From c8c49887cf30f00c969f9ad98e9df080964e5c79 Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Fri, 20 Mar 2026 19:32:51 -0700 Subject: [PATCH 01/17] double dip halfway done? --- src/main/java/frc/robot/Autos.java | 19 +++++++++++++++++++ src/main/java/frc/robot/Robot.java | 2 ++ 2 files changed, 21 insertions(+) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index e522c47d..07679bad 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -125,12 +125,14 @@ public enum Path { RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", 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), + ILtoRL("FL", "RL", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -483,6 +485,23 @@ public Command getDepotScoreClimbAuto() { return routine.cmd(); } + public Command getDoubleDipLeftTrenchAuto() { + final AutoRoutine routine = factory.newRoutine("Double dip left trench auto"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = {Path.PLtoIL, Path.ILtoRL, Path.RLtoIL,}; + + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); + + 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); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9eb09008..4e7f8c99 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -761,6 +761,8 @@ private void addAutos() { "Left Bump Depot Outpost Climb", autos.getLeftBumpDepotOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto()); + autoChooser.addOption("Left Trench Double Dip Auto", autos.getDoubleDipLeftTrenchAuto()); + haveAutosGenerated = true; System.out.println("Done generating autos"); From 7b5cdf434db854a83ef4daddb8924d629a3e9bf8 Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Sat, 21 Mar 2026 10:45:26 -0700 Subject: [PATCH 02/17] here goes nothing... --- src/main/java/frc/robot/Autos.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 07679bad..aa4bca12 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -488,7 +488,7 @@ public Command getDepotScoreClimbAuto() { public Command getDoubleDipLeftTrenchAuto() { final AutoRoutine routine = factory.newRoutine("Double dip left trench auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.ILtoRL, Path.RLtoIL,}; + Path[] paths = {Path.PLtoIL, Path.ILtoILM, Path.ILtoRL, Path.RLtoIL,Path.ILtoRL,Path.RLtoIL,}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); From 8df9c8defcc5648845e64fe8d0003b101aa49feb Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Sat, 21 Mar 2026 14:01:21 -0700 Subject: [PATCH 03/17] full path completed without optimizations --- src/main/deploy/choreo/FRMtoMRR.traj | 126 ++++++++++++++++++++++++ src/main/deploy/choreo/MRRtoFRM.traj | 137 +++++++++++++++++++++++++++ src/main/java/frc/robot/Autos.java | 24 ++++- src/main/java/frc/robot/Robot.java | 3 +- 4 files changed, 283 insertions(+), 7 deletions(-) create mode 100644 src/main/deploy/choreo/FRMtoMRR.traj create mode 100644 src/main/deploy/choreo/MRRtoFRM.traj diff --git a/src/main/deploy/choreo/FRMtoMRR.traj b/src/main/deploy/choreo/FRMtoMRR.traj new file mode 100644 index 00000000..153c20f5 --- /dev/null +++ b/src/main/deploy/choreo/FRMtoMRR.traj @@ -0,0 +1,126 @@ +{ + "name":"FRMtoMRR", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.13539981842041, "y":0.718427836894989, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.13539981842041 m", "val":6.13539981842041}, "y":{"exp":"0.718427836894989 m", "val":0.718427836894989}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "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, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.31193,2.35842], + "samples":[ + {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, 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"alpha":0.05226, "fx":[-1.11242,-0.13421,-0.15003,-1.13598], "fy":[-124.06394,-124.06878,-124.06497,-124.05994]}, + {"t":2.06943, "x":7.86818, "y":3.15375, "heading":1.58341, "vx":-0.24832, "vy":2.45714, "omega":-0.06246, "ax":0.27831, "ay":-7.50464, "alpha":0.10735, "fx":[3.57639,5.5774,5.64282,3.60916], "fy":[-124.11838,-124.04472,-124.03559,-124.11125]}, + {"t":2.10594, "x":7.8593, "y":3.23847, "heading":1.58113, "vx":-0.23816, "vy":2.1831, "omega":-0.05854, "ax":0.48556, "ay":-7.49788, "alpha":0.14332, "fx":[6.62561,9.28454,9.45907,6.74241], "fy":[-124.05914,-123.88889,-123.86887,-124.04602]}, + {"t":2.14246, "x":7.85093, "y":3.31319, "heading":1.579, "vx":-0.22042, "vy":1.90931, "omega":-0.0533, "ax":0.63141, "ay":-7.48966, "alpha":0.1686, "fx":[8.76262,11.87694,12.15564,8.96217], "fy":[-123.97314,-123.71412,-123.68022,-123.95202]}, + {"t":2.17897, "x":7.8433, "y":3.37792, "heading":1.57705, "vx":-0.19737, "vy":1.63582, "omega":-0.04715, "ax":0.7395, "ay":-7.48172, "alpha":0.18731, "fx":[10.34172,13.78862,14.15953,10.61584], "fy":[-123.88599,-123.55043,-123.50187,-123.85616]}, + {"t":2.21549, "x":7.83659, "y":3.43266, "heading":1.57533, "vx":-0.17037, "vy":1.36262, "omega":-0.04031, "ax":0.82275, "ay":-7.47453, "alpha":0.20171, "fx":[11.55542,15.25528,15.70604,11.89489], "fy":[-123.80534,-123.40472,-123.34187,-123.76686]}, + {"t":2.25201, "x":7.83091, "y":3.47744, "heading":1.57386, "vx":-0.14032, "vy":1.08968, "omega":-0.03294, "ax":0.88882, "ay":-7.46815, "alpha":0.21312, "fx":[12.51711,16.41555,16.93505,12.91331], "fy":[-123.733,-123.27703,-123.20078,-123.68628]}, + {"t":2.28852, "x":7.82638, "y":3.51225, "heading":1.57265, "vx":-0.10787, "vy":0.81698, "omega":-0.02516, "ax":0.94251, "ay":-7.46253, "alpha":0.22239, "fx":[13.29784,17.35618,17.9348,13.74309], "fy":[-123.66877,-123.16544,-123.07688,-123.6144]}, + {"t":2.32504, "x":7.82307, "y":3.5371, "heading":1.57173, "vx":-0.07345, "vy":0.54448, "omega":-0.01704, "ax":0.987, "ay":-7.45758, "alpha":0.23006, "fx":[13.94435,18.13418,18.7636,14.43189], "fy":[-123.61184,-123.06765,-122.96793,-123.55049]}, + {"t":2.36155, "x":7.82105, "y":3.55201, "heading":1.57111, "vx":-0.03741, "vy":0.27216, "omega":-0.00864, "ax":1.02446, "ay":-7.4532, "alpha":0.23652, "fx":[14.48865,18.78852,19.46156,15.0125], "fy":[-123.56127,-122.98155,-122.8718,-123.49362]}, + {"t":2.39807, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index aa4bca12..88dabd56 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -125,6 +125,7 @@ public enum Path { RRtoIR("RR", "FR", Action.INTAKE), PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", Action.INTAKE), + MRRtoFRM("MRR", "FRM", Action.INTAKE), // SCORE DtoRL("D", "RL", Action.SCORE), @@ -132,7 +133,8 @@ public enum Path { DtoS("D", "S", Action.SCORE), OtoS("O", "S", Action.SCORE), PMtoM("PM", "M", Action.SCORE), - ILtoRL("FL", "RL", Action.SCORE), + FLMtoRL("FLM", "RL", Action.SCORE), + FRMtoMRR("FRM", "MRR", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -295,7 +297,8 @@ public Command scorePath(Path path, AutoRoutine routine) { // , // setAutoScoreReqFalse() setAutoScoreReqTrue(), - swerve.stop().repeatedly().withTimeout(3)); + swerve.stop().repeatedly().withTimeout(3) + ); } public Command emptyPath(Path path, AutoRoutine routine) { @@ -485,10 +488,21 @@ public Command getDepotScoreClimbAuto() { return routine.cmd(); } - public Command getDoubleDipLeftTrenchAuto() { - final AutoRoutine routine = factory.newRoutine("Double dip left trench auto"); + public Command getDoubleDipRightTrench() { + final AutoRoutine routine = factory.newRoutine("Double dip right trench auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = {Path.PLtoIL, Path.ILtoILM, Path.ILtoRL, Path.RLtoIL,Path.ILtoRL,Path.RLtoIL,}; + Path[] paths = { + Path.PRtoIR, + // start to intake + Path.IRtoIRM, + // intake to 2nd intake point (area of iteration) + Path.FRMtoMRR, + // 2nd intake to shoot + Path.MRRtoFRM, + // shoot to intake + Path.FRMtoMRR, + // intake to shoot + }; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4e7f8c99..62673dde 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -761,8 +761,7 @@ private void addAutos() { "Left Bump Depot Outpost Climb", autos.getLeftBumpDepotOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto()); - autoChooser.addOption("Left Trench Double Dip Auto", autos.getDoubleDipLeftTrenchAuto()); - + autoChooser.addOption("Right Trench Double Dip Auto", autos.getDoubleDipRightTrench()); haveAutosGenerated = true; System.out.println("Done generating autos"); From ecf925a08739fa4f240e339b559b613543e78e1e Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Sat, 21 Mar 2026 14:46:05 -0700 Subject: [PATCH 04/17] not fried sorta final auton --- src/main/deploy/choreo/FRMtoMRR.traj | 223 ++++++++++++++++++--------- src/main/deploy/choreo/MRRtoFRM.traj | 201 ++++++++++++++---------- src/main/deploy/choreo/PRtoFR.traj | 187 ++++++++++++---------- src/main/java/frc/robot/Autos.java | 7 +- 4 files changed, 372 insertions(+), 246 deletions(-) diff --git a/src/main/deploy/choreo/FRMtoMRR.traj b/src/main/deploy/choreo/FRMtoMRR.traj index 153c20f5..45f16776 100644 --- a/src/main/deploy/choreo/FRMtoMRR.traj +++ b/src/main/deploy/choreo/FRMtoMRR.traj @@ -3,24 +3,34 