD.traj => LBumptoDepot.traj} (95%) rename src/main/deploy/choreo/{FLMtoEL.traj => LNeutraltoEL.traj} (99%) rename src/main/deploy/choreo/{FLMtoML.traj => LNeutraltoML.traj} (98%) create mode 100644 src/main/deploy/choreo/LTrenchtoDepot.traj rename src/main/deploy/choreo/{PLtoFL.traj => LTrenchtoFL.traj} (99%) rename src/main/deploy/choreo/{MLtoD.traj => MLtoDepot.traj} (98%) rename src/main/deploy/choreo/{MLtoCL.traj => MLtoLClimb.traj} (99%) rename src/main/deploy/choreo/{MRtoO.traj => MRtoOutpost.traj} (97%) rename src/main/deploy/choreo/{MRtoCR.traj => MRtoRClimb.traj} (98%) rename src/main/deploy/choreo/{OtoCR.traj => OutposttoRClimb.traj} (98%) rename src/main/deploy/choreo/{OtoRR.traj => OutposttoRR.traj} (99%) rename src/main/deploy/choreo/{OtoS.traj => OutposttoS.traj} (99%) delete mode 100644 src/main/deploy/choreo/PLtoD.traj rename src/main/deploy/choreo/{RBtoO.traj => RBtoOutpost.traj} (99%) rename src/main/deploy/choreo/{RLtoFL.traj => RLtoLNeutral.traj} (99%) rename src/main/deploy/choreo/{FRMtoMR.traj => RNeutraltoMR.traj} (98%) rename src/main/deploy/choreo/{PRtoFR.traj => RTrenchtoFR.traj} (99%) rename src/main/deploy/choreo/{PRtoO.traj => RTrenchtoOutpost.traj} (97%) delete mode 100644 src/main/deploy/choreo/SLBtoCL.traj rename src/main/deploy/choreo/{StoO.traj => StoOutpost.traj} (99%) diff --git a/src/main/deploy/choreo/DLOtoDLT.traj b/src/main/deploy/choreo/DLOtoDLT.traj deleted file mode 100644 index ceff11a5..00000000 --- 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"fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.97547, "x":7.97995, "y":5.18808, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.02141, "x":7.97995, "y":5.25698, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.06735, "x":7.97995, "y":5.32588, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.11329, "x":7.97995, "y":5.39477, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.15924, "x":7.97995, "y":5.46367, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.20518, "x":7.97995, "y":5.53257, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.25112, "x":7.97995, "y":5.60146, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.29706, "x":7.97995, "y":5.67036, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.343, "x":7.97995, "y":5.73926, "heading":1.57527, "vx":0.0, "vy":1.49967, "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":2.38894, "x":7.97995, "y":5.80815, "heading":1.57527, "vx":0.0, "vy":1.49967, "omega":0.0, "ax":0.0, "ay":-0.00711, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.1176,-0.1176,-0.1176,-0.1176]}, - {"t":2.43488, "x":7.97995, "y":5.87704, "heading":1.57527, "vx":0.0, "vy":1.49935, "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/DtoCL.traj b/src/main/deploy/choreo/DepottoLClimb.traj similarity index 96% rename from src/main/deploy/choreo/DtoCL.traj rename to src/main/deploy/choreo/DepottoLClimb.traj index fa6e8988..b90b6b24 100644 --- a/src/main/deploy/choreo/DtoCL.traj +++ b/src/main/deploy/choreo/DepottoLClimb.traj @@ -1,5 +1,5 @@ { - "name":"DtoCL", + "name":"DepottoLClimb", "version":3, "snapshot":{ "waypoints":[ @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.4133210182189941 m", "val":1.413321018218994}, "y":{"exp":"6.265956878662109 m", "val":6.265956878662109}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CL.x", "val":1.998773455619812}, "y":{"exp":"CL.y", "val":4.835856914520264}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.4133210182189941 m", "val":1.413321018218994}, "y":{"exp":"6.265956878662109 m", "val":6.265956878662109}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LClimb.x", "val":1.998773455619812}, "y":{"exp":"LClimb.y", "val":4.835856914520264}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "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/deploy/choreo/DtoRL.traj b/src/main/deploy/choreo/DepottoRL.traj similarity index 98% rename from src/main/deploy/choreo/DtoRL.traj rename to src/main/deploy/choreo/DepottoRL.traj index 6f8da676..fa33af52 100644 --- a/src/main/deploy/choreo/DtoRL.traj +++ b/src/main/deploy/choreo/DepottoRL.traj @@ -1,5 +1,5 @@ { - "name":"DtoRL", + "name":"DepottoRL", "version":3, "snapshot":{ "waypoints":[ @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.228600025177002 m", "val":2.228600025177002}, "y":{"exp":"6.443007469177246 m", "val":6.443007469177246}, "heading":{"exp":"1.2762303344743435 rad", "val":1.2762303344743435}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RLL.x", "val":2.9497299194335938}, "y":{"exp":"RLL.y", "val":7.378527641296387}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ diff --git a/src/main/deploy/choreo/DtoS.traj b/src/main/deploy/choreo/DepottoS.traj similarity index 98% rename from src/main/deploy/choreo/DtoS.traj rename to src/main/deploy/choreo/DepottoS.traj index 5aebd467..6ff6fdb0 100644 --- a/src/main/deploy/choreo/DtoS.traj +++ b/src/main/deploy/choreo/DepottoS.traj @@ -1,5 +1,5 @@ { - "name":"DtoS", + "name":"DepottoS", "version":3, "snapshot":{ "waypoints":[ @@ -15,7 +15,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x - 6 in", "val":0.551599767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Depot.x - 6 in", "val":0.551599767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.1980347633361816 m", "val":2.1980347633361816}, "y":{"exp":"5.884655952453613 m", "val":5.884655952453613}, "heading":{"exp":"3.1416668452644734 rad", "val":3.141666845264474}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"SC.x", "val":2.4044814109802246}, "y":{"exp":"SC.y", "val":2.0}, "heading":{"exp":"SC.heading", "val":-3.141507624207323}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ diff --git a/src/main/deploy/choreo/FLtoFLM.traj b/src/main/deploy/choreo/FLtoLNeutral.traj similarity index 95% rename from src/main/deploy/choreo/FLtoFLM.traj rename to src/main/deploy/choreo/FLtoLNeutral.traj index a7fe0ccc..64de640a 100644 --- a/src/main/deploy/choreo/FLtoFLM.traj +++ b/src/main/deploy/choreo/FLtoLNeutral.traj @@ -1,5 +1,5 @@ { - "name":"FLtoFLM", + "name":"FLtoLNeutral", "version":3, "snapshot":{ "waypoints":[ @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoRNeutral.traj similarity index 95% rename from src/main/deploy/choreo/FRtoFRM.traj rename to src/main/deploy/choreo/FRtoRNeutral.traj index 35a3f4d2..01cb65e2 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoRNeutral.traj @@ -1,5 +1,5 @@ { - "name":"FRtoFRM", + "name":"FRtoRNeutral", "version":3, "snapshot":{ "waypoints":[ @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/BtoD.traj b/src/main/deploy/choreo/LBumptoDepot.traj similarity index 95% rename from src/main/deploy/choreo/BtoD.traj rename to src/main/deploy/choreo/LBumptoDepot.traj index 1ee6dd9d..cd2fe671 100644 --- a/src/main/deploy/choreo/BtoD.traj +++ b/src/main/deploy/choreo/LBumptoDepot.traj @@ -1,5 +1,5 @@ { - "name":"BtoD", + "name":"LBumptoDepot", "version":3, "snapshot":{ "waypoints":[ @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.6318795680999756 m", "val":3.631879568099976}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.7998199462890625 m", "val":1.7998199462890625}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"D.x - 6 in", "val":0.551599767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.6318795680999756 m", "val":3.631879568099976}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.7998199462890625 m", "val":1.7998199462890625}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Depot.x - 6 in", "val":0.551599767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "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}, diff --git a/src/main/deploy/choreo/FLMtoEL.traj b/src/main/deploy/choreo/LNeutraltoEL.traj similarity index 99% rename from src/main/deploy/choreo/FLMtoEL.traj rename to src/main/deploy/choreo/LNeutraltoEL.traj index 14f1700d..374c5c80 100644 --- a/src/main/deploy/choreo/FLMtoEL.traj +++ b/src/main/deploy/choreo/LNeutraltoEL.traj @@ -1,5 +1,5 @@ { - "name":"FLMtoEL", + "name":"LNeutraltoEL", "version":3, "snapshot":{ "waypoints":[ @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.11699104309082 m", "val":6.11699104309082}, "y":{"exp":"7.238004684448242 m", "val":7.238004684448242}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.219851016998291 m", "val":4.219851016998291}, "y":{"exp":"7.297757148742676 m", "val":7.297757148742676}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"ELL.x", "val":2.1214685440063477}, "y":{"exp":"ELL.y", "val":7.046450138092041}, "heading":{"exp":"ELL.heading", "val":-1.573056098378181}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], diff --git a/src/main/deploy/choreo/FLMtoML.traj b/src/main/deploy/choreo/LNeutraltoML.traj similarity index 98% rename from src/main/deploy/choreo/FLMtoML.traj rename to src/main/deploy/choreo/LNeutraltoML.traj index d4c8f3d4..435ce81d 100644 --- a/src/main/deploy/choreo/FLMtoML.traj +++ b/src/main/deploy/choreo/LNeutraltoML.traj @@ -1,5 +1,5 @@ { - "name":"FLMtoML", + "name":"LNeutraltoML", "version":3, "snapshot":{ "waypoints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, 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"fx":[124.17755,124.17755,124.17755,124.17755], "fy":[-5.16499,-5.16499,-5.16499,-5.16499]}, + {"t":2.09287, "x":0.73206, "y":5.97408, "heading":3.14159, "vx":-0.64953, "vy":0.02702, "omega":0.0, "ax":7.51596, "ay":-0.31262, "alpha":0.0, "fx":[124.26467,124.26467,124.26467,124.26467], "fy":[-5.16861,-5.16861,-5.16861,-5.16861]}, + {"t":2.13608, "x":0.71102, "y":5.97496, "heading":3.14159, "vx":-0.32482, "vy":0.01351, "omega":0.0, "ax":7.5186, "ay":-0.31273, "alpha":0.0, "fx":[124.30832,124.30832,124.30832,124.30832], "fy":[-5.17043,-5.17043,-5.17043,-5.17043]}, + {"t":2.17928, "x":0.704, "y":5.97525, "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/PLtoFL.traj b/src/main/deploy/choreo/LTrenchtoFL.traj similarity index 99% rename from src/main/deploy/choreo/PLtoFL.traj rename to src/main/deploy/choreo/LTrenchtoFL.traj index 0c4d4486..6082ff28 100644 --- a/src/main/deploy/choreo/PLtoFL.traj +++ b/src/main/deploy/choreo/LTrenchtoFL.traj @@ -1,5 +1,5 @@ { - "name":"PLtoFL", + "name":"LTrenchtoFL", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/MLtoD.traj b/src/main/deploy/choreo/MLtoDepot.traj similarity index 98% rename from src/main/deploy/choreo/MLtoD.traj rename to src/main/deploy/choreo/MLtoDepot.traj index a13e50b0..c665d789 100644 --- a/src/main/deploy/choreo/MLtoD.traj +++ b/src/main/deploy/choreo/MLtoDepot.traj @@ -1,5 +1,5 @@ { - "name":"MLtoD", + "name":"MLtoDepot", "version":3, "snapshot":{ "waypoints":[ @@ -18,7 +18,7 @@ "waypoints":[ {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.581623911857605 m", "val":1.581623911857605}, "y":{"exp":"6.8643670082092285 m", "val":6.8643670082092285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/MLtoCL.traj b/src/main/deploy/choreo/MLtoLClimb.traj similarity index 99% rename from src/main/deploy/choreo/MLtoCL.traj rename to src/main/deploy/choreo/MLtoLClimb.traj index b7150c2d..faba732a 100644 --- a/src/main/deploy/choreo/MLtoCL.traj +++ b/src/main/deploy/choreo/MLtoLClimb.traj @@ -1,5 +1,5 @@ { - "name":"MLtoCL", + "name":"MLtoLClimb", "version":3, "snapshot":{ "waypoints":[ @@ -18,7 +18,7 @@ "waypoints":[ {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7218598127365112 m", "val":1.7218598127365112}, "y":{"exp":"5.351567268371582 m", "val":5.351567268371582}, "heading":{"exp":"1.6207547225168395 rad", "val":1.6207547225168395}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.5524598956108093 m", "val":0.5524598956108093}, "y":{"exp":"4.88380765914917 m", "val":4.88380765914917}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"0.5524598956108093 m", "val":0.5524598956108093}, "y":{"exp":"4.88380765914917 m", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/MRtoO.traj b/src/main/deploy/choreo/MRtoOutpost.traj similarity index 97% rename from src/main/deploy/choreo/MRtoO.traj rename to src/main/deploy/choreo/MRtoOutpost.traj index 66055e26..aedaf936 100644 --- a/src/main/deploy/choreo/MRtoO.traj +++ b/src/main/deploy/choreo/MRtoOutpost.traj @@ -1,5 +1,5 @@ { - "name":"MRtoO", + "name":"MRtoOutpost", "version":3, "snapshot":{ "waypoints":[ @@ -16,15 +16,13 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.0304315090179443 m", "val":2.0304315090179443}, "y":{"exp":"0.749363362789154 m", "val":0.749363362789154}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":0, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 diff --git a/src/main/deploy/choreo/MRtoCR.traj b/src/main/deploy/choreo/MRtoRClimb.traj similarity index 98% rename from src/main/deploy/choreo/MRtoCR.traj rename to src/main/deploy/choreo/MRtoRClimb.traj index 26effdaa..630ed290 100644 --- a/src/main/deploy/choreo/MRtoCR.traj +++ b/src/main/deploy/choreo/MRtoRClimb.traj @@ -1,5 +1,5 @@ { - "name":"MRtoCR", + "name":"MRtoRClimb", "version":3, "snapshot":{ "waypoints":[ @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/OtoCR.traj b/src/main/deploy/choreo/OutposttoRClimb.traj similarity index 98% rename from src/main/deploy/choreo/OtoCR.traj rename to src/main/deploy/choreo/OutposttoRClimb.traj index 7d97a05b..440a9134 100644 --- a/src/main/deploy/choreo/OtoCR.traj +++ b/src/main/deploy/choreo/OutposttoRClimb.traj @@ -1,5 +1,5 @@ { - "name":"OtoCR", + "name":"OutposttoRClimb", "version":3, "snapshot":{ "waypoints":[ @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.918229579925537 m", "val":1.918229579925537}, "y":{"exp":"2.5445938110351562 m", "val":2.544593811035156}, "heading":{"exp":"CR.