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.13539981842041, "y":0.718427836894989, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.0763092041015625, "y":1.4839131832122805, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.991871356964111, "y":0.7662706971168518, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.9777731895446777, "y":0.8141134977340698, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.4036591053009033, "y":1.420122742652893, "heading":-2.2678176232360636, "intervals":66, "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":"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":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.13539981842041 m", "val":6.13539981842041}, "y":{"exp":"0.718427836894989 m", "val":0.718427836894989}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MR.x", "val":3.32966947555542}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "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":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.0763092041015625 m", "val":7.0763092041015625}, "y":{"exp":"1.4839131832122803 m", "val":1.4839131832122805}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.991871356964111 m", "val":5.991871356964111}, "y":{"exp":"0.7662706971168518 m", "val":0.7662706971168518}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.9777731895446777 m", "val":2.9777731895446777}, "y":{"exp":"0.8141134977340698 m", "val":0.8141134977340698}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"2.4036591053009033 m", "val":2.4036591053009033}, "y":{"exp":"1.420122742652893 m", "val":1.420122742652893}, "heading":{"exp":"-2.2678176232360636 rad", "val":-2.2678176232360636}, "intervals":66, "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":"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":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -51,75 +61,136 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.31193,2.35842], + "waypoints":[0.0,1.23671,1.89001,3.41204,4.14592], "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.99585, "ay":-5.69327, "alpha":-8.5863, "fx":[47.48954,-119.02698,-71.35707,10.90131], "fy":[-114.54368,-36.07769,-101.95297,-123.9429]}, - {"t":0.0328, "x":7.81929, "y":3.55392, "heading":1.5708, "vx":-0.06546, "vy":-0.18673, "omega":-0.28162, "ax":-2.04003, "ay":-5.71507, "alpha":-8.46354, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,10 +16,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.631625175476074 m", "val":3.631625175476074}, "y":{"exp":"0.718427836894989 m", "val":0.718427836894989}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.13539981842041 m", "val":6.13539981842041}, "y":{"exp":"MR.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.4036591053009033 m", "val":2.4036591053009033}, "y":{"exp":"1.420122742652893 m", "val":1.420122742652893}, "heading":{"exp":"-2.2678176232360636 rad", "val":-2.2678176232360636}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.4562013149261475 m", "val":3.4562013149261475}, 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"ax":0.00005, "ay":-0.01611, "alpha":0.0804, "fx":[-0.37514,0.38342,0.37691,-0.38167], "fy":[-0.64892,-0.6424,0.11616,0.10964]}, + {"t":3.06943, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.00659, "vy":1.99885, "omega":-0.24084, "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 88dabd56..38a45db1 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -297,8 +297,7 @@ public Command scorePath(Path path, AutoRoutine routine) { // , // setAutoScoreReqFalse() setAutoScoreReqTrue(), - swerve.stop().repeatedly().withTimeout(3) - ); + swerve.stop().repeatedly().withTimeout(3)); } public Command emptyPath(Path path, AutoRoutine routine) { @@ -494,8 +493,8 @@ public Command getDoubleDipRightTrench() { Path[] paths = { Path.PRtoIR, // start to intake - Path.IRtoIRM, - // intake to 2nd intake point (area of iteration) + + // cooked Path.FRMtoMRR, // 2nd intake to shoot Path.MRRtoFRM, From 43a84bbe206c659219cc83dff5a298dafce82c06 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 15:06:38 -0700 Subject: [PATCH 05/17] idk what's here --- src/main/java/frc/robot/Autos.java | 31 ++++++------------------------ 1 file changed, 6 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index b4b3988d..dd737b6e 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -400,31 +400,12 @@ public Command getDepotScoreClimbAuto() { } public Command getDoubleDipRightTrench() { - final AutoRoutine routine = factory.newRoutine("Double dip right trench auto"); - lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); - Path[] paths = { - Path.PRtoIR, - // start to intake - - // cooked - Path.FRMtoMRR, - // 2nd intake to shoot - Path.MRRtoFRM, - // shoot to intake - Path.FRMtoMRR, - // intake to shoot - }; - - Command autoCommand = - paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); - - for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); - } - - routine.active().onTrue(autoCommand); - - return routine.cmd(); + return createAuto("Double dip right trench auto", new Path[] { + Path.RTrenchtoRNeutral, + Path.RNeutraltoRPreTrench, + Path.RPreTrenchtoRNeutral, + Path.RNeutraltoRPreTrench, + }, setRightClimb()); } public Command getOutpostScoreClimbAuto() { From 48243cffd72914297fa83a6dd9b9780618a58c80 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 15:21:30 -0700 Subject: [PATCH 06/17] fix reversed paths a little bit?? --- src/main/deploy/choreo/FRMtoMRR.traj | 197 ------------------ src/main/deploy/choreo/MRRtoFRM.traj | 172 --------------- .../deploy/choreo/OutposttoRPreTrench.traj | 2 +- .../deploy/choreo/RNeutraltoRPreTrench.traj | 2 +- .../choreo/RPreTrenchReversedtoRNeutra.traj | 156 ++++++++++++++ .../choreo/RPreTrenchReversedtoRNeutral.traj | 131 ++++++++++++ .../deploy/choreo/RPreTrenchtoOutpost.traj | 2 +- .../deploy/choreo/RPreTrenchtoRClimb.traj | 2 +- .../deploy/choreo/RPreTrenchtoRNeutral.traj | 2 +- src/main/deploy/choreo/rebuiltChoreo.chor | 2 +- src/main/java/frc/robot/Autos.java | 26 ++- 11 files changed, 305 insertions(+), 389 deletions(-) delete mode 100644 src/main/deploy/choreo/FRMtoMRR.traj delete mode 100644 src/main/deploy/choreo/MRRtoFRM.traj create mode 100644 src/main/deploy/choreo/RPreTrenchReversedtoRNeutra.traj create mode 100644 src/main/deploy/choreo/RPreTrenchReversedtoRNeutral.traj diff --git a/src/main/deploy/choreo/FRMtoMRR.traj b/src/main/deploy/choreo/FRMtoMRR.traj deleted file mode 100644 index 45f16776..00000000 --- a/src/main/deploy/choreo/FRMtoMRR.traj +++ /dev/null @@ -1,197 +0,0 @@ -{ - "name":"FRMtoMRR", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0763092041015625, "y":1.4839131832122805, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":5.991871356964111, "y":0.7662706971168518, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.9777731895446777, "y":0.8141134977340698, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":2.4036591053009033, "y":1.420122742652893, "heading":-2.2678176232360636, "intervals":66, "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":2.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.0763092041015625 m", "val":7.0763092041015625}, "y":{"exp":"1.4839131832122803 m", "val":1.4839131832122805}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"5.991871356964111 m", "val":5.991871356964111}, "y":{"exp":"0.7662706971168518 m", "val":0.7662706971168518}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.9777731895446777 m", "val":2.9777731895446777}, "y":{"exp":"0.8141134977340698 m", "val":0.8141134977340698}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"2.4036591053009033 m", "val":2.4036591053009033}, "y":{"exp":"1.420122742652893 m", "val":1.420122742652893}, "heading":{"exp":"-2.2678176232360636 rad", "val":-2.2678176232360636}, "intervals":66, "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":"slow", "val":2.0}}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "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, - "tmax":0.9, - "cof":2.25, - "bumper":{ - "front":0.44196, - "side":0.44196, - "back":0.44196 - }, - "differentialTrackWidth":0.5427218 - }, - "sampleType":"Swerve", - "waypoints":[0.0,1.23671,1.89001,3.41204,4.14592], - "samples":[ - {"t":0.0, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.43745, "ay":-7.11768, "alpha":-0.01404, "fx":[-40.22141,-40.45839,-40.37723,-40.14062], "fy":[-117.70625,-117.62512,-117.65334,-117.73416]}, - {"t":0.03435, "x":7.81893, "y":3.55278, "heading":1.5708, "vx":-0.08373, "vy":-0.24451, "omega":-0.00048, "ax":-2.43693, "ay":-7.11617, "alpha":-0.01536, "fx":[-40.20555,-40.46482,-40.37604,-40.11721], "fy":[-117.68384,-117.59509,-117.62603,-117.71441]}, - {"t":0.06871, "x":7.81461, "y":3.54018, "heading":1.57078, "vx":-0.16745, "vy":-0.48898, "omega":-0.00101, "ax":-2.43621, "ay":-7.11407, 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"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/RPreTrenchtoOutpost.traj b/src/main/deploy/choreo/RPreTrenchtoOutpost.traj index e4e8bcdd..f98286e7 100644 --- a/src/main/deploy/choreo/RPreTrenchtoOutpost.traj +++ b/src/main/deploy/choreo/RPreTrenchtoOutpost.traj @@ -16,7 +16,7 @@ }, "params":{ "waypoints":[ - {"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":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.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}, diff --git a/src/main/deploy/choreo/RPreTrenchtoRClimb.traj b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj index 3035d319..524c9433 100644 --- a/src/main/deploy/choreo/RPreTrenchtoRClimb.