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"1.918229579925537 m", "val":1.918229579925537}, "y":{"exp":"2.5445938110351562 m", "val":2.544593811035156}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "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/deploy/choreo/OtoRR.traj b/src/main/deploy/choreo/OutposttoRR.traj similarity index 99% rename from src/main/deploy/choreo/OtoRR.traj rename to src/main/deploy/choreo/OutposttoRR.traj index d07a379c..a9dd2750 100644 --- a/src/main/deploy/choreo/OtoRR.traj +++ b/src/main/deploy/choreo/OutposttoRR.traj @@ -1,5 +1,5 @@ { - "name":"OtoRR", + "name":"OutposttoRR", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/OtoS.traj b/src/main/deploy/choreo/OutposttoS.traj similarity index 99% rename from src/main/deploy/choreo/OtoS.traj rename to src/main/deploy/choreo/OutposttoS.traj index ba7f5559..544ee04d 100644 --- a/src/main/deploy/choreo/OtoS.traj +++ b/src/main/deploy/choreo/OutposttoS.traj @@ -1,5 +1,5 @@ { - "name":"OtoS", + "name":"OutposttoS", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/PLtoD.traj b/src/main/deploy/choreo/PLtoD.traj deleted file mode 100644 index 5f8fc76e..00000000 --- a/src/main/deploy/choreo/PLtoD.traj +++ /dev/null @@ -1,113 +0,0 @@ -{ - "name":"PLtoD", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":3.6529273986816406, "y":7.408985614776611, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.780329942703247, "y":5.9557576179504395, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.703999767303467, "y":5.975247383117676, "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":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"3.6529273986816406 m", "val":3.6529273986816406}, "y":{"exp":"7.408985614776611 m", "val":7.408985614776611}, "heading":{"exp":"SLT.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.9557576179504395 m", "val":5.9557576179504395}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"D.x", "val":0.703999767303467}, "y":{"exp":"D.y", "val":5.975247383117676}, "heading":{"exp":"D.heading", "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":"first", "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "enabled":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "config":{ - "frontLeft":{ - "x":0.2761996, - "y":0.2761996 - }, - "backLeft":{ - "x":-0.2761996, - "y":0.2761996 - }, - "mass":66.133767546, - "inertia":10.42384825260472, - "gearing":7.03, - "radius":0.0508, - "vmax":485.8996637552213, - 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a/src/main/deploy/choreo/PLtoDRO.traj b/src/main/deploy/choreo/PLtoDRO.traj index c573b70f..4c97389c 100644 --- a/src/main/deploy/choreo/PLtoDRO.traj +++ b/src/main/deploy/choreo/PLtoDRO.traj @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLT.x", "val":3.7620644569396977}, "y":{"exp":"PLT.y", "val":7.357067584991455}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LTrench.x", "val":3.7620644569396977}, "y":{"exp":"LTrench.y", "val":7.357067584991455}, "heading":{"exp":"RTrench.heading", "val":1.5707963452742666}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.839240550994873 m", "val":5.839240550994873}, "y":{"exp":"7.312925338745117 m", "val":7.312925338745117}, "heading":{"exp":"-3.1196182570906053 rad", "val":-3.1196182570906053}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"8.408936500549316 m", "val":8.408936500549316}, "y":{"exp":"7.168707847595215 m", "val":7.168707847595215}, "heading":{"exp":"-2.276364851412617 rad", "val":-2.276364851412617}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DLO.x", "val":8.579570770263672}, "y":{"exp":"DLO.y", "val":5.865847587585449}, "heading":{"exp":"DLO.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], diff --git a/src/main/deploy/choreo/PRtoDRO.traj b/src/main/deploy/choreo/PRtoDRO.traj index fc7b3fda..dbeb91ab 100644 --- a/src/main/deploy/choreo/PRtoDRO.traj +++ b/src/main/deploy/choreo/PRtoDRO.traj @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", 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m", "val":7.710022926330566}, "y":{"exp":"0.8485172390937805 m", "val":0.8485172390937805}, "heading":{"exp":"1.8673430984427641 rad", "val":1.867343098442764}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"DRO.x", "val":7.979954719543457}, "y":{"exp":"DRO.y", "val":2.225545644760132}, "heading":{"exp":"DRO.heading", "val":1.5752676626464273}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ diff --git a/src/main/deploy/choreo/RBtoO.traj b/src/main/deploy/choreo/RBtoOutpost.traj similarity index 99% rename from src/main/deploy/choreo/RBtoO.traj rename to src/main/deploy/choreo/RBtoOutpost.traj index 1a8ab342..320a8e89 100644 --- a/src/main/deploy/choreo/RBtoO.traj +++ b/src/main/deploy/choreo/RBtoOutpost.traj @@ -1,5 +1,5 @@ { - "name":"RBtoO", + "name":"RBtoOutpost", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/RLtoFL.traj b/src/main/deploy/choreo/RLtoLNeutral.traj similarity index 99% rename from src/main/deploy/choreo/RLtoFL.traj rename to src/main/deploy/choreo/RLtoLNeutral.traj index d139df85..d329a681 100644 --- a/src/main/deploy/choreo/RLtoFL.traj +++ b/src/main/deploy/choreo/RLtoLNeutral.traj @@ -1,5 +1,5 @@ { - "name":"RLtoFL", + "name":"RLtoLNeutral", "version":3, "snapshot":{ "waypoints":[ @@ -22,7 +22,7 @@ {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"7.361404895782471 m", "val":7.361404895782471}, "heading":{"exp":"RLL.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.366947174072266 m", "val":7.366947174072266}, "y":{"exp":"7.026499271392822 m", "val":7.026499271392822}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "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":false}, diff --git a/src/main/deploy/choreo/FRMtoMR.traj b/src/main/deploy/choreo/RNeutraltoMR.traj similarity index 98% rename from src/main/deploy/choreo/FRMtoMR.traj rename to src/main/deploy/choreo/RNeutraltoMR.traj index 2c29dde0..b8efda67 100644 --- a/src/main/deploy/choreo/FRMtoMR.traj +++ b/src/main/deploy/choreo/RNeutraltoMR.traj @@ -1,5 +1,5 @@ { - "name":"FRMtoMR", + "name":"RNeutraltoMR", "version":3, "snapshot":{ "waypoints":[ @@ -17,7 +17,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ diff --git a/src/main/deploy/choreo/PRtoFR.traj b/src/main/deploy/choreo/RTrenchtoFR.traj similarity index 99% rename from src/main/deploy/choreo/PRtoFR.traj rename to src/main/deploy/choreo/RTrenchtoFR.traj index 58ee73b3..a4782f4d 100644 --- a/src/main/deploy/choreo/PRtoFR.traj +++ b/src/main/deploy/choreo/RTrenchtoFR.traj @@ -1,5 +1,5 @@ { - "name":"PRtoFR", + "name":"RTrenchtoFR", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/PRtoO.traj b/src/main/deploy/choreo/RTrenchtoOutpost.traj similarity index 97% rename from src/main/deploy/choreo/PRtoO.traj rename to src/main/deploy/choreo/RTrenchtoOutpost.traj index 88ffc7e4..58fafff4 100644 --- a/src/main/deploy/choreo/PRtoO.traj +++ b/src/main/deploy/choreo/RTrenchtoOutpost.traj @@ -1,5 +1,5 @@ { - "name":"PRtoO", + "name":"RTrenchtoOutpost", "version":3, "snapshot":{ "waypoints":[ @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRT.x", "val":3.7242095470428462}, "y":{"exp":"PRT.y", "val":0.7309682965278625}, "heading":{"exp":"PRT.heading", "val":1.5707963452742666}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RTrench.x", "val":3.7242095470428462}, "y":{"exp":"RTrench.y", "val":0.7309682965278625}, "heading":{"exp":"RTrench.heading", "val":1.5707963452742666}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, 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"omega":0.00052, "ax":-0.00006, "ay":0.00128, "alpha":2.01448, "fx":[-9.74264,9.25847,9.74002,-9.2601], "fy":[-9.23815,-9.72025,9.28042,9.76241]}, - {"t":1.61765, "x":1.82257, "y":4.82695, "heading":1.54545, "vx":0.99844, "vy":0.05045, "omega":0.07163, "ax":0.0, "ay":0.00004, "alpha":1.59619, "fx":[-7.71854,7.3368,7.71846,-7.33685], "fy":[-7.33617,-7.71785,7.33748,7.71915]}, - {"t":1.65295, "x":1.85781, "y":4.82873, "heading":1.54798, "vx":0.99844, "vy":0.05045, "omega":0.12797, "ax":0.0, "ay":0.0, "alpha":1.18307, "fx":[-5.70707,5.45239,5.70707,-5.45239], "fy":[-5.45237,-5.70705,5.45241,5.70709]}, - {"t":1.68825, "x":1.89305, "y":4.83051, "heading":1.55249, "vx":0.99844, "vy":0.05045, "omega":0.16973, "ax":0.0, "ay":0.0, "alpha":0.77394, "fx":[-3.71731,3.58368,3.71731,-3.58368], "fy":[-3.58368,-3.71731,3.58368,3.71731]}, - {"t":1.72354, "x":1.92829, "y":4.8323, "heading":1.55849, "vx":0.99844, "vy":0.05045, "omega":0.19705, "ax":0.0, "ay":0.0, "alpha":0.3675, "fx":[-1.75491,1.71223,1.75491,-1.71223], "fy":[-1.71223,-1.75491,1.71223,1.75491]}, - {"t":1.75884, "x":1.96354, "y":4.83408, "heading":1.56544, "vx":0.99844, "vy":0.05045, "omega":0.21002, "ax":-0.00801, "ay":-0.0004, "alpha":-0.03764, "fx":[0.04607,-0.3091,-0.311,0.04417], "fy":[0.16994,0.17184,-0.18333,-0.18523]}, - {"t":1.79414, "x":1.99877, "y":4.83586, "heading":1.57285, "vx":0.99816, "vy":0.05044, "omega":0.20869, "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/StoO.traj b/src/main/deploy/choreo/StoOutpost.traj similarity index 99% rename from src/main/deploy/choreo/StoO.traj rename to src/main/deploy/choreo/StoOutpost.traj index aa3f6972..caefc9e5 100644 --- a/src/main/deploy/choreo/StoO.traj +++ b/src/main/deploy/choreo/StoOutpost.traj @@ -1,5 +1,5 @@ { - "name":"StoO", + "name":"StoOutpost", "version":3, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index b192f864..32d977b8 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -34,20 +34,6 @@ } }, "poses":{ - "CL":{ - "x":{ - "exp":"1.998773455619812 m", - "val":1.998773455619812 - }, - "y":{ - "exp":"4.835856914520264 m", - "val":4.835856914520264 - }, - "heading":{ - "exp":"1.5728533535678788 rad", - "val":1.5728533535678788 - } - }, "CM":{ "x":{ "exp":"1.7500560283660889 m", @@ -62,21 +48,7 @@ "val":3.141592653589793 } }, - "CR":{ - "x":{ - "exp":"1.8024730682373047 m", - "val":1.802473068237305 - }, - "y":{ - "exp":"2.449967384338379 m", - "val":2.449967384338379 - }, - "heading":{ - "exp":"-1.5737992594811685 rad", - "val":-1.5737992594811685 - } - }, - "D":{ + "Depot":{ "x":{ "exp":"0.703999767303467 m", "val":0.703999767303467 @@ -90,62 +62,6 @@ "val":3.141592653589793 } }, - "DLO":{ - "x":{ - "exp":"8.579570770263672 m", - "val":8.579570770263672 - }, - "y":{ - "exp":"5.865847587585449 m", - "val":5.865847587585449 - }, - "heading":{ - "exp":"-1.5707963267948966 rad", - "val":-1.5707963267948966 - } - }, - "DLT":{ - "x":{ - "exp":"8.579570770263672 m", - "val":8.579570770263672 - }, - "y":{ - "exp":"2.2046804428100586 m", - "val":2.2046804428100586 - }, - "heading":{ - "exp":"DLO.heading", - "val":-1.5707963267948966 - } - }, - "DRO":{ - "x":{ - "exp":"7.979954719543457 m", - "val":7.979954719543457 - }, - "y":{ - "exp":"2.225545644760132 m", - "val":2.225545644760132 - }, - "heading":{ - "exp":"1.5752676626464273 rad", - "val":1.5752676626464273 - } - }, - "DRT":{ - "x":{ - "exp":"7.979954719543457 m", - "val":7.979954719543457 - }, - "y":{ - "exp":"5.877043724060059 m", - "val":5.877043724060059 - }, - "heading":{ - "exp":"1.5752676626464273 rad", - "val":1.5752676626464273 - } - }, "ELL":{ "x":{ "exp":"2.1214685440063477 m", @@ -188,46 +104,60 @@ "val":-1.5707963267948966 } }, - "FLM":{ + "FR":{ "x":{ "exp":"7.8203654289245605 m", "val":7.82036542892456 }, "y":{ - "exp":"4.503572463989258 m", - "val":4.503572463989258 + "exp":"2.2169458866119385 m", + "val":2.2169458866119385 }, "heading":{ - "exp":"-1.5707963267948966 rad", - "val":-1.5707963267948966 + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 } }, - "FR":{ + "LClimb":{ "x":{ - "exp":"7.8203654289245605 m", - "val":7.82036542892456 + "exp":"1.998773455619812 m", + "val":1.998773455619812 }, "y":{ - "exp":"2.2169458866119385 m", - "val":2.2169458866119385 + "exp":"4.835856914520264 m", + "val":4.835856914520264 }, "heading":{ - "exp":"1.5707963267948966 rad", - "val":1.5707963267948966 + "exp":"1.5728533535678788 rad", + "val":1.5728533535678788 } }, - "FRM":{ + "LNeutral":{ "x":{ "exp":"7.8203654289245605 m", "val":7.82036542892456 }, "y":{ - "exp":"3.55698299407959 m", - "val":3.55698299407959 + "exp":"4.503572463989258 m", + "val":4.503572463989258 }, "heading":{ - "exp":"1.5707963267948966 rad", - "val":1.5707963267948966 + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "LTrench":{ + "x":{ + "exp":"3.7620644569396973 m", + "val":3.7620644569396977 + }, + "y":{ + "exp":"7.357067584991455 m", + "val":7.357067584991455 + }, + "heading":{ + "exp":"SLT.heading", + "val":3.141592653589793 } }, "M":{ @@ -300,20 +230,6 @@ "val":0.0 } }, - "PLT":{ - "x":{ - "exp":"3.7620644569396973 m", - "val":3.7620644569396977 - }, - "y":{ - "exp":"7.357067584991455 m", - "val":7.357067584991455 - }, - "heading":{ - "exp":"SLT.heading", - "val":3.141592653589793 - } - }, "PM":{ "x":{ "exp":"3.6745946407318115 m", @@ -342,18 +258,18 @@ "val":0.0 } }, - "PRT":{ + "RClimb":{ "x":{ - "exp":"3.7242095470428467 m", - "val":3.7242095470428462 + "exp":"1.8024730682373047 m", + "val":1.802473068237305 }, "y":{ - "exp":"0.7309682965278625 m", - "val":0.7309682965278625 + "exp":"2.449967384338379 m", + "val":2.449967384338379 }, "heading":{ - "exp":"3.141592690548533 / 2 rad", - "val":1.5707963452742666 + "exp":"-1.5737992594811685 rad", + "val":-1.5737992594811685 } }, "RLL":{ @@ -370,88 +286,46 @@ "val":0.0 } }, - "RR":{ - "x":{ - "exp":"2.5106818675994873 m", - "val":2.5106818675994873 - }, - "y":{ - "exp":"0.6606601476669312 m", - "val":0.6606601476669312 - }, - "heading":{ - "exp":"0 deg", - "val":0.0 - } - }, - "SC":{ - "x":{ - "exp":"2.4044814109802246 m", - "val":2.4044814109802246 - }, - "y":{ - "exp":"2 m", - "val":2.0 - }, - "heading":{ - "exp":"-3.1415076242073234 rad", - "val":-3.141507624207323 - } - }, - "SLB":{ + "RNeutral":{ "x":{ - "exp":"2.7844135761260986 m", - "val":2.784413576126098 - }, - "y":{ - "exp":"5.38032865524292 m", - "val":5.38032865524292 - }, - "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 - } - }, - "SLT":{ - "x":{ - "exp":"2.814626932144165 m", - "val":2.814626932144165 + "exp":"7.8203654289245605 m", + "val":7.82036542892456 }, "y":{ - "exp":"7.330637454986572 m", - "val":7.330637454986572 + "exp":"3.55698299407959 m", + "val":3.55698299407959 }, "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 } }, - "SRB":{ + "RR":{ "x":{ - "exp":"2.7844135761260986 m", - "val":2.784413576126098 + "exp":"2.5106818675994873 m", + "val":2.5106818675994873 }, "y":{ - "exp":"2.601309061050415 m", - "val":2.601309061050415 + "exp":"0.6606601476669312 m", + "val":0.6606601476669312 }, "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 + "exp":"0 deg", + "val":0.0 } }, - "SRT":{ + "RTrench":{ "x":{ - "exp":"2.768587827682495 m", - "val":2.768587827682495 + "exp":"3.7242095470428467 m", + "val":3.7242095470428462 }, "y":{ - "exp":"0.7205682992935181 m", - "val":0.7205682992935181 + "exp":"0.7309682965278625 m", + "val":0.7309682965278625 }, "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 + "exp":"3.141592690548533 / 2 rad", + "val":1.5707963452742666 } } } diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index f2df0f1b..67a2f2d3 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"CR.x", "val":1.802473068237305}, "y":{"exp":"CR.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"CL.heading", "val":1.5728533535678788}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RClimb.x", "val":1.802473068237305}, "y":{"exp":"RClimb.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.4044814109802246 m", "val":2.4044814109802246}, "y":{"exp":"4.043840408325195 m", "val":4.043840408325195}, "heading":{"exp":"-3.120762420732352 rad", "val":-3.120762420732352}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 0dea80a6..16f878d7 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -7,7 +7,6 @@ import choreo.auto.AutoFactory; import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; -import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; @@ -107,61 +106,64 @@ public enum Obstacle { public enum Path { // OUTPOST - PRtoO("PR", "O", Action.OUTPOST), - MRtoO("MR", "O", Action.OUTPOST), - StoO("S", "O", Action.OUTPOST), + RTrenchtoOutpost("RTrenchtoOutpost", Action.OUTPOST), + MRtoOutpost("MRtoOutpost", Action.OUTPOST), //TODO doesn't work + StoOutpost("StoOutpost", Action.OUTPOST), // DEPOT - PLtoD("PL", "D", Action.INTAKE), + LTrenchtoDepot("LTrenchtoDepot", Action.INTAKE), // FEED - FLtoFLM("FL", "FLM", Action.FEED), - FRtoFRM("FR", "FRM", Action.FEED), - FLMtoML("FLM", "ML", Action.FEED), - FRMtoMR("FRM", "MR", Action.FEED), + FLtoFLM("FLtoFLM", Action.FEED), + FRtoFRM("FRtoFRM", Action.FEED), + FeedLNeutraltoML("LNeutraltoML", Action.FEED), + FeedRNeutraltoMR("RNeutraltoMR", Action.FEED), // INTAKE - ILtoILM("FL", "FLM", Action.INTAKE), - IRtoIRM("FR", "FRM", Action.INTAKE), - ILMtoML("FLM", "ML", Action.INTAKE), - IRMtoMR("FRM", "MR", Action.INTAKE), - RLtoIL("RL", "FL", Action.INTAKE), - RRtoIR("RR", "FR", Action.INTAKE), - PRtoIR("PR", "FR", Action.INTAKE), - PLtoIL("PL", "FL", Action.INTAKE), + FLtoLNeutral("FLtoLNeutral", Action.INTAKE), + FRtoRNeutral("FRtoRNeutral", Action.INTAKE), + LNeutraltoML("LNeutraltoML", Action.INTAKE), + RNeutraltoMR("RNeutraltoMR", Action.INTAKE), + RLtoLNeutral("RLtoLNeutral", Action.INTAKE), + RRtoIR("RRtoFR", Action.INTAKE), + RTrenchtoIR("RTrenchtoFR", Action.INTAKE), + LTrenchtoFL("PLtoFL", Action.INTAKE), // SCORE - DtoRL("D", "RL", Action.SCORE), - OtoRR("O", "RR", Action.NOTHING), - DtoS("D", "S", Action.SCORE), - OtoS("O", "S", Action.SCORE), - PMtoM("PM", "M", Action.SCORE), + DepottoRL("DepottoRL", Action.SCORE), + OutposttoRR("OutposttoRR", Action.NOTHING), + DepottoS("DepottoS", Action.SCORE), + OutposttoS("OutposttoS", Action.SCORE), + PMtoM("PMtoM", Action.SCORE), // FLOW - MLtoD("ML", "D", Action.FLOW), + MLtoDepot("MLtoDepot", Action.FLOW), // CLIMB - MLtoCL("ML", "CL", Action.CLIMB_SCORE), - MRtoCR("MR", "CR", Action.CLIMB_SCORE), - OtoCR("O", "CR", Action.CLIMB_SCORE), - noScoreOtoCR("O", "CR", Action.CLIMB_ONLY), - DtoCL("D", "CL", Action.CLIMB_SCORE), - RBtoO("RB", "O", Action.OUTPOST_SCORE), + MLtoLClimb("MLtoLClimb", Action.CLIMB_SCORE), + MRtoRClimb("MRtoRClimb", Action.CLIMB_SCORE), + OutposttoRClimb("OutposttoRClimb", Action.CLIMB_SCORE), + noScoreOtoCR("OutposttoRClimb", Action.CLIMB_ONLY), + DepottoLClimb("DepottoLClimb", Action.CLIMB_SCORE), + RBtoOutpost("RBtoOutpost", Action.OUTPOST_SCORE), - FRMtoMRScore("FRM", "MR", Action.INTAKE_SCORE), + FRMtoMRScore("FRMtoR", Action.INTAKE_SCORE), - RUNtoTEST("RUN", "TEST", Action.NOTHING), + RUNtoTEST("RUNtoTEST", Action.NOTHING), - BtoD("B", "D", Action.INTAKE); + LBumptoDepot("LBumptoDepot", Action.INTAKE); - private final String start; - private final String end; + private final String name; private final Action action; - private Path(String start, String end, Action action) { - this.start = start; - this.end = end; + /** + * + * @param name the name of the path in choreo. MUST match + * @param action the action to perform during/at the end of the path + */ + private Path(String name, Action action) { + this.name = name; this.action = action; } public AutoTrajectory getTrajectory(AutoRoutine routine) { // AutoRoutine docs say that this "creates" a new trajectory, but the factory does check if // it's already present - return routine.trajectory(start + "to" + end); + return routine.trajectory(name); } } @@ -186,23 +188,6 @@ public Autos(SwerveSubsystem swerve, ClimberSubsystem climber) { }); } - public Command leaveAuto() { - final AutoRoutine routine = factory.newRoutine("Leave Auto"); - Path[] paths = {}; - - Command autoCommand = Commands.none(); - - for (Path path : paths) { - autoCommand = - autoCommand.andThen( - Commands.print("Running path: " + path.toString()).andThen(runPath(path, routine))); - } - - routine.active().whileTrue(autoCommand); - - return routine.cmd(); - } - public Command runPath(Path path, AutoRoutine routine) { Action action = path.action; switch (action) { @@ -363,12 +348,9 @@ public Command outpostScorePath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), // Commands.waitUntil(path.getTrajectory(routine).atTimeBeforeEnd(0.2)) // .andThen( - startScoring() - // )) - , + startScoring(), swerve.stop().repeatedly().withTimeout(4), stopScoring() - // Commands.waitSeconds(1) ); } @@ -376,14 +358,15 @@ public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { routine .observe( () -> - // swerve.getPose().getTranslation().minus(trench.getTranslation()).getNorm() - // swerve.getPose().minus(trench).getTranslation().getNorm() < tolerance) - { - for (TrenchPoses t : FieldUtils.TrenchPoses.values()) { - if (swerve.getPose().minus(t.getPose()).getTranslation().getNorm() < toleranceMeters) return true; - } - return false; - }) + // swerve.getPose().getTranslation().minus(trench.getTranslation()).getNorm() + // swerve.getPose().minus(trench).getTranslation().getNorm() < tolerance) + { + for (TrenchPoses t : FieldUtils.TrenchPoses.values()) { + if (swerve.getPose().minus(t.getPose()).getTranslation().getNorm() + < toleranceMeters) return true; + } + return false; + }) .whileTrue(Commands.run(() -> stopScoring())); } @@ -441,12 +424,7 @@ public Command stopClimb() { public Command setAllReqsFalse() { return Commands.sequence( - stopIntaking(), - stopScoring(), - stopFeeding(), - stopPreClimb(), - stopFlowing(), - stopClimb()); + stopIntaking(), stopScoring(), stopFeeding(), stopPreClimb(), stopFlowing(), stopClimb()); } public void setAllReqsFalsenotcmd() { @@ -469,9 +447,7 @@ public Command setRightClimb() { public Command createAuto( String name, Path[] paths, Command setClimbSideCmd, Command... startingCommands) { final AutoRoutine routine = factory.newRoutine(name); - lockHoodUnderTrench( - routine, - 1); + lockHoodUnderTrench(routine, 1); Command autoCommand = paths[0] @@ -489,7 +465,7 @@ public Command createAuto( public Command getDepotScoreClimbAuto() { return createAuto( "Depot Score Climb Auto", - new Path[] {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.ILMtoML, Path.MLtoCL}, + new Path[] {Path.LTrenchtoDepot, Path.DepottoRL, Path.RLtoLNeutral, Path.LNeutraltoML, Path.MLtoLClimb}, setLeftClimb()); } @@ -497,14 +473,14 @@ public Command getOutpostScoreClimbAuto() { return createAuto( "Outpost Score Climb Auto", - new Path[] {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.IRMtoMR, Path.MRtoCR}, + new Path[] {Path.RTrenchtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoRNeutral, Path.RNeutraltoMR, Path.MRtoRClimb}, setRightClimb()); } public Command getDepotFeedClimbAuto() { return createAuto( "Depot Feed Climb Auto", - new Path[] {Path.PLtoD, Path.DtoRL, Path.RLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoCL}, + new Path[] {Path.LTrenchtoDepot, Path.DepottoRL, Path.RLtoLNeutral, Path.FLtoFLM, Path.FeedLNeutraltoML, Path.MLtoLClimb}, setLeftClimb()); } @@ -512,7 +488,7 @@ public Command getOutpostFeedClimbAuto() { return createAuto( "Outpost Feed Climb Auto", - new Path[] {Path.PRtoO, Path.OtoRR, Path.RRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoCR}, + new Path[] {Path.RTrenchtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoFRM, Path.FeedRNeutraltoMR, Path.MRtoRClimb}, setRightClimb()); } @@ -521,7 +497,7 @@ public Command getFillDepotScoreClimbAuto() { return createAuto( "Fill Depot Score Climb Auto", - new Path[] {Path.PLtoIL, Path.FLtoFLM, Path.FLMtoML, Path.MLtoD, Path.DtoCL}, + new Path[] {Path.LTrenchtoFL, Path.FLtoFLM, Path.FeedLNeutraltoML, Path.MLtoDepot, Path.DepottoLClimb}, setLeftClimb()); } @@ -529,7 +505,7 @@ public Command getFillOutpostScoreClimbAuto() { return