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRClimb.traj @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"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":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.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}, diff --git a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj index ebd36cb0..66a6968a 100644 --- a/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj +++ b/src/main/deploy/choreo/RPreTrenchtoRNeutral.traj @@ -19,7 +19,7 @@ }, "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":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.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", "val":7.532798290252685}, "y":{"exp":"1.1749255657196045 m", "val":1.1749255657196045}, "heading":{"exp":"1.3633881813651478 rad", "val":1.3633881813651478}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 1b6fd51e..68a949c1 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -202,7 +202,7 @@ "val":1.5707963267948966 } }, - "RPreTrench":{ + "RPreTrenchReversed":{ "x":{ "exp":"3.32966947555542 m", "val":3.32966947555542 diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index dd737b6e..bfb5a94e 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -82,13 +82,13 @@ public enum Path { FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED), // INTAKE LNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.INTAKE), - RNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.INTAKE), + RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrench", Action.INTAKE), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), - RTrenchtoRNeutral("RTrenchtoRNeutral", Action.INTAKE), - LTrenchtoLNeutral("LTrenchtoLNeutral", Action.INTAKE), + RPreTrenchReversedtoRNeutral("RPreTrenchReversedtoRNeutral", Action.INTAKE), + StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), + StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), LBumptoDepot("LBumptoDepot", Action.INTAKE), - MRRtoFRM("MRRtoFRM", Action.INTAKE), // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), @@ -96,8 +96,6 @@ public enum Path { DepottoPreOutpost("DepottoPreOutpost", Action.SCORE), OutposttoPreOutpost("OutposttoPreOutpost", Action.SCORE), HubtoCenter("HubtoCenter", Action.SCORE), - FLMtoRL("FLMtoRL", Action.SCORE), - FRMtoMRR("FRMtoMRR", Action.SCORE), // FLOW LPreTrenchtoDepot("LPreTrenchtoDepot", Action.FLOW), // CLIMB @@ -401,10 +399,10 @@ public Command getDepotScoreClimbAuto() { public Command getDoubleDipRightTrench() { return createAuto("Double dip right trench auto", new Path[] { - Path.RTrenchtoRNeutral, - Path.RNeutraltoRPreTrench, - Path.RPreTrenchtoRNeutral, - Path.RNeutraltoRPreTrench, + Path.StartingRTrenchtoRNeutral, + Path.RNeutraltoRPreTrenchReversed, + Path.RPreTrenchReversedtoRNeutral, + Path.RNeutraltoRPreTrenchReversed, }, setRightClimb()); } @@ -416,7 +414,7 @@ public Command getOutpostScoreClimbAuto() { Path.RTrenchtoOutpost, Path.OutposttoRPreTrench, Path.RPreTrenchtoRNeutral, - Path.RNeutraltoRPreTrench, + Path.RNeutraltoRPreTrenchReversed, Path.RPreTrenchtoRClimb }, setRightClimb()); @@ -455,7 +453,7 @@ public Command getFillDepotScoreClimbAuto() { return createAuto( "Fill Depot Score Climb Auto", new Path[] { - Path.LTrenchtoLNeutral, + Path.StartingLTrenchtoLNeutral, Path.FeedLNeutraltoLPreTrench, Path.LPreTrenchtoDepot, Path.DepottoLClimb @@ -468,7 +466,7 @@ public Command getFillOutpostScoreClimbAuto() { return createAuto( "Fill Outpost Score Climb Auto", new Path[] { - Path.RTrenchtoRNeutral, + Path.StartingRTrenchtoRNeutral, Path.FeedRNeutraltoRPreTrench, Path.RPreTrenchtoOutpost, Path.OutposttoRClimb @@ -484,7 +482,7 @@ public Command getRightBumpOutpostCenterAuto() { Path.RBumptoOutpost, Path.OutposttoRPreTrench, Path.RPreTrenchtoRNeutral, - Path.RNeutraltoRPreTrench + Path.RNeutraltoRPreTrenchReversed }, setRightClimb()); } From 57f05525d35b441cb473b614d61672b5131de89c Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sun, 22 Mar 2026 20:57:12 -0700 Subject: [PATCH 07/17] almost works except outpost --- .../deploy/choreo/OutposttoRPreTrench.traj | 118 +++++----- .../deploy/choreo/RNeutraltoRPreTrench.traj | 174 ++++++++------- .../deploy/choreo/RPreTrenchtoOutpost.traj | 152 +++++++------ .../deploy/choreo/RPreTrenchtoRNeutral.traj | 182 +++++++-------- .../choreo/StartingRTrenchtoRNeutral.traj | 210 +++++++++--------- src/main/java/frc/robot/Autos.java | 21 +- src/main/java/frc/robot/Robot.java | 2 + 7 files changed, 446 insertions(+), 413 deletions(-) diff --git a/src/main/deploy/choreo/OutposttoRPreTrench.traj b/src/main/deploy/choreo/OutposttoRPreTrench.traj index 62019850..efbcf783 100644 --- a/src/main/deploy/choreo/OutposttoRPreTrench.traj +++ b/src/main/deploy/choreo/OutposttoRPreTrench.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.9752302169799805, "y":0.7909082770347595, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.4436733722686768, "y":0.443471223115921, "heading":1.5707963267948966, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6156142950057983, "y":0.7216874957084656, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"Outpost.x", "val":0.4355199635028839}, "y":{"exp":"Outpost.y", "val":0.5460934042930603}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "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":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6156142950057983 m", "val":1.6156142950057983}, "y":{"exp":"0.7216874957084656 m", "val":0.7216874957084656}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -53,62 +53,62 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.79375,1.1917], + "waypoints":[0.0,0.67447,1.19044], "samples":[ - {"t":0.0, "x":0.44367, "y":0.44347, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":6.11209, "ay":2.65588, "alpha":-6.35157, "fx":[103.2204,52.60234,123.99721,124.39546], "fy":[69.48555,112.68299,-4.96116,-1.56405]}, - {"t":0.0294, "x":0.44631, "y":0.44462, "heading":1.5708, "vx":0.17968, "vy":0.07808, "omega":-0.18672, "ax":6.09647, "ay":2.55894, "alpha":-6.56033, "fx":[103.41071,51.76599,123.64963,124.3561], "fy":[69.18437,113.0504,-9.94003,-3.0625]}, - {"t":0.0588, "x":0.45423, "y":0.44802, "heading":1.56531, "vx":0.35891, "vy":0.15331, "omega":-0.37959, "ax":6.08286, "ay":2.46005, "alpha":-6.74993, "fx":[103.76208,51.09101,123.14264,124.28665], "fy":[68.63541,113.33524,-14.4606,-4.81737]}, - {"t":0.08819, "x":0.46741, "y":0.45359, 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"fx":[-0.00001,-0.00001,-0.00001,-0.00001], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.18884, "x":7.82122, "y":3.18384, "heading":1.5708, "vx":-0.0062, "vy":2.69901, "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":2.2165, "x":7.82105, "y":3.25847, "heading":1.5708, "vx":-0.0062, "vy":2.69901, "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":2.24415, "x":7.82088, "y":3.3331, "heading":1.5708, "vx":-0.0062, "vy":2.69901, "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":2.2718, "x":7.82071, "y":3.40773, "heading":1.5708, "vx":-0.0062, "vy":2.69901, "omega":0.0, "ax":0.0, "ay":-0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0001,-0.0001,-0.0001,-0.0001]}, + {"t":2.29945, "x":7.82054, "y":3.48236, "heading":1.5708, "vx":-0.0062, "vy":2.69901, "omega":0.0, "ax":0.00008, "ay":-0.03571, "alpha":0.0, "fx":[0.00136,0.00136,0.00136,0.00136], "fy":[-0.59035,-0.59035,-0.59035,-0.59035]}, + {"t":2.3271, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.0062, "vy":2.69803, "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 0f8335cd..9c0b5d66 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -74,7 +74,7 @@ public enum Action { public enum Path { // OUTPOST RTrenchtoOutpost("RTrenchtoOutpost", Action.OUTPOST), - RPreTrenchtoOutpost("RPreTrenchtoOutpost", Action.OUTPOST), // TODO doesn't work + RPreTrenchtoOutpost("RPreTrenchtoOutpost", Action.OUTPOST), PreOutposttoOutpost("PreOutposttoOutpost", Action.OUTPOST), // DEPOT LTrenchtoDepot("LTrenchtoDepot", Action.FLOW), @@ -416,12 +416,15 @@ public Command getDepotScoreClimbAuto() { } public Command getDoubleDipRightTrench() { - return createAuto("Double dip right trench auto", new Path[] { - Path.StartingRTrenchtoRNeutral, - Path.RNeutraltoRPreTrenchReversed, - Path.RPreTrenchReversedtoRNeutral, - Path.RNeutraltoRPreTrenchReversed, - }, setRightClimb()); + return createAuto( + "Double dip right trench auto", + new Path[] { + Path.StartingRTrenchtoRNeutral, + Path.RNeutraltoRPreTrenchReversed, + Path.RPreTrenchReversedtoRNeutral, + Path.RNeutraltoRPreTrenchReversed, + }, + setRightClimb()); } public Command getOutpostScoreClimbAuto() { @@ -557,7 +560,9 @@ public Command getRightNeutralOutpostScore() { return createAuto( "Right Neutral Outpost Score", new Path[] { - Path.StartingRTrenchtoRNeutral, Path.RNeutraltoRPreTrench, Path.RPreTrenchtoOutpost + Path.StartingRTrenchtoRNeutral, + Path.RNeutraltoRPreTrenchReversed, + Path.RPreTrenchtoOutpost }, setRightClimb()); } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7ae00f4d..a0dbf609 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -800,6 +800,8 @@ private void addAutos() { autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid()); autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); + autoChooser.addOption("Right