createAuto( "Fill Outpost Score Climb Auto", - new Path[] {Path.PRtoIR, Path.FRtoFRM, Path.FRMtoMR, Path.MRtoO, Path.OtoCR}, + new Path[] {Path.RTrenchtoIR, Path.FRtoFRM, Path.FeedRNeutraltoMR, Path.MRtoOutpost, Path.OutposttoRClimb}, setRightClimb()); } @@ -537,32 +513,32 @@ public Command getRightBumpOutpostCenterAuto() { return createAuto( "Right Bump Outpost Center Auto", - new Path[] {Path.RBtoO, Path.OtoRR, Path.RRtoIR, Path.IRtoIRM, Path.FRMtoMRScore}, + new Path[] {Path.RBtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoRNeutral, Path.FRMtoMRScore}, setRightClimb()); } public Command getDepotClimbAuto() { - return createAuto("Depot Climb Auto", new Path[] {Path.PLtoD, Path.DtoCL}, setLeftClimb()); + return createAuto("Depot Climb Auto", new Path[] {Path.LTrenchtoDepot, Path.DepottoLClimb}, setLeftClimb()); } public Command getOutpostClimbAuto() { return createAuto( - "Outpost Climb Auto", new Path[] {Path.PRtoO, Path.OtoS, Path.OtoCR}, setRightClimb()); + "Outpost Climb Auto", new Path[] {Path.RTrenchtoOutpost, Path.OutposttoS, Path.OutposttoRClimb}, setRightClimb()); } public Command getDepotOutpostClimbAuto() { return createAuto( "Depot Outpost Climb Auto", - new Path[] {Path.PLtoD, Path.DtoS, Path.StoO, Path.OtoCR}, + new Path[] {Path.LTrenchtoDepot, Path.DepottoS, Path.StoOutpost, Path.OutposttoRClimb}, setRightClimb()); } public Command getLeftBumpDepotOutpostClimbAuto() { return createAuto( "Left Bump Outpost Climb Auto", - new Path[] {Path.BtoD, Path.DtoS, Path.StoO, Path.OtoCR}, + new Path[] {Path.LBumptoDepot, Path.DepottoS, Path.StoOutpost, Path.OutposttoRClimb}, setRightClimb(), shootPreload()); } @@ -571,7 +547,7 @@ public Command getLeftBumpDepotOutpostClimbAuto() { public Command getRightBumpOutpostClimbAuto() { return createAuto( "Right Bump Outpost Climb Auto", - new Path[] {Path.RBtoO, Path.noScoreOtoCR}, + new Path[] {Path.RBtoOutpost, Path.noScoreOtoCR}, setRightClimb()); } diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index f9442e60..11e16d3a 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -4,6 +4,8 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; + +import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj2.command.Command; @@ -13,6 +15,8 @@ import frc.robot.components.rollers.RollerIOInputsAutoLogged; import frc.robot.subsystems.shooter.TurretSubsystem; import java.util.function.DoubleSupplier; + +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; /** Spindexer = Spinning Indexer. !! COMP !! */ @@ -28,10 +32,10 @@ public class SpindexerSubsystem extends SubsystemBase implements Indexer { private RollerIO spinnerIO; - RollerIOInputsAutoLogged spinnerInputs = new RollerIOInputsAutoLogged(); + private RollerIOInputsAutoLogged spinnerInputs = new RollerIOInputsAutoLogged(); - RollerIO kickerIO; - RollerIOInputsAutoLogged kickerInputs = new RollerIOInputsAutoLogged(); + private RollerIO kickerIO; + private RollerIOInputsAutoLogged kickerInputs = new RollerIOInputsAutoLogged(); public static final double MAX_ACCELERATION = 10.0; public static final double MAX_VELOCITY = 10.0; @@ -40,7 +44,11 @@ public class SpindexerSubsystem extends SubsystemBase implements Indexer { new Alert("Disconnected spinner motor!", AlertType.kError); private final Alert kickerDisconnectedAlert = new Alert("Disconnected kicker motor!", AlertType.kError); + @AutoLogOutput(key = "Kicker/Current Filter Value") + private double currentFilterValue = 0.0; + private LinearFilter kickerCurrentFilter = LinearFilter.movingAverage(5); +public static final double KICKER_CURRENT_THRESHOLD = 20; //TODO public SpindexerSubsystem(CANBus canbus, RollerIO indexRollerIO, RollerIO kickerIO) { this.kickerIO = kickerIO; this.spinnerIO = indexRollerIO; @@ -111,6 +119,8 @@ public void periodic() { Logger.processInputs("Indexer/Kicker", kickerInputs); spinnerDisconnectedAlert.set(!spinnerInputs.connected); kickerDisconnectedAlert.set(!kickerInputs.connected); + + currentFilterValue = kickerCurrentFilter.calculate(kickerInputs.statorCurrentAmps); } public static TalonFXConfiguration getIndexerConfig() { @@ -163,4 +173,8 @@ public static TalonFXConfiguration getKickerConfig() { return config; } + + public boolean isEmpty() { + return currentFilterValue < KICKER_CURRENT_THRESHOLD; + } } From d0bba0295bfcd446f10add4a62cb653bb810596f Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 21 Mar 2026 21:14:55 -0700 Subject: [PATCH 4/8] ok things are better --- src/main/deploy/choreo/DepottoLClimb.traj | 153 +++---- ...{DepottoRL.traj => DepottoLPreTrench.traj} | 4 +- src/main/deploy/choreo/DepottoPreOutpost.traj | 113 +++++ src/main/deploy/choreo/DepottoS.traj | 113 ----- src/main/deploy/choreo/FLtoLNeutral.traj | 80 ---- src/main/deploy/choreo/FRtoRNeutral.traj | 77 ---- .../choreo/{PMtoM.traj => HubtoCenter.traj} | 6 +- src/main/deploy/choreo/LBumptoDepot.traj | 2 +- src/main/deploy/choreo/LNeutraltoEL.traj | 197 --------- .../deploy/choreo/LNeutraltoLPreTrench.traj | 157 +++++++ src/main/deploy/choreo/LNeutraltoML.traj | 154 ------- src/main/deploy/choreo/LPreTrenchtoDepot.traj | 141 +++++++ .../deploy/choreo/LPreTrenchtoLClimb.traj | 135 ++++++ .../deploy/choreo/LPreTrenchtoLNeutral.traj | 177 ++++++++ src/main/deploy/choreo/LTrenchtoFL.traj | 141 ------- src/main/deploy/choreo/MLtoDepot.traj | 144 ------- src/main/deploy/choreo/MLtoLClimb.traj | 137 ------- .../deploy/choreo/OutposttoPreOutpost.traj | 108 +++++ src/main/deploy/choreo/OutposttoRClimb.traj | 152 +++---- .../deploy/choreo/OutposttoRPreTrench.traj | 110 +++++ src/main/deploy/choreo/OutposttoRR.traj | 104 ----- src/main/deploy/choreo/OutposttoS.traj | 109 ----- src/main/deploy/choreo/PLtoDRO.traj | 185 --------- src/main/deploy/choreo/PRtoDRO.traj | 159 ------- .../deploy/choreo/PreOutposttoOutpost.traj | 120 ++++++ .../deploy/choreo/PreOutposttoRClimb.traj | 84 ++++ .../{RBtoOutpost.traj => RBumptoOutpost.traj} | 6 +- src/main/deploy/choreo/RLtoLNeutral.traj | 177 -------- ...raltoMR.traj => RNeutraltoRPreTrench.traj} | 4 +- ...oOutpost.traj => RPreTrenchtoOutpost.traj} | 6 +- ...RtoRClimb.traj => RPreTrenchtoRClimb.traj} | 6 +- .../deploy/choreo/RPreTrenchtoRNeutral.traj | 166 ++++++++ src/main/deploy/choreo/RRtoFR.traj | 162 -------- src/main/deploy/choreo/RTrenchtoFR.traj | 143 ------- src/main/deploy/choreo/RTrenchtoOutpost.traj | 2 +- .../choreo/StartingLTrenchtoLNeutral.traj | 161 ++++++++ .../choreo/StartingRTrenchtoRNeutral.traj | 164 ++++++++ src/main/deploy/choreo/StoOutpost.traj | 120 ------ src/main/deploy/choreo/rebuiltChoreo.chor | 250 +++++------ src/main/deploy/choreo/testposes.traj | 387 +++++++++--------- src/main/java/frc/robot/Autos.java | 109 +++-- .../indexer/SpindexerSubsystem.java | 9 +- 42 files changed, 2175 insertions(+), 2759 deletions(-) rename src/main/deploy/choreo/{DepottoRL.traj => DepottoLPreTrench.traj} (98%) create mode 100644 src/main/deploy/choreo/DepottoPreOutpost.traj delete mode 100644 src/main/deploy/choreo/DepottoS.traj delete mode 100644 src/main/deploy/choreo/FLtoLNeutral.traj delete mode 100644 src/main/deploy/choreo/FRtoRNeutral.traj rename src/main/deploy/choreo/{PMtoM.traj => HubtoCenter.traj} (91%) delete mode 100644 src/main/deploy/choreo/LNeutraltoEL.traj create mode 100644 src/main/deploy/choreo/LNeutraltoLPreTrench.traj delete mode 100644 src/main/deploy/choreo/LNeutraltoML.traj create mode 100644 src/main/deploy/choreo/LPreTrenchtoDepot.traj create mode 100644 src/main/deploy/choreo/LPreTrenchtoLClimb.traj create mode 100644 src/main/deploy/choreo/LPreTrenchtoLNeutral.traj delete mode 100644 src/main/deploy/choreo/LTrenchtoFL.traj delete mode 100644 src/main/deploy/choreo/MLtoDepot.traj delete mode 100644 src/main/deploy/choreo/MLtoLClimb.traj create mode 100644 src/main/deploy/choreo/OutposttoPreOutpost.traj create mode 100644 src/main/deploy/choreo/OutposttoRPreTrench.traj delete mode 100644 src/main/deploy/choreo/OutposttoRR.traj delete mode 100644 src/main/deploy/choreo/OutposttoS.traj delete mode 100644 src/main/deploy/choreo/PLtoDRO.traj delete mode 100644 src/main/deploy/choreo/PRtoDRO.traj create mode 100644 src/main/deploy/choreo/PreOutposttoOutpost.traj create mode 100644 src/main/deploy/choreo/PreOutposttoRClimb.traj rename src/main/deploy/choreo/{RBtoOutpost.traj => RBumptoOutpost.traj} (94%) delete mode 100644 src/main/deploy/choreo/RLtoLNeutral.traj rename src/main/deploy/choreo/{RNeutraltoMR.traj => RNeutraltoRPreTrench.traj} (98%) rename src/main/deploy/choreo/{MRtoOutpost.traj => RPreTrenchtoOutpost.traj} (97%) rename src/main/deploy/choreo/{MRtoRClimb.traj => RPreTrenchtoRClimb.traj} (95%) create mode 100644 src/main/deploy/choreo/RPreTrenchtoRNeutral.traj delete mode 100644 src/main/deploy/choreo/RRtoFR.traj delete mode 100644 src/main/deploy/choreo/RTrenchtoFR.traj create mode 100644 src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj create mode 100644 src/main/deploy/choreo/StartingRTrenchtoRNeutral.traj delete mode 100644 src/main/deploy/choreo/StoOutpost.traj diff --git a/src/main/deploy/choreo/DepottoLClimb.traj b/src/main/deploy/choreo/DepottoLClimb.traj index b90b6b24..c6a2ef8f 100644 --- a/src/main/deploy/choreo/DepottoLClimb.traj +++ b/src/main/deploy/choreo/DepottoLClimb.traj @@ -3,9 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.413321018218994, "y":6.265956878662109, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.998773455619812, "y":4.835856914520264, "heading":1.5728533535678788, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.780329942703247, "y":5.410037517547607, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":41, "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}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.4133210182189941 m", "val":1.413321018218994}, "y":{"exp":"6.265956878662109 m", "val":6.265956878662109}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"LClimb.x", "val":1.998773455619812}, "y":{"exp":"LClimb.y", "val":4.835856914520264}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.410037517547607 m", "val":5.410037517547607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":41, "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", 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"fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/DepottoRL.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj similarity index 98% rename from src/main/deploy/choreo/DepottoRL.traj rename to src/main/deploy/choreo/DepottoLPreTrench.traj index fa33af52..6707a85c 100644 --- a/src/main/deploy/choreo/DepottoRL.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -1,5 +1,5 @@ { - "name":"DepottoRL", + "name":"DepottoLPreTrench", "version":3, "snapshot":{ "waypoints":[ @@ -20,7 +20,7 @@ {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, 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a/src/main/deploy/choreo/PMtoM.traj +++ b/src/main/deploy/choreo/HubtoCenter.traj @@ -1,5 +1,5 @@ { - "name":"PMtoM", + "name":"HubtoCenter", "version":3, "snapshot":{ "waypoints":[ @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PM.x", "val":3.674594640731811}, "y":{"exp":"PM.y", "val":4.0000072192}, "heading":{"exp":"PM.heading", "val":1.5707963192945}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"M.x", "val":1.8712037801742551}, "y":{"exp":"M.y", "val":4.0}, "heading":{"exp":"M.heading", "val":1.570796319299}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"StartingHub.x", "val":3.674594640731811}, "y":{"exp":"StartingHub.y", "val":4.0000072192}, "heading":{"exp":"StartingHub.heading", "val":1.5707963192945}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Center.x", "val":1.8712037801742551}, "y":{"exp":"Center.y", "val":4.0}, "heading":{"exp":"Center.heading", "val":1.570796319299}, "intervals":29, "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/deploy/choreo/LBumptoDepot.traj b/src/main/deploy/choreo/LBumptoDepot.traj index cd2fe671..9c535115 100644 --- a/src/main/deploy/choreo/LBumptoDepot.traj +++ b/src/main/deploy/choreo/LBumptoDepot.traj @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.6318795680999756 m", "val":3.631879568099976}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LBump.x", 