Neutral Outpost Score", autos.getRightNeutralOutpostScore()); + haveAutosGenerated = true; System.out.println("Done generating autos"); } From 9dace83867b52b45f12301ced0cee52e14b6e0c6 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 23 Mar 2026 14:59:40 -0700 Subject: [PATCH 08/17] change checking for being at the outpost from time to pose [untested] --- src/main/deploy/choreo/FLtoML.traj | 143 -------------- src/main/deploy/choreo/FRtoSRT.traj | 146 -------------- src/main/deploy/choreo/MLtoFL.traj | 139 ------------- src/main/deploy/choreo/MRtoSRT.traj | 69 ------- .../deploy/choreo/RNeutraltoRPreTrench.traj | 150 -------------- .../choreo/RNeutraltoRPreTrenchReversed.traj | 156 +++++++++++++++ ....traj => RPreTrenchReversedtoOutpost.traj} | 5 +- src/main/deploy/choreo/SRTtoO.traj | 100 ---------- .../choreo/StartingRTrenchtoRNeutral.traj | 186 +++++++++--------- src/main/java/frc/robot/Autos.java | 46 ++++- 10 files changed, 291 insertions(+), 849 deletions(-) delete mode 100644 src/main/deploy/choreo/FLtoML.traj delete mode 100644 src/main/deploy/choreo/FRtoSRT.traj delete mode 100644 src/main/deploy/choreo/MLtoFL.traj delete mode 100644 src/main/deploy/choreo/MRtoSRT.traj delete mode 100644 src/main/deploy/choreo/RNeutraltoRPreTrench.traj create mode 100644 src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj rename src/main/deploy/choreo/{RPreTrenchtoOutpost.traj => RPreTrenchReversedtoOutpost.traj} (98%) delete mode 100644 src/main/deploy/choreo/SRTtoO.traj diff --git a/src/main/deploy/choreo/FLtoML.traj b/src/main/deploy/choreo/FLtoML.traj deleted file mode 100644 index 6e299763..00000000 --- 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"enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.15}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.90720272064209 m", "val":6.90720272064209}, "y":{"exp":"7.349101543426514 m", "val":7.349101543426514}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"4.869002342224121 m", "val":4.869002342224121}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"MLL.x", "val":3.2225897312164307}, "y":{"exp":"MLL.y", "val":7.436997413635254}, "heading":{"exp":"MLL.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":1, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.15 m", "val":0.15}}}, "enabled":true}, - {"from":1, "to":1, 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"overrideIntervals":false}, + {"x":5.7704949378967285, "y":0.7309682965278625, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.451920032501221, "y":0.98580801486969, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.82036542892456, "y":2.213677883148194, "heading":1.5707963267948966, "intervals":18, "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}], @@ -20,7 +20,7 @@ "params":{ "waypoints":[ {"x":{"exp":"StartingRTrench.x", "val":4.386671543121338}, "y":{"exp":"StartingRTrench.y", "val":0.7306628823280334}, "heading":{"exp":"StartingRTrench.heading", "val":0.0}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.7704949378967285 m", "val":5.7704949378967285}, "y":{"exp":"0.7493634223937988 m", "val":0.7493634223937988}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.7704949378967285 m", "val":5.7704949378967285}, "y":{"exp":"RTrench.y", "val":0.7309682965278625}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.451920032501221 m", "val":7.451920032501221}, "y":{"exp":"0.9858080148696899 m", "val":0.98580801486969}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"2.2136778831481934 m", "val":2.213677883148194}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, 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"y":3.25847, "heading":1.5708, "vx":-0.00671, "vy":2.69901, "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":2.24405, "x":7.82092, "y":3.3331, "heading":1.5708, "vx":-0.00671, "vy":2.69901, "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":2.2717, "x":7.82074, "y":3.40773, "heading":1.5708, "vx":-0.00671, "vy":2.69901, "omega":0.0, "ax":0.0, "ay":-0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-0.0001,-0.0001,-0.0001,-0.0001]}, + {"t":2.29936, "x":7.82055, "y":3.48236, "heading":1.5708, "vx":-0.00671, "vy":2.69901, "omega":0.0, "ax":0.00009, "ay":-0.03571, "alpha":0.0, "fx":[0.00147,0.00147,0.00147,0.00147], "fy":[-0.59035,-0.59035,-0.59035,-0.59035]}, + {"t":2.32701, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":-0.00671, "vy":2.69802, "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 9c0b5d66..c1feba80 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -7,6 +7,11 @@ import choreo.auto.AutoFactory; import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; +import choreo.util.ChoreoAllianceFlipUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; @@ -74,27 +79,31 @@ public enum Action { public enum Path { // OUTPOST RTrenchtoOutpost("RTrenchtoOutpost", Action.OUTPOST), - RPreTrenchtoOutpost("RPreTrenchtoOutpost", Action.OUTPOST), + RPreTrenchReversedtoOutpost("RPreTrenchReversedtoOutpost", Action.OUTPOST), + PreOutposttoOutpost("PreOutposttoOutpost", Action.OUTPOST), // DEPOT LTrenchtoDepot("LTrenchtoDepot", Action.FLOW), + LBumptoDepot("LBumptoDepot", Action.INTAKE), // FEED FeedLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.FEED), FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED), // INTAKE LNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.INTAKE), + EndWScoreLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.SCORE_AT_END), EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END), - RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrench", Action.INTAKE), + RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrenchReversed", Action.INTAKE), + LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), LPreTrenchtoLCleanup("LPreTrenchtoLCleanup", Action.INTAKE), RPreTrenchtoRNeutral("RPreTrenchtoRNeutral", Action.INTAKE), RPreTrenchReversedtoRNeutral("RPreTrenchReversedtoRNeutral", Action.INTAKE), + StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), - LBumptoDepot("LBumptoDepot", Action.INTAKE), // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), @@ -134,6 +143,12 @@ public AutoTrajectory getTrajectory(AutoRoutine routine) { } } + // for the weird outpost paths idk + public static final Pose2d BLUE_OUTPOST = + new Pose2d( + new Translation2d(0.44367337226867676, 0.443471223115921), Rotation2d.fromDegrees(90)); + public static final Pose2d RED_OUTPOST = ChoreoAllianceFlipUtil.flip(BLUE_OUTPOST); + public Autos(SwerveSubsystem swerve, ClimberSubsystem climber) { this.swerve = swerve; this.climber = climber; @@ -290,8 +305,25 @@ public Command outpostPath(Path path, AutoRoutine routine) { startScoring(), stopFlowing(), stopIntaking(), - path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - swerve.stop().repeatedly().withTimeout(2)); + // holy chopped + // this is here because i suspect the time based at end will cause it to stop early if it + // hits something and messes up the time + // though this may be fixed by having a better path?? idk + path.getTrajectory(routine) + .cmd() + .until( + path.getTrajectory(routine) + .atPose( + path.getTrajectory(routine) + .getFinalPose() + .orElse( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? BLUE_OUTPOST + : RED_OUTPOST), + 0.25, + Units.degreesToRadians(30))), + // TODO tune tolerance + swerve.stop().repeatedly().withTimeout(2)); // TODO tune time } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { @@ -488,7 +520,7 @@ public Command getFillOutpostScoreClimbAuto() { new Path[] { Path.StartingRTrenchtoRNeutral, Path.FeedRNeutraltoRPreTrench, - Path.RPreTrenchtoOutpost, + Path.RPreTrenchReversedtoOutpost, Path.OutposttoRClimb }, setRightClimb()); @@ -562,7 +594,7 @@ public Command getRightNeutralOutpostScore() { new Path[] { Path.StartingRTrenchtoRNeutral, Path.RNeutraltoRPreTrenchReversed, - Path.RPreTrenchtoOutpost + Path.RPreTrenchReversedtoOutpost }, setRightClimb()); } From 69091f07463794d07732e69a503921b05f8c98be Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 23 Mar 2026 15:17:27 -0700 Subject: [PATCH 09/17] drop flywheel speed from kick idt it helped. also add a stop thing for swerve but also untested --- src/main/java/frc/robot/Autos.java | 8 +-- src/main/java/frc/robot/Superstructure.java | 51 ++----------------- .../frc/robot/subsystems/indexer/Indexer.java | 2 +- .../subsystems/indexer/LindexerSubsystem.java | 2 +- .../indexer/SpindexerSubsystem.java | 17 +------ .../subsystems/shooter/TurretSubsystem.java | 24 ++++----- .../subsystems/swerve/SwerveSubsystem.java | 5 ++ 7 files changed, 29 insertions(+), 80 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index c1feba80..9f9cd841 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -213,7 +213,7 @@ public Command climbScorePath(Path path, AutoRoutine routine) { // - (0.3)))), path.getTrajectory(routine).done()), stopScoring(), - swerve.stop().until(() -> climber.atFullExtension()), + swerve.stop().repeatedly().until(() -> climber.atFullExtension()), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), Commands.waitUntil( @@ -230,7 +230,7 @@ public Command climbNoScorePath(Path path, AutoRoutine