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"fy":[1.86481,2.05562,-1.86481,-2.05562]}, - {"t":3.53446, "x":7.82236, "y":4.79047, "heading":-1.61044, "vx":-0.01387, "vy":-1.99939, "omega":0.26552, "ax":0.0, "ay":0.0, "alpha":0.28471, "fx":[1.39533,-1.28886,-1.39533,1.28886], "fy":[1.28886,1.39533,-1.28886,-1.39532]}, - {"t":3.57033, "x":7.82186, "y":4.71875, "heading":-1.60091, "vx":-0.01387, "vy":-1.99939, "omega":0.27573, "ax":0.0, "ay":0.0, "alpha":0.15683, "fx":[0.76178,-0.71722,-0.76178,0.71722], "fy":[0.71722,0.76178,-0.71722,-0.76178]}, - {"t":3.60621, "x":7.82136, "y":4.64702, "heading":-1.59102, "vx":-0.01387, "vy":-1.99939, "omega":0.28136, "ax":0.0, "ay":0.0, "alpha":0.03082, "fx":[0.1483,-0.14242,-0.1483,0.14242], "fy":[0.14243,0.14831,-0.14241,-0.14829]}, - {"t":3.64208, "x":7.82086, "y":4.57529, "heading":-1.58093, "vx":-0.01387, "vy":-1.99939, "omega":0.28246, "ax":0.00011, "ay":0.01558, "alpha":-0.09482, "fx":[-0.45003,0.44454,0.45359,-0.44095], "fy":[-0.18516,-0.19422,0.70033,0.70939]}, - {"t":3.67796, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.01386, "vy":-1.99884, "omega":0.27906, "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/RNeutraltoMR.traj b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj similarity index 98% rename from src/main/deploy/choreo/RNeutraltoMR.traj rename to src/main/deploy/choreo/RNeutraltoRPreTrench.traj index b8efda67..2fbb007b 100644 --- a/src/main/deploy/choreo/RNeutraltoMR.traj +++ b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj @@ -1,5 +1,5 @@ { - "name":"RNeutraltoMR", + "name":"RNeutraltoRPreTrench", "version":3, "snapshot":{ "waypoints":[ @@ -19,7 +19,7 @@ "waypoints":[ {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/MRtoOutpost.traj b/src/main/deploy/choreo/RPreTrenchtoOutpost.traj similarity index 97% rename from src/main/deploy/choreo/MRtoOutpost.traj rename to src/main/deploy/choreo/RPreTrenchtoOutpost.traj index aedaf936..e4e8bcdd 100644 --- a/src/main/deploy/choreo/MRtoOutpost.traj +++ b/src/main/deploy/choreo/RPreTrenchtoOutpost.traj @@ -1,5 +1,5 @@ { - "name":"MRtoOutpost", + "name":"RPreTrenchtoOutpost", "version":3, "snapshot":{ "waypoints":[ @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"O.x", "val":0.4355199635028839}, "y":{"exp":"O.y", "val":0.5460934042930603}, "heading":{"exp":"O.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Outpost.x", "val":0.4355199635028839}, "y":{"exp":"Outpost.y", "val":0.5460934042930603}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/MRtoRClimb.traj b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj similarity index 95% rename from src/main/deploy/choreo/MRtoRClimb.traj rename to src/main/deploy/choreo/RPreTrenchtoRClimb.traj index 630ed290..3035d319 100644 --- a/src/main/deploy/choreo/MRtoRClimb.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj @@ -1,5 +1,5 @@ { - "name":"MRtoRClimb", + "name":"RPreTrenchtoRClimb", "version":3, "snapshot":{ "waypoints":[ @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"MR.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.8387998342514038 m", "val":1.838799834251404}, "y":{"exp":"2.700927495956421 m", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RClimb.x", "val":1.838799834251404}, "y":{"exp":"RClimb.y", "val":2.700927495956421}, "heading":{"exp":"RClimb.heading", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj new file mode 100644 index 00000000..ebd36cb0 --- /dev/null +++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj @@ -0,0 +1,166 @@ +{ + "name":"RPreTrenchtoRNeutral", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.375746250152588, "y":0.6403176784515381, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.532798290252685, "y":1.1749255657196045, "heading":1.3633881813651478, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.375746250152588 m", "val":6.375746250152588}, "y":{"exp":"0.6403176784515381 m", "val":0.6403176784515381}, "heading":{"exp":"RR.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"7.5327982902526855 m", 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"fy":[39.40945,40.36451,37.15979,36.25458]}, - {"t":1.68162, "x":0.53899, "y":0.59884, "heading":1.57074, "vx":-1.17626, "vy":-0.59962, "omega":0.00064, "ax":6.66909, "ay":3.39971, "alpha":-0.00609, "fx":[110.25209,110.22794,110.27387,110.29797], "fy":[56.23139,56.27732,56.18653,56.14064]}, - {"t":1.71677, "x":0.50176, "y":0.57986, "heading":1.57076, "vx":-0.94181, "vy":-0.48011, "omega":0.00043, "ax":6.69002, "ay":3.41039, "alpha":-0.00386, "fx":[110.60204,110.58687,110.61615,110.63129], "fy":[56.3996,56.42888,56.37122,56.34195]}, - {"t":1.75193, "x":0.47279, "y":0.56509, "heading":1.57078, "vx":-0.70662, "vy":-0.36022, "omega":0.00029, "ax":6.69708, "ay":3.41399, "alpha":-0.00311, "fx":[110.72013,110.70795,110.73158,110.74374], "fy":[56.45635,56.47998,56.43351,56.4099]}, - {"t":1.78708, "x":0.45209, "y":0.55454, "heading":1.57079, "vx":-0.47119, "vy":-0.2402, "omega":0.00018, "ax":6.70063, "ay":3.41579, "alpha":-0.00273, "fx":[110.77944,110.76876,110.78955,110.80021], "fy":[56.48486,56.50564,56.46479,56.44402]}, - {"t":1.82224, "x":0.43966, "y":0.5482, "heading":1.57079, "vx":-0.23563, "vy":-0.12012, "omega":0.00009, "ax":6.70276, "ay":3.41688, "alpha":-0.0025, "fx":[110.81511,110.80533,110.8244,110.83417], "fy":[56.502,56.52107,56.48361,56.46454]}, - {"t":1.85739, "x":0.43552, "y":0.54609, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 32d977b8..1b6fd51e 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -34,18 +34,18 @@ } }, "poses":{ - "CM":{ + "Center":{ "x":{ - "exp":"1.7500560283660889 m", - "val":1.7500560283660889 + "exp":"1.8712037801742554 m", + "val":1.8712037801742551 }, "y":{ - "exp":"3.7646303176879883 m", - "val":3.764630317687988 + "exp":"4 m", + "val":4.0 }, "heading":{ - "exp":"3.141592653589793 rad", - "val":3.141592653589793 + "exp":"3.141592638598 / 2 rad", + "val":1.570796319299 } }, "Depot":{ @@ -62,70 +62,28 @@ "val":3.141592653589793 } }, - "ELL":{ - "x":{ - "exp":"2.1214685440063477 m", - "val":2.1214685440063477 - }, - "y":{ - "exp":"7.046450138092041 m", - "val":7.046450138092041 - }, - "heading":{ - "exp":"-1.573056098378181 rad", - "val":-1.573056098378181 - } - }, - "ER":{ - "x":{ - "exp":"2.1974267959594727 m", - "val":2.1974267959594727 - }, - "y":{ - "exp":"0.9764090180397034 m", - "val":0.9764090180397034 - }, - "heading":{ - "exp":"1.5718817860612435 rad", - "val":1.5718817860612435 - } - }, - "FL":{ + "LBump":{ "x":{ - "exp":"7.8203654289245605 m", - "val":7.82036542892456 + "exp":"3.6318795680999756 m", + "val":3.631879568099976 }, "y":{ - "exp":"5.865901947021484 m", - "val":5.865901947021484 - }, - "heading":{ - "exp":"-1.5707963267948966 rad", - "val":-1.5707963267948966 - } - }, - "FR":{ - "x":{ - "exp":"7.8203654289245605 m", - "val":7.82036542892456 - }, - "y":{ - "exp":"2.2169458866119385 m", - "val":2.2169458866119385 + "exp":"Depot.y", + "val":5.975247383117676 }, "heading":{ - "exp":"1.5707963267948966 rad", + "exp":"90 deg", "val":1.5707963267948966 } }, "LClimb":{ "x":{ - "exp":"1.998773455619812 m", - "val":1.998773455619812 + "exp":"0.5524598956108093 m", + "val":0.5524598956108093 }, "y":{ - "exp":"4.835856914520264 m", - "val":4.835856914520264 + "exp":"4.88380765914917 m", + "val":4.88380765914917 }, "heading":{ "exp":"1.5728533535678788 rad", @@ -146,63 +104,35 @@ "val":-1.5707963267948966 } }, - "LTrench":{ + "LPreTrench":{ "x":{ - "exp":"3.7620644569396973 m", - "val":3.7620644569396977 - }, - "y":{ - "exp":"7.357067584991455 m", - "val":7.357067584991455 - }, - "heading":{ - "exp":"SLT.heading", - "val":3.141592653589793 - } - }, - "M":{ - "x":{ - "exp":"1.8712037801742554 m", - "val":1.8712037801742551 - }, - "y":{ - "exp":"4 m", - "val":4.0 - }, - "heading":{ - "exp":"3.141592638598 / 2 rad", - "val":1.570796319299 - } - }, - "MLL":{ - "x":{ - "exp":"3.2225897312164307 m", - "val":3.2225897312164307 + "exp":"2.9497299194335938 m", + "val":2.9497299194335938 }, "y":{ - "exp":"7.436997413635254 m", - "val":7.436997413635254 + "exp":"7.378527641296387 m", + "val":7.378527641296387 }, "heading":{ - "exp":"0 rad", + "exp":"0 deg", "val":0.0 } }, - "MR":{ + "LTrench":{ "x":{ - "exp":"3.32966947555542 m", - "val":3.32966947555542 + "exp":"3.7620644569396973 m", + "val":3.7620644569396977 }, "y":{ - "exp":"0.688210129737854 m", - "val":0.688210129737854 + "exp":"7.357067584991455 m", + "val":7.357067584991455 }, "heading":{ - "exp":"3.141592653589793 rad", + "exp":"180 deg", "val":3.141592653589793 } }, - "O":{ + "Outpost":{ "x":{ "exp":"0.4355199635028839 m", "val":0.4355199635028839 @@ -216,76 +146,48 @@ "val":1.5707963267948966 } }, - "PLB":{ + "PreOutpost":{ "x":{ - "exp":"3.708786010742188 m", - "val":3.708786010742188 + "exp":"2.4 m", + "val":2.4 }, "y":{ - "exp":"5.537450790405273 m", - "val":5.537450790405273 + "exp":"2 m", + "val":2.0 }, "heading":{ - "exp":"0 deg", - "val":0.0 + "exp":"-180 deg", + "val":-3.141592653589793 } }, - "PM":{ + "RBump":{ "x":{ - "exp":"3.6745946407318115 m", - "val":3.674594640731811 + "exp":"3.5344297885894775 m", + "val":3.5344297885894775 }, "y":{ - "exp":"4.0000072192 m", - "val":4.0000072192 + "exp":"2.057757616043091 m", + "val":2.057757616043091 }, "heading":{ - "exp":"3.141592638589 / 2 rad", - "val":1.5707963192945 - } - }, - "PRB":{ - "x":{ - "exp":"3.7007737159729004 m", - "val":3.700773715972901 - }, - "y":{ - "exp":"2.531209707260132 m", - "val":2.531209707260132 - }, - "heading":{ - "exp":"0 deg", - "val":0.0 + "exp":"90 deg", + "val":1.5707963267948966 } }, "RClimb":{ "x":{ - "exp":"1.8024730682373047 m", - "val":1.802473068237305 + "exp":"1.8387998342514038 m", + "val":1.838799834251404 }, "y":{ - "exp":"2.449967384338379 m", - "val":2.449967384338379 + "exp":"2.700927495956421 m", + "val":2.700927495956421 }, "heading":{ "exp":"-1.5737992594811685 rad", "val":-1.5737992594811685 } }, - "RLL":{ - "x":{ - "exp":"2.9497299194335938 m", - "val":2.9497299194335938 - }, - "y":{ - "exp":"7.378527641296387 m", - "val":7.378527641296387 - }, - "heading":{ - "exp":"0 deg", - "val":0.0 - } - }, "RNeutral":{ "x":{ "exp":"7.8203654289245605 m", @@ -300,18 +202,18 @@ "val":1.5707963267948966 } }, - "RR":{ + "RPreTrench":{ "x":{ - "exp":"2.5106818675994873 m", - "val":2.5106818675994873 + "exp":"3.32966947555542 m", + "val":3.32966947555542 }, "y":{ - "exp":"0.6606601476669312 m", - "val":0.6606601476669312 + "exp":"0.688210129737854 m", + "val":0.688210129737854 }, "heading":{ - "exp":"0 deg", - "val":0.0 + "exp":"3.141592653589793 rad", + "val":3.141592653589793 } }, "RTrench":{ @@ -327,6 +229,48 @@ "exp":"3.141592690548533 / 2 rad", "val":1.5707963452742666 } + }, + "StartingHub":{ + "x":{ + "exp":"3.6745946407318115 m", + "val":3.674594640731811 + }, + "y":{ + "exp":"4.0000072192 m", + "val":4.0000072192 + }, + "heading":{ + "exp":"3.141592638589 / 2 rad", + "val":1.5707963192945 + } + }, + "StartingLTrench":{ + "x":{ + "exp":"4.40537166595459 m", + "val":4.40537166595459 + }, + "y":{ + "exp":"7.350574970245361 m", + "val":7.350574970245361 + }, + "heading":{ + "exp":"0 rad", + "val":0.0 + } + }, + "StartingRTrench":{ + "x":{ + "exp":"4.386671543121338 m", + "val":4.386671543121338 + }, + "y":{ + "exp":"0.7306628823280334 m", + "val":0.7306628823280334 + }, + "heading":{ + "exp":"0 urad", + "val":0.0 + } } } }, diff --git a/src/main/deploy/choreo/testposes.traj b/src/main/deploy/choreo/testposes.traj index 67a2f2d3..20832069 100644 --- a/src/main/deploy/choreo/testposes.traj +++ b/src/main/deploy/choreo/testposes.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.802473068237305, "y":2.449967384338379, "heading":-1.5737992594811685, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.7205976843833923, "y":4.737724304199219, "heading":1.5728533535678788, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.660629749298096, "y":7.363339424133301, "heading":0.0, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.703830242156982, "y":0.7407901287078857, "heading":0.0, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RClimb.x", "val":1.802473068237305}, "y":{"exp":"RClimb.y", "val":2.449967384338379}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RClimb.x", "val":1.838799834251404}, "y":{"exp":"RClimb.y", "val":2.700927495956421}, "heading":{"exp":"-1.5737992594811685 rad", "val":-1.5737992594811685}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.7205976843833923 m", "val":0.7205976843833923}, "y":{"exp":"4.737724304199219 m", "val":4.737724304199219}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.660629749298096 m", "val":5.660629749298096}, "y":{"exp":"7.363339424133301 m", "val":7.363339424133301}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.703830242156982 m", "val":4.703830242156982}, "y":{"exp":"0.7407901287078857 m", "val":0.7407901287078857}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -55,199 +55,198 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.24356,3.09831,5.26016,7.01613], + "waypoints":[0.0,1.18729,3.04335,5.2049,6.96088], "samples":[ - {"t":0.0, "x":1.80247, "y":2.44997, "heading":-1.5738, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.04418, "ay":5.45978, "alpha":-9.10499, "fx":[-121.67024,52.29683,9.55577,-75.37153], "fy":[25.80596,112.20382,124.04672,99.0191]}, - {"t":0.03109, "x":1.80149, "y":2.45261, "heading":-1.5738, "vx":-0.06355, "vy":0.16974, "omega":-0.28307, "ax":-2.01564, "ay":5.43374, "alpha":-9.20578, "fx":[-121.78198,54.20174,9.76162,-75.48344], "fy":[25.20171,111.21029,124.01912,98.92237]}, - {"t":0.06218, "x":1.79854, "y":2.46051, "heading":-1.5826, "vx":-0.12622, "vy":0.33867, "omega":-0.56926, "ax":-2.00007, "ay":5.4324, "alpha":-9.20147, "fx":[-121.77377,54.32861,10.36221,-75.18907], "fy":[25.16054,111.01601,123.95584,99.1326]}, - {"t":0.09327, "x":1.79364, "y":2.47366, "heading":-1.6003, "vx":-0.1884, "vy":0.50756, "omega":-0.85533, "ax":-2.00468, "ay":5.45924, "alpha":-9.07272, "fx":[-121.63977,52.19982,11.34555,-74.48248], "fy":[25.70944,111.83155,123.85118,99.64793]}, - {"t":0.12436, "x":1.78682, "y":2.49208, "heading":-1.62689, "vx":-0.25072, "vy":0.67728, "omega":-1.13739, "ax":-2.04888, "ay":5.51922, "alpha":-8.77925, "fx":[-121.36687,46.55182,12.6784,-73.36356], "fy":[26.86477,113.99022,123.69776,100.45387]}, - {"t":0.15544, "x":1.77803, "y":2.5158, "heading":-1.66225, "vx":-0.31442, "vy":0.84887, "omega":-1.41033, "ax":-2.17627, "ay":5.61497, "alpha":-8.25285, "fx":[-120.93537,34.55243,14.3006,-71.84243], "fy":[28.62482,117.70471,123.48856,101.52092]}, - {"t":0.18653, "x":1.76721, "y":2.54491, "heading":-1.70609, "vx":-0.38207, "vy":1.02343, "omega":-1.6669, "ax":-2.47526, "ay":5.72274, "alpha":-7.42859, 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"alpha":10.70532, "fx":[83.05205,122.48571,-74.27527,-0.25605], "fy":[-92.54403,-20.02582,-99.27931,-124.33724]}, + {"t":6.7817, "x":2.42789, "y":3.96, "heading":-2.91575, "vx":-0.27765, "vy":0.93273, "omega":-1.90771, "ax":1.80155, "ay":-5.14434, "alpha":10.68703, "fx":[79.43604,122.05757,-77.01125,-5.33916], "fy":[-95.71221,-23.03072,-97.21725,-124.25432]}, + {"t":6.81753, "x":2.4191, "y":3.99012, "heading":-2.98412, "vx":-0.21309, "vy":0.74837, "omega":-1.52472, "ax":1.65116, "ay":-5.19249, "alpha":10.64672, "fx":[76.33727,121.60601,-79.1388,-9.60722], "fy":[-98.23327,-25.62289,-95.52234,-124.02024]}, + {"t":6.85337, "x":2.41252, "y":4.01361, "heading":-3.03876, "vx":-0.15392, "vy":0.56229, "omega":-1.14318, "ax":1.5267, "ay":-5.22457, "alpha":10.61458, "fx":[73.8126,121.2118,-80.95944,-13.09873], "fy":[-100.16725,-27.62843,-94.00671,-123.71786]}, + {"t":6.88921, "x":2.40798, "y":4.03041, "heading":-3.07972, "vx":-0.0992, "vy":0.37506, "omega":-0.7628, "ax":1.42494, "ay":-5.23749, "alpha":10.61577, "fx":[71.903,120.9353,-82.76062,-15.84078], "fy":[-101.56424,-28.95201,-92.44786,-123.411]}, + {"t":6.92504, "x":2.40534, "y":4.04048, "heading":-3.10706, "vx":-0.04814, "vy":0.18737, "omega":-0.38236, "ax":1.34332, "ay":-5.22851, "alpha":10.66974, "fx":[70.63899,120.81857,-84.77122,-17.84782], "fy":[-102.46116,-29.53458,-90.63673,-123.1487]}, + {"t":6.96088, "x":2.40448, "y":4.04384, "heading":-3.12076, "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/Autos.java b/src/main/java/frc/robot/Autos.java index 16f878d7..cc10498a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -107,41 +107,36 @@ public enum Obstacle { public enum Path { // OUTPOST RTrenchtoOutpost("RTrenchtoOutpost", Action.OUTPOST), - MRtoOutpost("MRtoOutpost", Action.OUTPOST), //TODO doesn't work - StoOutpost("StoOutpost", Action.OUTPOST), + RPreTrenchtoOutpost("RPreTrenchtoOutpost", Action.OUTPOST), // TODO doesn't work + PreOutposttoOutpost("PreOutposttoOutpost", Action.OUTPOST), // DEPOT LTrenchtoDepot("LTrenchtoDepot", Action.INTAKE), // FEED - FLtoFLM("FLtoFLM", Action.FEED), - FRtoFRM("FRtoFRM", Action.FEED), - FeedLNeutraltoML("LNeutraltoML", Action.FEED), - FeedRNeutraltoMR("RNeutraltoMR", Action.FEED), + FeedLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.FEED), + FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED), // INTAKE - FLtoLNeutral("FLtoLNeutral", Action.INTAKE), - FRtoRNeutral("FRtoRNeutral", Action.INTAKE), - LNeutraltoML("LNeutraltoML", Action.INTAKE), - RNeutraltoMR("RNeutraltoMR", Action.INTAKE), - RLtoLNeutral("RLtoLNeutral", Action.INTAKE), - RRtoIR("RRtoFR", Action.INTAKE), - RTrenchtoIR("RTrenchtoFR", Action.INTAKE), - LTrenchtoFL("PLtoFL", Action.INTAKE), + LNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.INTAKE), + RNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.INTAKE), + LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), + RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), + RTrenchtoRNeutral("RTrenchtoRNeutral", Action.INTAKE), + LTrenchtoLNeutral("LTrenchtoLNeutral", Action.INTAKE), // SCORE - DepottoRL("DepottoRL", Action.SCORE), - OutposttoRR("OutposttoRR", Action.NOTHING), - DepottoS("DepottoS", Action.SCORE), - OutposttoS("OutposttoS", Action.SCORE), - PMtoM("PMtoM", Action.SCORE), + DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), + OutposttoRPreTrench("OutposttoRPreTrench", Action.NOTHING), + DepottoPreOutpost("DepottoPreOutpost", Action.SCORE), + OutposttoPreOutpost("OutposttoPreOutpost", Action.SCORE), + HubtoCenter("HubtoCenter", Action.SCORE), // FLOW - MLtoDepot("MLtoDepot", Action.FLOW), + LPreTrenchtoDepot("LPreTrenchtoDepot", Action.FLOW), // CLIMB - MLtoLClimb("MLtoLClimb", Action.CLIMB_SCORE), - MRtoRClimb("MRtoRClimb", Action.CLIMB_SCORE), + LPreTrenchtoLClimb("LPreTrenchtoLClimb", Action.CLIMB_SCORE), + RPreTrenchtoRClimb("RPreTrenchtoRClimb", Action.CLIMB_SCORE), OutposttoRClimb("OutposttoRClimb", Action.CLIMB_SCORE), - noScoreOtoCR("OutposttoRClimb", Action.CLIMB_ONLY), + PreOutposttoRClimb("PreOutposttoRClimb", Action.CLIMB_ONLY), //uhh + noScoreOutposttoRClimb("OutposttoRClimb", Action.CLIMB_ONLY), DepottoLClimb("DepottoLClimb", Action.CLIMB_SCORE), - RBtoOutpost("RBtoOutpost", Action.OUTPOST_SCORE), - - FRMtoMRScore("FRMtoR", Action.INTAKE_SCORE), + RBumptoOutpost("RBumptoOutpost", Action.OUTPOST_SCORE), RUNtoTEST("RUNtoTEST", Action.NOTHING), @@ -151,7 +146,6 @@ public enum Path { private final Action action; /** - * * @param name the name of the path in choreo. MUST match * @param action the action to perform during/at the end of the path */ @@ -350,8 +344,7 @@ public Command outpostScorePath(Path path, AutoRoutine routine) { // .andThen( startScoring(), swerve.stop().repeatedly().withTimeout(4), - stopScoring() - ); + stopScoring()); } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { @@ -465,7 +458,9 @@ public Command createAuto( public Command getDepotScoreClimbAuto() { return createAuto( "Depot Score Climb Auto", - new Path[] {Path.LTrenchtoDepot, Path.DepottoRL, Path.RLtoLNeutral, Path.LNeutraltoML, Path.MLtoLClimb}, + new Path[] { + Path.LTrenchtoDepot, Path.DepottoLPreTrench, Path.LPreTrenchtoLNeutral, Path.LNeutraltoLPreTrench, Path.LPreTrenchtoLClimb + }, setLeftClimb()); } @@ -473,14 +468,26 @@ public Command getOutpostScoreClimbAuto() { return createAuto( "Outpost Score Climb Auto", - new Path[] {Path.RTrenchtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoRNeutral, Path.RNeutraltoMR, Path.MRtoRClimb}, + new Path[] { + Path.RTrenchtoOutpost, + Path.OutposttoRPreTrench, + Path.RPreTrenchtoRNeutral, + Path.RNeutraltoRPreTrench, + Path.RPreTrenchtoRClimb + }, setRightClimb()); } public Command getDepotFeedClimbAuto() { return createAuto( "Depot Feed Climb Auto", - new Path[] {Path.LTrenchtoDepot, Path.DepottoRL, Path.RLtoLNeutral, Path.FLtoFLM, Path.FeedLNeutraltoML, Path.MLtoLClimb}, + new Path[] { + Path.LTrenchtoDepot, + Path.DepottoLPreTrench, + Path.LPreTrenchtoLNeutral, + Path.FeedLNeutraltoLPreTrench, + Path.LPreTrenchtoLClimb + }, setLeftClimb()); } @@ -488,7 +495,13 @@ public Command getOutpostFeedClimbAuto() { return createAuto( "Outpost Feed Climb Auto", - new Path[] {Path.RTrenchtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoFRM, Path.FeedRNeutraltoMR, Path.MRtoRClimb}, + new Path[] { + Path.RTrenchtoOutpost, + Path.OutposttoRPreTrench, + Path.RPreTrenchtoRNeutral, + Path.FeedRNeutraltoRPreTrench, + Path.RPreTrenchtoRClimb + }, setRightClimb()); } @@ -497,7 +510,9 @@ public Command getFillDepotScoreClimbAuto() { return createAuto( "Fill Depot Score Climb Auto", - new Path[] {Path.LTrenchtoFL, Path.FLtoFLM, Path.FeedLNeutraltoML, Path.MLtoDepot, Path.DepottoLClimb}, + new Path[] { + Path.LTrenchtoLNeutral, Path.FeedLNeutraltoLPreTrench, Path.LPreTrenchtoDepot, Path.DepottoLClimb + }, setLeftClimb()); } @@ -505,7 +520,12 @@ public Command getFillOutpostScoreClimbAuto() { return createAuto( "Fill Outpost Score Climb Auto", - new Path[] {Path.RTrenchtoIR, Path.FRtoFRM, Path.FeedRNeutraltoMR, Path.MRtoOutpost, Path.OutposttoRClimb}, + new Path[] { + Path.RTrenchtoRNeutral, + Path.FeedRNeutraltoRPreTrench, + Path.RPreTrenchtoOutpost, + Path.OutposttoRClimb + }, setRightClimb()); } @@ -513,32 +533,37 @@ public Command getRightBumpOutpostCenterAuto() { return createAuto( "Right Bump Outpost Center Auto", - new Path[] {Path.RBtoOutpost, Path.OutposttoRR, Path.RRtoIR, Path.FRtoRNeutral, Path.FRMtoMRScore}, + new Path[] { + Path.RBumptoOutpost, Path.OutposttoRPreTrench, Path.RPreTrenchtoRNeutral, Path.RNeutraltoRPreTrench + }, setRightClimb()); } public Command getDepotClimbAuto() { - return createAuto("Depot Climb Auto", new Path[] {Path.LTrenchtoDepot, Path.DepottoLClimb}, setLeftClimb()); + return createAuto( + "Depot Climb Auto", new Path[] {Path.LTrenchtoDepot, Path.DepottoLClimb}, setLeftClimb()); } public Command getOutpostClimbAuto() { return createAuto( - "Outpost Climb Auto", new Path[] {Path.RTrenchtoOutpost, Path.OutposttoS, Path.OutposttoRClimb}, setRightClimb()); + "Outpost Climb Auto", + new Path[] {Path.RTrenchtoOutpost, Path.OutposttoPreOutpost, Path.PreOutposttoRClimb}, + setRightClimb()); } public Command getDepotOutpostClimbAuto() { return createAuto( "Depot Outpost Climb Auto", - new Path[] {Path.LTrenchtoDepot, Path.DepottoS, Path.StoOutpost, Path.OutposttoRClimb}, + new Path[] {Path.LTrenchtoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost, Path.OutposttoRClimb}, setRightClimb()); } public Command getLeftBumpDepotOutpostClimbAuto() { return createAuto( "Left Bump Outpost Climb Auto", - new Path[] {Path.LBumptoDepot, Path.DepottoS, Path.StoOutpost, Path.OutposttoRClimb}, + new Path[] {Path.LBumptoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost, Path.OutposttoRClimb}, setRightClimb(), shootPreload()); } @@ -547,13 +572,13 @@ public Command getLeftBumpDepotOutpostClimbAuto() { public Command getRightBumpOutpostClimbAuto() { return createAuto( "Right Bump Outpost Climb Auto", - new Path[] {Path.RBtoOutpost, Path.noScoreOtoCR}, + new Path[] {Path.RBumptoOutpost, Path.noScoreOutposttoRClimb}, setRightClimb()); } public Command getCenterScoreAuto() { // no climb so don't need to set climb target - return createAuto("Center Score Auto", new Path[] {Path.PMtoM}, Commands.none()); + return createAuto("Center Score Auto", new Path[] {Path.HubtoCenter}, Commands.none()); } public Command getTestAuto() { diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 11e16d3a..8d1aae9d 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -4,7 +4,6 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; - import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; @@ -15,7 +14,6 @@ import frc.robot.components.rollers.RollerIOInputsAutoLogged; import frc.robot.subsystems.shooter.TurretSubsystem; import java.util.function.DoubleSupplier; - import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -44,11 +42,14 @@ public class SpindexerSubsystem extends SubsystemBase implements Indexer { new Alert("Disconnected spinner motor!", AlertType.kError); private final Alert kickerDisconnectedAlert = new Alert("Disconnected kicker motor!", AlertType.kError); + @AutoLogOutput(key = "Kicker/Current Filter Value") private double currentFilterValue = 0.0; - private LinearFilter kickerCurrentFilter = LinearFilter.movingAverage(5); -public