routine) { stopIntaking(), startPreClimb(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), - swerve.stop().until(() -> climber.atFullExtension()), + swerve.stop().repeatedly().until(() -> climber.atFullExtension()), Commands.parallel( swerve.alignToClimb(() -> getClimbAutoTarget()), Commands.waitUntil( @@ -263,7 +263,7 @@ public Command scoreAtEndPath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), stopIntaking(), startScoring(), - swerve.stop().repeatedly().withTimeout(5), + swerve.stopForTime(() -> 5), stopScoring()); } @@ -323,7 +323,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { 0.25, Units.degreesToRadians(30))), // TODO tune tolerance - swerve.stop().repeatedly().withTimeout(2)); // TODO tune time + swerve.stopForTime(() -> 2));// TODO tune time } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index d1d22ed6..58d9cc39 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -493,14 +493,7 @@ private void addCommands() { bindCommands( SuperState.FEED, intake.agitate(), - indexer.kick( - () -> - AutoAim.getSOTMShotDataNewtonsMethod( - shooter.getTurretPose(swerve.getPose()), - FeedTargets.getFeedTarget(feedTarget).getTranslation(), - swerve.getVelocityRobotRelative(), - AutoAim.FEED_SHOT_TREE) - .flywheelVelocityRotPerSec()), + indexer.kick(), shooter.feed( () -> NewAutoAim.getParametersMechA( @@ -530,14 +523,7 @@ private void addCommands() { bindCommands( SuperState.FEED_FLOW, intake.intake(), - indexer.kick( - () -> - AutoAim.getSOTMShotDataNewtonsMethod( - shooter.getTurretPose(swerve.getPose()), - FeedTargets.getFeedTarget(feedTarget).getTranslation(), - swerve.getVelocityRobotRelative(), - AutoAim.FEED_SHOT_TREE) - .flywheelVelocityRotPerSec()), + indexer.kick(), shooter.feed( () -> NewAutoAim.getParametersMechA( @@ -568,16 +554,7 @@ private void addCommands() { SuperState.SCORE, intake.agitate(), // intake.restExtended(), - indexer.kick( - () -> - AutoAim.getSOTMShotDataNewtonsMethod( - shooter.getTurretPose(swerve.getPose()), - FieldUtils.getCurrentHubTranslation(), - swerve.getVelocityRobotRelative(), - Robot.ROBOT_EDITION == RobotEdition.ALPHA - ? AutoAim.ALPHA_HUB_SHOT_TREE - : AutoAim.COMP_HUB_SHOT_TREE) - .flywheelVelocityRotPerSec()), + indexer.kick(), shooter.score( () -> NewAutoAim.getParametersMechA( @@ -607,16 +584,7 @@ private void addCommands() { bindCommands( SuperState.SCORE_FLOW, intake.intake(), - indexer.kick( - () -> - AutoAim.getSOTMShotDataNewtonsMethod( - shooter.getTurretPose(swerve.getPose()), - FieldUtils.getCurrentHubTranslation(), - swerve.getVelocityRobotRelative(), - Robot.ROBOT_EDITION == RobotEdition.ALPHA - ? AutoAim.ALPHA_HUB_SHOT_TREE - : AutoAim.COMP_HUB_SHOT_TREE) - .flywheelVelocityRotPerSec()), + indexer.kick(), shooter.score( () -> NewAutoAim.getParametersMechA( @@ -679,16 +647,7 @@ private void addCommands() { bindCommands( SuperState.SCORE_PRE_CLIMB, intake.restRetracted(), - indexer.kick( - () -> - AutoAim.getSOTMShotDataNewtonsMethod( - shooter.getTurretPose(swerve.getPose()), - FieldUtils.getCurrentHubTranslation(), - swerve.getVelocityRobotRelative(), - Robot.ROBOT_EDITION == RobotEdition.ALPHA - ? AutoAim.ALPHA_HUB_SHOT_TREE - : AutoAim.COMP_HUB_SHOT_TREE) - .flywheelVelocityRotPerSec()), + indexer.kick(), shooter.score( () -> NewAutoAim.getParametersMechA( diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java index c28631a7..da9b3ecb 100644 --- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -18,7 +18,7 @@ public interface Indexer extends Subsystem { public Command spit(); /** Run both indexer and kicker towards the shooter */ - public Command kick(DoubleSupplier flywheelSpeedSupplier); + public Command kick(); /** Not running (set to 0) */ public Command rest(); diff --git a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java index 28fa3b7b..e5c5db40 100644 --- a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java @@ -62,7 +62,7 @@ public Command index() { } @Override - public Command kick(DoubleSupplier flywheelSpeedSupplier) { + public Command kick() { return this.run( () -> { // if (shooterAtSetpoint.getAsBoolean()) { diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 7f3ad33d..371c589d 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -65,25 +65,10 @@ public Command index() { } @Override - public Command kick(DoubleSupplier flywheelSpeedSupplier) { + public Command kick() { return Commands.sequence( this.run( () -> { - double surfaceSpeedInPerSec = - flywheelSpeedSupplier.getAsDouble() - * Math.PI - * TurretSubsystem.FLYWHEEL_DIAMETER_INCHES; - double kickerSpeed = surfaceSpeedInPerSec / (Math.PI * KICKER_DIAMETER_INCHES); - // arbitrarily deciding to have it match the bottom wheel although i have no clue - // if - // that's right - double spinnerSpeed = surfaceSpeedInPerSec / (Math.PI * SPINNER_DIAMETER_INCHES); - Logger.recordOutput("Indexer/Spinner/Adjusted speed", spinnerSpeed); - Logger.recordOutput("Indexer/Kicker/Adjusted speed", kickerSpeed); - // spinnerIO.setRollerVelocity(spinnerSpeed - 1); - // kickerIO.setRollerVelocity(kickerSpeed - 5); - // spinnerIO.setRollerVelocity(60); - // kickerIO.setRollerVelocity(25); spinnerIO.setRollerVoltage(12); kickerIO.setRollerVoltage(12); }) diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 2a77bbd5..063ac6cf 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -360,7 +360,7 @@ public Command score(Supplier shotParamsSupplier) { @Override public Command resetTurretToPosition(Rotation2d rot) { - return this.runOnce(() -> turretIO.resetTurretEncoder(getCalculatedTurretRotations())); + return this.runOnce(() -> turretIO.resetTurretEncoder(rot)); } /** sets the motor encoder to the position calculated from the encoders */ @@ -369,18 +369,18 @@ public Command resetTurretToCalculatedPosition() { .andThen(resetTurretToPosition(getCalculatedTurretRotations())); } - @Override - public Command currentZeroTurretAgainstForwardHardstop() { - return this.run(() -> turretIO.setVoltage(1.0)) - .until( - new Trigger(() -> Math.abs(turretCurrentFilterValue) > TURRET_CURRENT_ZERO_THRESHOLD) - .debounce(0.25)) - .andThen(Commands.parallel(Commands.print("Turret Zeroed"), zeroTurretForwardHardstop())); - } + // @Override + // public Command currentZeroTurretAgainstForwardHardstop() { + // return this.run(() -> turretIO.setVoltage(1.0)) + // .until( + // new Trigger(() -> Math.abs(turretCurrentFilterValue) > TURRET_CURRENT_ZERO_THRESHOLD) + // .debounce(0.25)) + // .andThen(Commands.parallel(Commands.print("Turret Zeroed"), zeroTurretForwardHardstop())); + // } - public Command zeroTurretForwardHardstop() { - return this.runOnce(() -> turretIO.resetTurretEncoder(TURRET_FORWARD_HARDSTOP_ANGLE)); - } + // public Command zeroTurretForwardHardstop() { + // return this.runOnce(() -> turretIO.resetTurretEncoder(TURRET_FORWARD_HARDSTOP_ANGLE)); + // } // for defense and stuff @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index e5ca680d..fef4e3d0 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -537,6 +537,7 @@ public Command driveOpenLoopFieldRelative(Supplier speeds) { * @return a command stopping all the modules */ public Command stop() { + //tbh i don't really know why this is a runonce? return this.runOnce( () -> { for (Module module : modules) { @@ -545,6 +546,10 @@ public Command stop() { }); } + public Command stopForTime(DoubleSupplier seconds) { + return stop().repeatedly().withTimeout(seconds.getAsDouble()); + } + public Command translateToPose( Supplier target, Supplier speedsModifier, From 1e5562fc98f5ada5b5907ee3fa9027dedab48a38 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 16:40:53 -0700 Subject: [PATCH 10/17] Hopefully ungoof turret zeroing stuff --- .vscode/settings.json | 4 +++- src/main/java/frc/robot/Autos.java | 2 +- src/main/java/frc/robot/Robot.java | 8 ++++---- .../java/frc/robot/subsystems/indexer/Indexer.java | 1 - .../robot/subsystems/indexer/LindexerSubsystem.java | 1 - .../subsystems/indexer/SpindexerSubsystem.java | 2 -- .../java/frc/robot/subsystems/shooter/Shooter.java | 8 +++++++- .../robot/subsystems/shooter/TurretSubsystem.java | 13 ++++--------- .../robot/subsystems/swerve/SwerveSubsystem.java | 2 +- 9 files changed, 20 insertions(+), 21 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index e63e8a15..e7612166 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -60,4 +60,6 @@ "java.dependency.enableDependencyCheckup": false, "wpilib.selectDefaultSimulateExtension": false, "wpilib.skipSelectSimulateExtension": true, - "wpilib.autoStartRioLog": false} + "wpilib.autoStartRioLog": false, + "java.compile.nullAnalysis.mode": "disabled" +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 9f9cd841..1286d44e 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -323,7 +323,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { 0.25, Units.degreesToRadians(30))), // TODO tune tolerance - swerve.stopForTime(() -> 2));// TODO tune time + swerve.stopForTime(() -> 2)); // TODO tune time } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a0dbf609..682f26c5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -504,11 +504,11 @@ public Robot() { SmartDashboard.putData("Zero Hood", shooter.zeroHood().ignoringDisable(true)); SmartDashboard.putData( - "Set Turret to 0", shooter.resetTurretToPosition(Rotation2d.kZero).ignoringDisable(true)); + "Set Turret to 0", shooter.resetTurretToPosition(() -> Rotation2d.kZero).ignoringDisable(true)); SmartDashboard.putData( "Rezero turret against cancoders", shooter - .resetTurretToPosition(shooter.getCalculatedTurretRotations()) + .resetTurretToCalculatedPosition() .ignoringDisable(true)); leds = new LEDSubsystem(new LEDIOReal()); // TODO sim @@ -675,7 +675,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .b() .whileTrue( shooter - .resetTurretToPosition(shooter.getCalculatedTurretRotations()) + .resetTurretToCalculatedPosition() .andThen( Commands.parallel( shooter.runHoodCurrentZeroing(), intake.runCurrentZeroing()))); @@ -693,7 +693,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .leftBumper() .onTrue( Commands.parallel( - shooter.resetTurretToPosition(shooter.getCalculatedTurretRotations()), + shooter.resetTurretToCalculatedPosition(), intake.zeroPivotOffCancoder())); operator diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java index da9b3ecb..4262c30a 100644 --- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -6,7 +6,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Subsystem; -import java.util.function.DoubleSupplier; /** Add your docs here. */ public interface Indexer extends Subsystem { diff --git a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java index e5c5db40..c17d8d62 100644 --- a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java @@ -15,7 +15,6 @@ import frc.robot.components.canrange.CANrangeIOReal; import frc.robot.components.rollers.RollerIO; import frc.robot.components.rollers.RollerIOInputsAutoLogged; -import java.util.function.DoubleSupplier; import org.littletonrobotics.junction.Logger; /** Lindexer = Linear Indexer. !! ALPHA !! */ diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 371c589d..2a910f2f 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -12,8 +12,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.components.rollers.RollerIO; 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; diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 19b6e9cb..718f4705 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -63,10 +63,16 @@ public Command rest( public boolean atTurretSetpoint(); - public default Command resetTurretToPosition(Rotation2d rot) { + public default Command resetTurretToPosition(Supplier rot) { return Commands.none(); } + /** sets the motor encoder to the position calculated from the encoders */ + public default Command resetTurretToCalculatedPosition() { + return Commands.print("Rezeroing turret against cancoders") + .andThen(resetTurretToPosition(this::getCalculatedTurretRotations)); + } + public default Rotation2d getCalculatedTurretRotations() { return Rotation2d.kZero; } diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 063ac6cf..117cb1d9 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -359,14 +359,8 @@ public Command score(Supplier shotParamsSupplier) { } @Override - public Command resetTurretToPosition(Rotation2d rot) { - return this.runOnce(() -> turretIO.resetTurretEncoder(rot)); - } - - /** sets the motor encoder to the position calculated from the encoders */ - public Command resetTurretToCalculatedPosition() { - return Commands.print("Rezeroing turret") - .andThen(resetTurretToPosition(getCalculatedTurretRotations())); + public Command resetTurretToPosition(Supplier rot) { + return this.runOnce(() -> turretIO.resetTurretEncoder(rot.get())); } // @Override @@ -375,7 +369,8 @@ public Command resetTurretToCalculatedPosition() { // .until( // new Trigger(() -> Math.abs(turretCurrentFilterValue) > TURRET_CURRENT_ZERO_THRESHOLD) // .debounce(0.25)) - // .andThen(Commands.parallel(Commands.print("Turret Zeroed"), zeroTurretForwardHardstop())); + // .andThen(Commands.parallel(Commands.print("Turret Zeroed"), + // zeroTurretForwardHardstop())); // } // public Command zeroTurretForwardHardstop() { diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index fef4e3d0..141c3d42 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -537,7 +537,7 @@ public Command driveOpenLoopFieldRelative(Supplier speeds) { * @return a command stopping all the modules */ public Command stop() { - //tbh i don't really know why this is a runonce? + // tbh i don't really know why this is a runonce? return this.runOnce( () -> { for (Module module : modules) { From b0e58b9c9c37ee0c9081ad957509b6ce9a94282a Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 17:20:18 -0700 Subject: [PATCH 11/17] Spotless --- src/main/java/frc/robot/Robot.java | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 682f26c5..394fc64a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -504,12 +504,11 @@ public Robot() { SmartDashboard.putData("Zero Hood", shooter.zeroHood().ignoringDisable(true)); SmartDashboard.putData( - "Set Turret to 0", shooter.resetTurretToPosition(() -> Rotation2d.kZero).ignoringDisable(true)); + "Set Turret to 0", + shooter.resetTurretToPosition(() -> Rotation2d.kZero).ignoringDisable(true)); SmartDashboard.putData( "Rezero turret against cancoders", - shooter - .resetTurretToCalculatedPosition() - .ignoringDisable(true)); + shooter.resetTurretToCalculatedPosition().ignoringDisable(true)); leds = new LEDSubsystem(new LEDIOReal()); // TODO sim candle.setDefaultCommand(candle.test().ignoringDisable(true)); @@ -693,8 +692,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .leftBumper() .onTrue( Commands.parallel( - shooter.resetTurretToCalculatedPosition(), - intake.zeroPivotOffCancoder())); + shooter.resetTurretToCalculatedPosition(), intake.zeroPivotOffCancoder())); operator .leftBumper() From 423b1b03c3c5bb6d908f74e0630755ab3977fbef Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 17:32:44 -0700 Subject: [PATCH 12/17] Make sure everywhere is using new autoaim turret deadzone boolean --- src/main/java/frc/robot/Superstructure.java | 2 +- src/main/java/frc/robot/utils/autoaim/AutoAim.java | 4 ---- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 58d9cc39..10edb599 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -385,7 +385,7 @@ private void addTransitions() { bindTransition( SuperState.FEED_FLOW, SuperState.SPIN_UP_FEED_FLOW, - new Trigger(AutoAim::targetInTurretDeadzone)); + new Trigger(NewAutoAim::targetInTurretDeadzone)); bindTransition( SuperState.SPIN_UP_FEED_FLOW, SuperState.IDLE, intakeReq.negate().and(shootReq.negate())); diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index ac3dab99..41d69d19 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -484,10 +484,6 @@ public static ShotData getCompensatedSOTMShotData( return getSOTMShotData(compensatedPose, targetTranslation, fieldRelativeSpeeds, tree); } - public static boolean targetInTurretDeadzone() { - return outOfRange; - } - public static ShotData getLeftFixedShotData() { return new ShotData(Rotation2d.fromDegrees(36), 36, 0); } From 9f694c1928ddba2dc15c32167c13f600957fe841 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 18:27:06 -0700 Subject: [PATCH 13/17] Center hub outpost auto --- src/main/deploy/choreo/HubtoDepot.traj | 107 +++++++++++++++++++++++++ src/main/java/frc/robot/Autos.java | 28 ++++++- src/main/java/frc/robot/Robot.java | 5 +- 3 files changed, 137 insertions(+), 3 deletions(-) create mode 100644 src/main/deploy/choreo/HubtoDepot.traj diff --git a/src/main/deploy/choreo/HubtoDepot.traj b/src/main/deploy/choreo/HubtoDepot.traj new file mode 100644 index 00000000..95cc2052 --- /dev/null +++ b/src/main/deploy/choreo/HubtoDepot.traj @@ -0,0 +1,107 @@ +{ + "name":"HubtoDepot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":3.674594640731811, "y":4.0000072192, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.8251259326934817, "y":5.871313095092773, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "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":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"StartingHub.x", "val":3.674594640731811}, "y":{"exp":"StartingHub.y", "val":4.0000072192}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.8251259326934814 m", "val":1.8251259326934817}, "y":{"exp":"5.871313095092773 m", "val":5.871313095092773}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "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":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "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 + } + }, + "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, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,1.15842,1.75849], + "samples":[ + {"t":0.0, "x":3.67459, "y":4.00001, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.11898, "ay":5.51652, "alpha":0.0, "fx":[-84.63436,-84.63436,-84.63436,-84.63436], "fy":[91.20703,91.20703,91.20703,91.20703]}, + {"t":0.0429, "x":3.66988, "y":4.00508, "heading":3.14159, "vx":-0.21963, "vy":0.23668, "omega":0.0, "ax":-5.11826, "ay":5.51575, "alpha":0.0, "fx":[-84.62252,-84.62252,-84.62252,-84.62252], "fy":[91.19427,91.19427,91.19427,91.19427]}, + {"t":0.08581, "x":3.65575, "y":4.02032, "heading":3.14159, "vx":-0.43922, "vy":0.47333, "omega":0.0, "ax":-5.11731, "ay":5.51472, "alpha":0.0, "fx":[-84.60673,-84.60673,-84.60673,-84.60673], "fy":[91.17726,91.17726,91.17726,91.17726]}, + {"t":0.12871, "x":3.63219, "y":4.0457, "heading":3.14159, "vx":-0.65878, "vy":0.70994, "omega":0.0, "ax":-5.11597, "ay":5.51328, "alpha":0.0, "fx":[-84.58464,-84.58464,-84.58464,-84.58464], "fy":[91.15346,91.15346,91.15346,91.15346]}, + {"t":0.17162, "x":3.59922, "y":4.08123, "heading":3.14159, "vx":-0.87828, "vy":0.94649, "omega":0.0, "ax":-5.11397, "ay":5.51112, "alpha":0.0, "fx":[-84.55151,-84.55151,-84.55151,-84.55151], "fy":[91.11775,91.11775,91.11775,91.11775]}, + {"t":0.21452, "x":3.55683, "y":4.12692, "heading":3.14159, "vx":-1.09769, "vy":1.18294, "omega":0.0, "ax":-5.11063, "ay":5.50752, "alpha":0.0, "fx":[-84.49633,-84.49633,-84.49633,-84.49633], "fy":[91.05829,91.05829,91.05829,91.05829]}, + {"t":0.25743, "x":3.50503, "y":4.18274, "heading":3.14159, "vx":-1.31696, "vy":1.41924, 