static final double KICKER_CURRENT_THRESHOLD = 20; //TODO + private LinearFilter kickerCurrentFilter = LinearFilter.movingAverage(5); + + public static final double KICKER_CURRENT_THRESHOLD = 20; // TODO + public SpindexerSubsystem(CANBus canbus, RollerIO indexRollerIO, RollerIO kickerIO) { this.kickerIO = kickerIO; this.spinnerIO = indexRollerIO; From 118f506da34fbc69961eb2138febc2f9cdaa6bd0 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 21 Mar 2026 21:45:31 -0700 Subject: [PATCH 5/8] fmt i think --- src/main/java/frc/robot/Autos.java | 66 +++++++++++------------------- 1 file changed, 25 insertions(+), 41 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index cc10498a..0a874170 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -72,38 +72,6 @@ public enum Action { INTAKE_SCORE; } - public enum Obstacle { - TRENCH, - BUMP; - } - - /* NEW NAMING (cooked) - - #1 - I for intake - F for feed - S for score - (indicate action for that path/pose) - - P for park - (starting poses) - - #2 - L for left - R for right - (indicate starting on left or right side) - - #3 - T for trench - B for bump - (each routine has a varition) (only for crossing paths ig) - - climb no climb variations - - R is a middle point facing towards the neutral zone - M is middle poitns facing our alliance - */ - public enum Path { // OUTPOST RTrenchtoOutpost("RTrenchtoOutpost", Action.OUTPOST), @@ -121,6 +89,7 @@ public enum Path { RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), RTrenchtoRNeutral("RTrenchtoRNeutral", Action.INTAKE), LTrenchtoLNeutral("LTrenchtoLNeutral", Action.INTAKE), + LBumptoDepot("LBumptoDepot", Action.INTAKE), // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), OutposttoRPreTrench("OutposttoRPreTrench", Action.NOTHING), @@ -133,14 +102,12 @@ public enum Path { LPreTrenchtoLClimb("LPreTrenchtoLClimb", Action.CLIMB_SCORE), RPreTrenchtoRClimb("RPreTrenchtoRClimb", Action.CLIMB_SCORE), OutposttoRClimb("OutposttoRClimb", Action.CLIMB_SCORE), - PreOutposttoRClimb("PreOutposttoRClimb", Action.CLIMB_ONLY), //uhh + PreOutposttoRClimb("PreOutposttoRClimb", Action.CLIMB_ONLY), // uhh noScoreOutposttoRClimb("OutposttoRClimb", Action.CLIMB_ONLY), DepottoLClimb("DepottoLClimb", Action.CLIMB_SCORE), RBumptoOutpost("RBumptoOutpost", Action.OUTPOST_SCORE), - RUNtoTEST("RUNtoTEST", Action.NOTHING), - - LBumptoDepot("LBumptoDepot", Action.INTAKE); + RUNtoTEST("RUNtoTEST", Action.NOTHING); private final String name; private final Action action; @@ -459,7 +426,11 @@ public Command getDepotScoreClimbAuto() { return createAuto( "Depot Score Climb Auto", new Path[] { - Path.LTrenchtoDepot, Path.DepottoLPreTrench, Path.LPreTrenchtoLNeutral, Path.LNeutraltoLPreTrench, Path.LPreTrenchtoLClimb + Path.LTrenchtoDepot, + Path.DepottoLPreTrench, + Path.LPreTrenchtoLNeutral, + Path.LNeutraltoLPreTrench, + Path.LPreTrenchtoLClimb }, setLeftClimb()); } @@ -511,7 +482,10 @@ public Command getFillDepotScoreClimbAuto() { return createAuto( "Fill Depot Score Climb Auto", new Path[] { - Path.LTrenchtoLNeutral, Path.FeedLNeutraltoLPreTrench, Path.LPreTrenchtoDepot, Path.DepottoLClimb + Path.LTrenchtoLNeutral, + Path.FeedLNeutraltoLPreTrench, + Path.LPreTrenchtoDepot, + Path.DepottoLClimb }, setLeftClimb()); } @@ -534,7 +508,10 @@ public Command getRightBumpOutpostCenterAuto() { return createAuto( "Right Bump Outpost Center Auto", new Path[] { - Path.RBumptoOutpost, Path.OutposttoRPreTrench, Path.RPreTrenchtoRNeutral, Path.RNeutraltoRPreTrench + Path.RBumptoOutpost, + Path.OutposttoRPreTrench, + Path.RPreTrenchtoRNeutral, + Path.RNeutraltoRPreTrench }, setRightClimb()); } @@ -556,14 +533,21 @@ public Command getOutpostClimbAuto() { public Command getDepotOutpostClimbAuto() { return createAuto( "Depot Outpost Climb Auto", - new Path[] {Path.LTrenchtoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost, Path.OutposttoRClimb}, + new Path[] { + Path.LTrenchtoDepot, + Path.DepottoPreOutpost, + Path.PreOutposttoOutpost, + Path.OutposttoRClimb + }, setRightClimb()); } public Command getLeftBumpDepotOutpostClimbAuto() { return createAuto( "Left Bump Outpost Climb Auto", - new Path[] {Path.LBumptoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost, Path.OutposttoRClimb}, + new Path[] { + Path.LBumptoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost, Path.OutposttoRClimb + }, setRightClimb(), shootPreload()); } From 26e9eaf232ce03a2cdd45110b32057f5690ab60a Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 14:07:48 -0700 Subject: [PATCH 6/8] fix state requests in auto paths (i think?) --- src/main/java/frc/robot/Autos.java | 70 +++++++----------------------- 1 file changed, 15 insertions(+), 55 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 0a874170..aad48c32 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -67,9 +67,7 @@ public enum Action { CLIMB_SCORE, OUTPOST, NOTHING, - OUTPOST_SCORE, - CLIMB_ONLY, - INTAKE_SCORE; + CLIMB_ONLY; } public enum Path { @@ -105,7 +103,7 @@ public enum Path { PreOutposttoRClimb("PreOutposttoRClimb", Action.CLIMB_ONLY), // uhh noScoreOutposttoRClimb("OutposttoRClimb", Action.CLIMB_ONLY), DepottoLClimb("DepottoLClimb", Action.CLIMB_SCORE), - RBumptoOutpost("RBumptoOutpost", Action.OUTPOST_SCORE), + RBumptoOutpost("RBumptoOutpost", Action.OUTPOST), RUNtoTEST("RUNtoTEST", Action.NOTHING); @@ -161,15 +159,11 @@ public Command runPath(Path path, AutoRoutine routine) { case CLIMB_SCORE: return climbScorePath(path, routine); case FLOW: - return flowPath(path, routine); + return flowScorePath(path, routine); case OUTPOST: return outpostPath(path, routine); - case OUTPOST_SCORE: - return outpostScorePath(path, routine); case CLIMB_ONLY: return climbNoScorePath(path, routine); - case INTAKE_SCORE: - return intakeScorePath(path, routine); case NOTHING: return emptyPath(path, routine); default: // this should never happen @@ -179,9 +173,9 @@ public Command runPath(Path path, AutoRoutine routine) { public Command climbScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - stopScoring(), + startScoring(), stopIntaking(), - + startPreClimb(), // Commands.parallel( path.getTrajectory(routine) .cmd() @@ -192,9 +186,7 @@ public Command climbScorePath(Path path, AutoRoutine routine) { // path.getTrajectory(routine).getRawTrajectory().getTotalTime() // - (0.3)))), path.getTrajectory(routine).done()), - Commands.parallel(swerve.stop(), startScoring()).repeatedly().withTimeout(2.5), stopScoring(), - startPreClimb(), swerve.stop().until(() -> climber.atFullExtension()), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), @@ -211,7 +203,6 @@ public Command climbNoScorePath(Path path, AutoRoutine routine) { stopScoring(), stopIntaking(), startPreClimb(), - // Commands.parallel( path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), swerve.stop().until(() -> climber.atFullExtension()), Commands.parallel( @@ -225,22 +216,20 @@ public Command climbNoScorePath(Path path, AutoRoutine routine) { public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( stopScoring(), + stopIntaking(), + stopFlowing(), startFeeding(), - startIntaking(), - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - stopFeeding()); + // startIntaking(), + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } public Command scorePath(Path path, AutoRoutine routine) { return Commands.sequence( stopIntaking(), - // setAutoScoreReqTrue(), - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - // setAutoScoreReqTrue() - // , - // setAutoScoreReqFalse() + stopFeeding(), + stopFlowing(), startScoring(), - swerve.stop().repeatedly().withTimeout(3)); + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } public Command emptyPath(Path path, AutoRoutine routine) { @@ -253,23 +242,10 @@ public Command intakePath(Path path, AutoRoutine routine) { stopScoring(), stopFlowing(), startIntaking(), - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - stopIntaking()); - } - - public Command intakeScorePath(Path path, AutoRoutine routine) { - return Commands.sequence( - stopScoring(), - stopFlowing(), - startIntaking(), - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - stopIntaking(), - startScoring(), - swerve.stop().repeatedly().withTimeout(4), - stopScoring()); + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } - public Command flowPath(Path path, AutoRoutine routine) { + public Command flowScorePath(Path path, AutoRoutine routine) { return Commands.sequence( startScoring(), startFlowing(), @@ -290,30 +266,14 @@ public ClimbTargets getClimbAutoTarget() { public Command outpostPath(Path path, AutoRoutine routine) { return Commands.sequence( - stopScoring(), + startScoring(), stopFlowing(), stopIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), swerve.stop().repeatedly().withTimeout(2) - // Commands.waitSeconds(1) ); } - public Command outpostScorePath(Path path, AutoRoutine routine) { - return Commands.sequence( - stopScoring(), - stopFlowing(), - stopIntaking(), - // spin up before we get there - // Commands.parallel( - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - // Commands.waitUntil(path.getTrajectory(routine).atTimeBeforeEnd(0.2)) - // .andThen( - startScoring(), - swerve.stop().repeatedly().withTimeout(4), - stopScoring()); - } - public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { routine .observe( From ebe0182fc8d1de95d960aad282a6a31b0e3b02ce Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 16:02:56 -0700 Subject: [PATCH 7/8] tweak some stuff --- src/main/deploy/choreo/DepottoLClimb.traj | 156 ++++++------ .../deploy/choreo/LNeutraltoLPreTrench.traj | 196 +++++++------- src/main/deploy/choreo/LPreTrenchtoDepot.traj | 190 +++++++------- .../deploy/choreo/LPreTrenchtoLClimb.traj | 160 ++++++------ .../deploy/choreo/LPreTrenchtoLNeutral.traj | 239 +++++++++--------- .../deploy/choreo/OutposttoPreOutpost.traj | 105 ++++---- src/main/deploy/choreo/OutposttoRClimb.traj | 131 ++++------ .../deploy/choreo/OutposttoRPreTrench.traj | 121 ++++----- .../deploy/choreo/PreOutposttoOutpost.traj | 129 +++++----- src/main/deploy/choreo/RBumptoOutpost.traj | 93 +++---- .../deploy/choreo/RNeutraltoRPreTrench.traj | 190 +++++++------- .../deploy/choreo/RPreTrenchtoOutpost.traj | 147 +++++------ src/main/deploy/choreo/RTrenchtoOutpost.traj | 104 ++++---- .../choreo/StartingLTrenchtoLNeutral.traj | 212 ++++++++-------- .../choreo/StartingRTrenchtoRNeutral.traj | 219 ++++++++-------- src/main/deploy/choreo/rebuiltChoreo.chor | 8 +- src/main/java/frc/robot/Autos.java | 11 +- 17 files changed, 1204 insertions(+), 1207 deletions(-) diff --git a/src/main/deploy/choreo/DepottoLClimb.traj b/src/main/deploy/choreo/DepottoLClimb.traj index c6a2ef8f..1e7f5e38 100644 --- a/src/main/deploy/choreo/DepottoLClimb.traj +++ b/src/main/deploy/choreo/DepottoLClimb.traj @@ -3,26 +3,32 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.780329942703247, "y":5.410037517547607, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6439001560211182, "y":5.975247383117676, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.4684902429580688, "y":5.1761579513549805, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.5524598956108093, "y":4.88380765914917, "heading":1.5728533535678788, "intervals":41, "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":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.780329942703247 m", "val":1.780329942703247}, "y":{"exp":"5.410037517547607 m", "val":5.410037517547607}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"Depot.x", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6439001560211182 m", "val":1.6439001560211182}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"1.4684902429580688 m", "val":1.4684902429580688}, "y":{"exp":"5.1761579513549805 m", "val":5.1761579513549805}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LClimb.x", "val":0.5524598956108093}, "y":{"exp":"LClimb.y", "val":4.88380765914917}, "heading":{"exp":"LClimb.heading", "val":1.5728533535678788}, "intervals":41, "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":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"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 @@ -53,83 +59,69 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.31639,2.75373], + "waypoints":[0.0,0.59967,1.14653,1.70542], "samples":[ - {"t":0.0, "x":0.704, "y":5.97525, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":6.88631, "ay":-3.02932, "alpha":-0.00357, "fx":[113.86124,113.83648,113.84747,113.8722], "fy":[-50.06921,-50.12554,-50.1008,-50.04448]}, - {"t":0.03657, "x":0.7086, "y":5.97322, "heading":3.14159, "vx":0.25181, "vy":-0.11077, "omega":-0.00013, "ax":6.8818, "ay":-3.02733, "alpha":-0.00499, "fx":[113.78945,113.75486,113.77027,113.80482], 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"ay":0.53231, "alpha":5.28821, "fx":[114.8855,122.05355,118.44015,103.71993], "fy":[-47.26392,-23.96072,38.00286,68.42555]}, + {"t":1.70542, "x":0.55246, "y":4.88381, "heading":1.57285, "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/LNeutraltoLPreTrench.traj b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj index 3080c8ae..f1f7db65 100644 --- a/src/main/deploy/choreo/LNeutraltoLPreTrench.traj +++ b/src/main/deploy/choreo/LNeutraltoLPreTrench.traj @@ -4,7 +4,7 @@ "snapshot":{ "waypoints":[ {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.521002769470215, "y":7.377725124359131, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.521002769470215, "y":7.377725124359131, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":2.9497299194335938, "y":7.378527641296387, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -12,13 +12,15 @@ {"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":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"LNeutral.x", "val":7.82036542892456}, "y":{"exp":"LNeutral.y", "val":4.503572463989258}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.521002769470215 m", "val":6.521002769470215}, "y":{"exp":"7.377725124359131 m", "val":7.377725124359131}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LPreTrench.x", "val":2.9497299194335938}, "y":{"exp":"LPreTrench.y", "val":7.378527641296387}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -26,7 +28,9 @@ {"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":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.845995046198368 m", "val":4.845995046198368}, "y":{"exp":"5.897945664823055 m", "val":5.897945664823055}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":false}, - {"from":1, "to":2, "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":1, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -59,98 +63,98 @@ "sampleType":"Swerve", "waypoints":[0.0,1.61867,3.4053], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":-0.66904, "vy":1.8822, "omega":1.11484, "ax":-0.01847, "ay":0.05192, "alpha":-0.0037, "fx":[-0.3228,-0.28791,-0.28791,-0.3228], "fy":[0.84092,0.84092,0.87581,0.87581]}, - {"t":0.03303, "x":7.79825, "y":4.56578, "heading":-1.53397, "vx":-0.66965, "vy":1.88392, "omega":1.11472, "ax":0.0, "ay":0.0, 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b/src/main/deploy/choreo/OutposttoRClimb.traj index 4b27dfbf..607c98de 100644 --- a/src/main/deploy/choreo/OutposttoRClimb.traj +++ b/src/main/deploy/choreo/OutposttoRClimb.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.838799834251404, "y":2.700927495956421, "heading":-1.5737992594811685, "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", 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+ {"t":1.1764, "x":3.27669, "y":0.69367, "heading":0.00195, "vx":3.45107, "vy":-0.35512, "omega":-0.12734, "ax":1.33952, "ay":-0.24767, "alpha":7.11761, "fx":[-10.58643,-9.95601,53.85882,55.27123], "fy":[33.61667,-42.39284,-35.27084,27.66752]}, + {"t":1.1917, "x":3.32967, "y":0.68821, "heading":0.0, "vx":3.47157, "vy":-0.35891, "omega":-0.0184, "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/PreOutposttoOutpost.traj b/src/main/deploy/choreo/PreOutposttoOutpost.traj index 3804b85f..401c6bbc 100644 --- a/src/main/deploy/choreo/PreOutposttoOutpost.traj +++ b/src/main/deploy/choreo/PreOutposttoOutpost.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":2.4, "y":2.0, "heading":-3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.4355199635028839, "y":0.5460934042930603, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.6131027936935425, "y":1.1535886526107788, "heading":1.9909931005444836, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "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 +16,8 @@ "params":{ "waypoints":[ {"x":{"exp":"PreOutpost.x", "val":2.4}, "y":{"exp":"PreOutpost.y", "val":2.0}, "heading":{"exp":"PreOutpost.heading", 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"y":2.057757616043091, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "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}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"Outpost.x", "val":0.4355199635028839}, "y":{"exp":"Outpost.y", "val":0.5460934042930603}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "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}, @@ -51,49 +51,50 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.99223], + "waypoints":[0.0,2.01186], "samples":[ - {"t":0.0, "x":3.53443, 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a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj index 2fbb007b..c8277603 100644 --- a/src/main/deploy/choreo/RNeutraltoRPreTrench.traj +++ b/src/main/deploy/choreo/RNeutraltoRPreTrench.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.916783809661865, "y":0.7018944621086121, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.087620258331299, "y":0.7324380278587341, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -12,13 +12,14 @@ {"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":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.916783809661865 m", "val":6.916783809661865}, "y":{"exp":"0.7018944621086121 m", "val":0.7018944621086121}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.087620258331299 m", "val":6.087620258331299}, "y":{"exp":"0.7324380278587341 m", "val":0.7324380278587341}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RPreTrench.x", "val":3.32966947555542}, "y":{"exp":"RPreTrench.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrench.heading", "val":3.141592653589793}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -26,7 +27,8 @@ {"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":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.0}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"6 rad / s", "val":6.0}}}, "enabled":false}, - 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"enabled":true}, + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slower", "val":1.5}}}, "enabled":true}, {"from":1, "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"0 m / s ^ 2", "val":0.0}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", @@ -55,48 +55,54 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.64251,1.46974], + "waypoints":[0.0,0.84839,1.90547], "samples":[ - {"t":0.0, "x":3.72421, "y":0.73097, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.5236, "ay":0.10723, "alpha":0.0, "fx":[-124.39106,-124.39106,-124.39106,-124.39106], "fy":[1.77293,1.77293,1.77293,1.77293]}, - {"t":0.03569, "x":3.71942, "y":0.73104, "heading":1.5708, "vx":-0.26855, "vy":0.00383, "omega":0.0, "ax":-7.52287, "ay":0.1072, "alpha":0.0, "fx":[-124.37894,-124.37894,-124.37894,-124.37894], "fy":[1.77245,1.77245,1.77245,1.77245]}, - {"t":0.07139, "x":3.70504, "y":0.73124, "heading":1.5708, "vx":-0.53708, 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a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj index 71064123..1a46ad85 100644 --- a/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/StartingLTrenchtoLNeutral.traj @@ -4,29 +4,33 @@ "snapshot":{ "waypoints":[ {"x":4.40537166595459, "y":7.350574970245361, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.994898796081543, "y":7.350574970245361, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.378722190856934, "y":7.126171112060547, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.82036542892456, 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"fy":[-0.00001,-0.00001,-0.00001,-0.00001]}, + {"t":2.97296, "x":7.82064, "y":3.48628, "heading":1.5708, "vx":-0.00778, "vy":1.99942, "omega":0.0, "ax":0.00006, "ay":-0.01603, "alpha":0.0, "fx":[0.00103,0.00103,0.00103,0.00103], "fy":[-0.26505,-0.26505,-0.26505,-0.26505]}, + {"t":3.00832, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.00778, "vy":1.99885, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 1b6fd51e..3a9dcd1a 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -134,12 +134,12 @@ }, "Outpost":{ "x":{ - "exp":"0.4355199635028839 m", - "val":0.4355199635028839 + "exp":"0.44367337226867676 m", + "val":0.4436733722686768 }, "y":{ - "exp":"0.5460934042930603 m", - "val":0.5460934042930603 + "exp":"0.443471223115921 m", + "val":0.443471223115921 }, "heading":{ "exp":"3.141592653589793 / 2 rad", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index aad48c32..567e4310 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -85,8 +85,8 @@ public enum Path { RNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.INTAKE), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), - RTrenchtoRNeutral("RTrenchtoRNeutral", Action.INTAKE), - LTrenchtoLNeutral("LTrenchtoLNeutral", Action.INTAKE), + StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), + StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), LBumptoDepot("LBumptoDepot", Action.INTAKE), // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), @@ -270,8 +270,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { stopFlowing(), stopIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - swerve.stop().repeatedly().withTimeout(2) - ); + swerve.stop().repeatedly().withTimeout(2)); } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { @@ -442,7 +441,7 @@ public Command getFillDepotScoreClimbAuto() { return createAuto( "Fill Depot Score Climb Auto", new Path[] { - Path.LTrenchtoLNeutral, + Path.StartingLTrenchtoLNeutral, Path.FeedLNeutraltoLPreTrench, Path.LPreTrenchtoDepot, Path.DepottoLClimb @@ -455,7 +454,7 @@ public Command getFillOutpostScoreClimbAuto() { return createAuto( "Fill Outpost Score Climb Auto", new Path[] { - Path.RTrenchtoRNeutral, + Path.StartingRTrenchtoRNeutral, Path.FeedRNeutraltoRPreTrench, Path.RPreTrenchtoOutpost, Path.OutposttoRClimb From db9a0adad745ae849c86ab2ebae7aaaa8232a8a6 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 16:40:22 -0700 Subject: [PATCH 8/8] what --- src/main/java/frc/robot/Autos.java | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 567e4310..baf8bc77 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -76,7 +76,7 @@ public enum Path { RPreTrenchtoOutpost("RPreTrenchtoOutpost", Action.OUTPOST), // TODO doesn't work PreOutposttoOutpost("PreOutposttoOutpost", Action.OUTPOST), // DEPOT - LTrenchtoDepot("LTrenchtoDepot", Action.INTAKE), + LTrenchtoDepot("LTrenchtoDepot", Action.FLOW), // FEED FeedLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.FEED), FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED), @@ -153,7 +153,7 @@ public Command runPath(Path path, AutoRoutine routine) { case INTAKE: return intakePath(path, routine); case FEED: - return feedPath(path, routine); + return feedFlowPath(path, routine); case SCORE: return scorePath(path, routine); case CLIMB_SCORE: @@ -173,8 +173,9 @@ public Command runPath(Path path, AutoRoutine routine) { public Command climbScorePath(Path path, AutoRoutine routine) { return Commands.sequence( + startFlowing(), startScoring(), - stopIntaking(), + // stopIntaking(), startPreClimb(), // Commands.parallel( path.getTrajectory(routine) @@ -213,11 +214,10 @@ public Command climbNoScorePath(Path path, AutoRoutine routine) { .andThen(startClimb()))); } - public Command feedPath(Path path, AutoRoutine routine) { + public Command feedFlowPath(Path path, AutoRoutine routine) { return Commands.sequence( - stopScoring(), stopIntaking(), - stopFlowing(), + startFlowing(), startFeeding(), // startIntaking(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); @@ -247,8 +247,9 @@ public Command intakePath(Path path, AutoRoutine routine) { public Command flowScorePath(Path path, AutoRoutine routine) { return Commands.sequence( - startScoring(), + stopIntaking(), startFlowing(), + startScoring(), // setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } @@ -437,12 +438,11 @@ public Command getOutpostFeedClimbAuto() { // awful names.. mb public Command getFillDepotScoreClimbAuto() { - return createAuto( "Fill Depot Score Climb Auto", new Path[] { Path.StartingLTrenchtoLNeutral, - Path.FeedLNeutraltoLPreTrench, + Path.LNeutraltoLPreTrench, Path.LPreTrenchtoDepot, Path.DepottoLClimb },