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"fx":[-72.461,-72.461,-72.461,-72.461], "fy":[-84.73617,-84.73617,-84.73617,-84.73617]}, + {"t":1.07261, "x":2.0234, "y":5.75315, "heading":3.14159, "vx":-2.1425, "vy":1.642, "omega":0.0, "ax":-4.0913, "ay":-6.03429, "alpha":0.0, "fx":[-67.64321,-67.64321,-67.64321,-67.64321], "fy":[-99.76752,-99.76752,-99.76752,-99.76752]}, + {"t":1.11552, "x":1.92771, "y":5.81804, "heading":3.14159, "vx":-2.31804, "vy":1.3831, "omega":0.0, "ax":-3.40183, "ay":-6.59506, "alpha":0.0, "fx":[-56.24391,-56.24391,-56.24391,-56.24391], "fy":[-109.03906,-109.03906,-109.03906,-109.03906]}, + {"t":1.15842, "x":1.82513, "y":5.87131, "heading":3.14159, "vx":-2.46399, "vy":1.10014, "omega":0.0, "ax":-2.68788, "ay":-6.90561, "alpha":0.0, "fx":[-44.43989,-44.43989,-44.43989,-44.43989], "fy":[-114.17356,-114.17356,-114.17356,-114.17356]}, + {"t":1.19593, "x":1.73083, "y":5.90772, "heading":3.14159, "vx":-2.5648, "vy":0.84115, "omega":0.0, "ax":-1.9214, "ay":-7.04314, "alpha":0.0, "fx":[-31.76732,-31.76732,-31.76732,-31.76732], "fy":[-116.4474,-116.4474,-116.4474,-116.4474]}, + {"t":1.23343, "x":1.63328, "y":5.93431, "heading":3.14159, "vx":-2.63686, "vy":0.577, "omega":0.0, "ax":-1.15803, "ay":-6.86416, "alpha":0.0, "fx":[-19.14626,-19.14626,-19.14626,-19.14626], "fy":[-113.48822,-113.48822,-113.48822,-113.48822]}, + {"t":1.27094, "x":1.53358, "y":5.95112, "heading":3.14159, "vx":-2.68029, "vy":0.31957, "omega":0.0, "ax":-0.43581, "ay":-5.33447, "alpha":0.0, "fx":[-7.20546,-7.20546,-7.20546,-7.20546], "fy":[-88.19719,-88.19719,-88.19719,-88.19719]}, + {"t":1.30844, "x":1.43275, "y":5.95936, "heading":3.14159, "vx":-2.69663, "vy":0.1195, "omega":0.0, "ax":-0.05132, "ay":-1.52078, "alpha":0.0, "fx":[-0.84847,-0.84847,-0.84847,-0.84847], "fy":[-25.14374,-25.14374,-25.14374,-25.14374]}, + {"t":1.34594, "x":1.33157, "y":5.96277, "heading":3.14159, "vx":-2.69856, "vy":0.06246, "omega":0.0, "ax":-0.00456, "ay":-0.22774, "alpha":0.0, "fx":[-0.07543,-0.07543,-0.07543,-0.07543], "fy":[-3.76535,-3.76535,-3.76535,-3.76535]}, + {"t":1.38345, "x":1.23036, "y":5.96495, "heading":3.14159, "vx":-2.69873, "vy":0.05392, "omega":0.0, "ax":4.38761, "ay":-0.118, "alpha":0.0, "fx":[72.54231,72.54231,72.54231,72.54231], "fy":[-1.95101,-1.95101,-1.95101,-1.95101]}, + {"t":1.42095, "x":1.13224, "y":5.96689, "heading":3.14159, "vx":-2.53418, "vy":0.0495, "omega":0.0, "ax":7.45649, "ay":-0.14631, "alpha":0.0, "fx":[123.28152,123.28152,123.28152,123.28152], "fy":[-2.41898,-2.41898,-2.41898,-2.41898]}, + {"t":1.45846, "x":1.04244, "y":5.96864, "heading":3.14159, "vx":-2.25453, "vy":0.04401, "omega":0.0, "ax":7.49369, "ay":-0.14655, "alpha":0.0, "fx":[123.89652,123.89652,123.89652,123.89652], "fy":[-2.42301,-2.42301,-2.42301,-2.42301]}, + {"t":1.49596, "x":0.96315, "y":5.97019, "heading":3.14159, "vx":-1.97348, "vy":0.03851, "omega":0.0, "ax":7.50626, "ay":-0.14663, "alpha":0.0, "fx":[124.10433,124.10433,124.10433,124.10433], "fy":[-2.42436,-2.42436,-2.42436,-2.42436]}, + {"t":1.53347, "x":0.89442, "y":5.97153, "heading":3.14159, "vx":-1.69196, "vy":0.03301, "omega":0.0, "ax":7.51258, "ay":-0.14667, "alpha":0.0, "fx":[124.20874,124.20874,124.20874,124.20874], "fy":[-2.42504,-2.42504,-2.42504,-2.42504]}, + {"t":1.57097, "x":0.83625, "y":5.97267, "heading":3.14159, "vx":-1.41021, "vy":0.02751, "omega":0.0, "ax":7.51637, "ay":-0.1467, "alpha":0.0, "fx":[124.27153,124.27153,124.27153,124.27153], "fy":[-2.42545,-2.42545,-2.42545,-2.42545]}, + {"t":1.60847, "x":0.78864, "y":5.9736, "heading":3.14159, "vx":-1.12831, "vy":0.02201, "omega":0.0, "ax":7.51891, "ay":-0.14672, "alpha":0.0, "fx":[124.31346,124.31346,124.31346,124.31346], "fy":[-2.42572,-2.42572,-2.42572,-2.42572]}, + {"t":1.64598, "x":0.75161, "y":5.97432, "heading":3.14159, "vx":-0.84632, "vy":0.01651, "omega":0.0, "ax":7.52072, "ay":-0.14673, "alpha":0.0, "fx":[124.34343,124.34343,124.34343,124.34343], "fy":[-2.42592,-2.42592,-2.42592,-2.42592]}, + {"t":1.68348, "x":0.72516, "y":5.97483, "heading":3.14159, "vx":-0.56426, "vy":0.01101, "omega":0.0, "ax":7.52208, "ay":-0.14674, "alpha":0.0, "fx":[124.36592,124.36592,124.36592,124.36592], "fy":[-2.42606,-2.42606,-2.42606,-2.42606]}, + {"t":1.72099, "x":0.70929, "y":5.97514, "heading":3.14159, "vx":-0.28215, "vy":0.0055, "omega":0.0, "ax":7.52314, "ay":-0.14674, "alpha":0.0, "fx":[124.38343,124.38343,124.38343,124.38343], "fy":[-2.42618,-2.42618,-2.42618,-2.42618]}, + {"t":1.75849, "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/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 1286d44e..84be0465 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -68,6 +68,7 @@ public enum Action { FEED, INTAKE, SCORE, + DELAYED_SCORE, FLOW, CLIMB_SCORE, OUTPOST, @@ -105,10 +106,12 @@ public enum Path { StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), + HubtoDepot("HubtoDepot", Action.INTAKE), + // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), OutposttoRPreTrench("OutposttoRPreTrench", Action.NOTHING), - DepottoPreOutpost("DepottoPreOutpost", Action.SCORE), + DepottoPreOutpost("DepottoPreOutpost", Action.DELAYED_SCORE), OutposttoPreOutpost("OutposttoPreOutpost", Action.SCORE), HubtoCenter("HubtoCenter", Action.SCORE), // FLOW @@ -179,6 +182,8 @@ public Command runPath(Path path, AutoRoutine routine) { return feedFlowPath(path, routine); case SCORE: return scorePath(path, routine); + case DELAYED_SCORE: + return delayedScorePath(path, routine); case CLIMB_SCORE: return climbScorePath(path, routine); case FLOW: @@ -257,6 +262,20 @@ public Command scorePath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } + public Command delayedScorePath(Path path, AutoRoutine routine) { + return Commands.sequence( + stopIntaking(), + stopFeeding(), + stopFlowing(), + Commands.parallel( + path.getTrajectory(routine).cmd(), + Commands.sequence( + Commands.waitSeconds(1.2), + Commands.print("Scoring!"), + startScoring()))) + .until(path.getTrajectory(routine).done()); + } + public Command scoreAtEndPath(Path path, AutoRoutine routine) { return Commands.sequence( startIntaking(), @@ -575,6 +594,13 @@ public Command getLeftBumpDepotOutpostClimbAuto() { shootPreload()); } + public Command getHubDepotOutpostAuto() { + return createAuto( + "Hub Depot Outpost Auto", + new Path[] {Path.HubtoDepot, Path.DepottoPreOutpost, Path.PreOutposttoOutpost}, + Commands.none()); + } + // this is so cursed and im not proud of it public Command getRightBumpOutpostClimbAuto() { return createAuto( diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 394fc64a..c35a74b5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -616,7 +616,7 @@ public Robot() { fuelSim.setSubticks(5); - fuelSim.start(); + // fuelSim.start(); } /** Scales a joystick value for teleop driving */ @@ -794,6 +794,7 @@ private void addAutos() { autoChooser.addOption("Right Trench Double Dip Auto", autos.getDoubleDipRightTrench()); autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); + autoChooser.addOption("Hub Depot Outpost", autos.getHubDepotOutpostAuto()); autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid()); autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); @@ -964,7 +965,7 @@ public void simulationInit() { @Override public void simulationPeriodic() { - fuelSim.updateSim(); + // fuelSim.updateSim(); // Log zeroed poses for mechs and robot for debugging in sim Logger.recordOutput( "Robot/Zeroed Mechanism Poses", From e56e9c321b6869ecd9e0b50926cb4d94a9aa1409 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 20:31:56 -0700 Subject: [PATCH 14/17] Tuned right neutral depot outpost --- .../choreo/RNeutraltoRPreTrenchReversed.traj | 193 +++++++++--------- src/main/java/frc/robot/Autos.java | 8 +- 2 files changed, 103 insertions(+), 98 deletions(-) diff --git a/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj b/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj index 91f13663..ee0e78d2 100644 --- a/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj +++ b/src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.586148262023926, "y":0.7238474488258362, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.253174781799316, "y":0.7497746348381042, "heading":3.141592653589793, "intervals":45, "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}, {"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":false}, {"from":1, "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":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":6.0}}, "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}, {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], @@ -19,15 +19,15 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RNeutral.x", "val":7.82036542892456}, "y":{"exp":"RNeutral.y", "val":3.55698299407959}, "heading":{"exp":"RNeutral.heading", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.586148262023926 m", "val":6.586148262023926}, "y":{"exp":"0.7238474488258362 m", 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"fx":[0.00004,0.00004,0.00004,0.00004], "fy":[-0.00232,-0.00232,-0.00232,-0.00232]}, + {"t":3.20909, "x":3.85306, "y":0.69642, "heading":3.14159, "vx":-1.9993, "vy":-0.03134, "omega":0.0, "ax":0.0, "ay":-0.00011, "alpha":0.0, "fx":[0.00003,0.00003,0.00003,0.00003], "fy":[-0.00184,-0.00184,-0.00184,-0.00184]}, + {"t":3.25273, "x":3.76583, "y":0.69505, "heading":3.14159, "vx":-1.9993, "vy":-0.03134, "omega":0.0, "ax":0.0, "ay":-0.00009, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.00143,-0.00143,-0.00143,-0.00143]}, + {"t":3.29636, "x":3.6786, "y":0.69368, "heading":3.14159, "vx":-1.9993, "vy":-0.03134, "omega":0.0, "ax":0.0, "ay":-0.00006, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[-0.00106,-0.00106,-0.00106,-0.00106]}, + {"t":3.33999, "x":3.59136, "y":0.69231, "heading":3.14159, "vx":-1.9993, "vy":-0.03135, "omega":0.0, "ax":0.0, "ay":-0.00004, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.00073,-0.00073,-0.00073,-0.00073]}, + {"t":3.38362, "x":3.50413, "y":0.69095, "heading":3.14159, "vx":-1.9993, "vy":-0.03135, "omega":0.0, "ax":0.0, "ay":-0.00003, "alpha":0.0, "fx":[0.00001,0.00001,0.00001,0.00001], "fy":[-0.00043,-0.00043,-0.00043,-0.00043]}, + {"t":3.42726, "x":3.41689, "y":0.68958, "heading":3.14159, "vx":-1.9993, "vy":-0.03135, "omega":0.0, "ax":0.0105, "ay":0.00016, "alpha":0.0, "fx":[0.17352,0.17352,0.17352,0.17352], "fy":[0.00258,0.00258,0.00258,0.00258]}, + {"t":3.47089, "x":3.32967, "y":0.68821, "heading":3.14159, "vx":-1.99884, "vy":-0.03134, "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 84be0465..525cd27f 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -270,9 +270,7 @@ public Command delayedScorePath(Path path, AutoRoutine routine) { Commands.parallel( path.getTrajectory(routine).cmd(), Commands.sequence( - Commands.waitSeconds(1.2), - Commands.print("Scoring!"), - startScoring()))) + Commands.waitSeconds(1.2), Commands.print("Scoring!"), startScoring()))) .until(path.getTrajectory(routine).done()); } @@ -321,7 +319,8 @@ public ClimbTargets getClimbAutoTarget() { public Command outpostPath(Path path, AutoRoutine routine) { return Commands.sequence( - startScoring(), + stopScoring(), + stopFeeding(), stopFlowing(), stopIntaking(), // holy chopped @@ -341,6 +340,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { : RED_OUTPOST), 0.25, Units.degreesToRadians(30))), + startScoring(), // TODO tune tolerance swerve.stopForTime(() -> 2)); // TODO tune time } From ecd9143c3b7bab2b4860e849c93438af3000d98d Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 21:53:35 -0700 Subject: [PATCH 15/17] turn on current limit kicker and turn of intakecancoder zeroing --- src/main/deploy/choreo/DepottoPreDepot.traj | 87 +++++++++++ src/main/deploy/choreo/HubtoDepot.traj | 114 ++++++++------- src/main/deploy/choreo/HubtoOutpost.traj | 126 ++++++++++++++++ src/main/deploy/choreo/OutposttoPreDepot.traj | 137 ++++++++++++++++++ src/main/deploy/choreo/PreDepottoDepot.traj | 87 +++++++++++ src/main/deploy/choreo/rebuiltChoreo.chor | 14 ++ src/main/java/frc/robot/Autos.java | 55 ++++++- src/main/java/frc/robot/Robot.java | 5 +- .../indexer/SpindexerSubsystem.java | 2 +- .../subsystems/intake/SlapdownSubsystem.java | 2 +- 10 files changed, 570 insertions(+), 59 deletions(-) create mode 100644 src/main/deploy/choreo/DepottoPreDepot.traj create mode 100644 src/main/deploy/choreo/HubtoOutpost.traj create mode 100644 src/main/deploy/choreo/OutposttoPreDepot.traj create mode 100644 src/main/deploy/choreo/PreDepottoDepot.traj diff --git a/src/main/deploy/choreo/DepottoPreDepot.traj b/src/main/deploy/choreo/DepottoPreDepot.traj new file mode 100644 index 00000000..0b2597ca --- /dev/null +++ b/src/main/deploy/choreo/DepottoPreDepot.traj @@ -0,0 +1,87 @@ +{ + "name":"DepottoPreDepot", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3959124088287354, "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":false}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "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":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PreDepot.x", "val":2.3959124088287354}, "y":{"exp":"PreDepot.y", "val":5.975247383117676}, "heading":{"exp":"PreDepot.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}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", 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"fx":[0.00004,0.00004,0.00004,0.00004], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.08219, "x":0.92291, "y":5.97525, "heading":3.14159, "vx":-1.49969, "vy":0.0, "omega":0.0, "ax":0.40901, "ay":0.0, "alpha":0.0, "fx":[6.76227,6.76227,6.76227,6.76227], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.13138, "x":0.84964, "y":5.97525, "heading":3.14159, "vx":-1.47957, "vy":0.0, "omega":0.0, "ax":7.50713, "ay":0.0, "alpha":0.0, "fx":[124.11873,124.11873,124.11873,124.11873], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.18057, "x":0.78594, "y":5.97525, "heading":3.14159, "vx":-1.11029, "vy":0.0, "omega":0.0, "ax":7.52017, "ay":0.0, "alpha":0.0, "fx":[124.33435,124.33435,124.33435,124.33435], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.22976, "x":0.74042, "y":5.97525, "heading":3.14159, "vx":-0.74037, "vy":0.0, "omega":0.0, "ax":7.52449, "ay":0.0, "alpha":0.0, "fx":[124.40564,124.40564,124.40564,124.40564], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.27895, "x":0.71311, "y":5.97525, "heading":3.14159, "vx":-0.37024, "vy":0.0, "omega":0.0, "ax":7.52663, "ay":0.0, "alpha":0.0, "fx":[124.44117,124.44117,124.44117,124.44117], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.32814, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index edf909d4..d7b8091f 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -167,6 +167,20 @@ "val":1.5707963267948966 } }, + "PreDepot":{ + "x":{ + "exp":"2.3959124088287354 m", + "val":2.3959124088287354 + }, + "y":{ + "exp":"Depot.y", + "val":5.975247383117676 + }, + "heading":{ + "exp":"Depot.heading", + "val":3.141592653589793 + } + }, "PreOutpost":{ "x":{ "exp":"2.4 m", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 525cd27f..697d86f2 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -72,6 +72,7 @@ public enum Action { FLOW, CLIMB_SCORE, OUTPOST, + DEPOT, NOTHING, CLIMB_ONLY, SCORE_AT_END; @@ -83,6 +84,8 @@ public enum Path { RPreTrenchReversedtoOutpost("RPreTrenchReversedtoOutpost", Action.OUTPOST), PreOutposttoOutpost("PreOutposttoOutpost", Action.OUTPOST), + + HubtoOutpost("HubtoOutpost", Action.OUTPOST), // DEPOT LTrenchtoDepot("LTrenchtoDepot", Action.FLOW), LBumptoDepot("LBumptoDepot", Action.INTAKE), @@ -106,14 +109,19 @@ public enum Path { StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), - HubtoDepot("HubtoDepot", Action.INTAKE), + HubtoDepot("HubtoDepot", Action.DEPOT), + + PreDepottoDepot("PreDepottoDepot", Action.DEPOT), // SCORE DepottoLPreTrench("DepottoLPreTrench", Action.SCORE), OutposttoRPreTrench("OutposttoRPreTrench", Action.NOTHING), DepottoPreOutpost("DepottoPreOutpost", Action.DELAYED_SCORE), + OutposttoPreDepot("OutposttoPreDepot", Action.NOTHING), OutposttoPreOutpost("OutposttoPreOutpost", Action.SCORE), HubtoCenter("HubtoCenter", Action.SCORE), + + DepottoPreDepot("DepottoPreDepot", Action.SCORE_AT_END), // FLOW LPreTrenchtoDepot("LPreTrenchtoDepot", Action.FLOW), // CLIMB @@ -152,6 +160,10 @@ public AutoTrajectory getTrajectory(AutoRoutine routine) { new Translation2d(0.44367337226867676, 0.443471223115921), Rotation2d.fromDegrees(90)); public static final Pose2d RED_OUTPOST = ChoreoAllianceFlipUtil.flip(BLUE_OUTPOST); + public static final Pose2d BLUE_DEPOT = + new Pose2d(0.703999767303467, 5.975247383117676, Rotation2d.fromRadians(3.141592653589793)); + public static final Pose2d RED_DEPOT = ChoreoAllianceFlipUtil.flip(BLUE_DEPOT); + public Autos(SwerveSubsystem swerve, ClimberSubsystem climber) { this.swerve = swerve; this.climber = climber; @@ -190,6 +202,8 @@ public Command runPath(Path path, AutoRoutine routine) { return flowScorePath(path, routine); case OUTPOST: return outpostPath(path, routine); + case DEPOT: + return depotPath(path, routine); case CLIMB_ONLY: return climbNoScorePath(path, routine); case SCORE_AT_END: @@ -286,6 +300,7 @@ public Command scoreAtEndPath(Path path, AutoRoutine routine) { public Command emptyPath(Path path, AutoRoutine routine) { return Commands.sequence( + setAllReqsFalse(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done())); } @@ -342,7 +357,34 @@ public Command outpostPath(Path path, AutoRoutine routine) { Units.degreesToRadians(30))), startScoring(), // TODO tune tolerance - swerve.stopForTime(() -> 2)); // TODO tune time + swerve.stopForTime(() -> 4)); // TODO tune time + } + + public Command depotPath(Path path, AutoRoutine routine) { + return Commands.sequence( + stopScoring(), + stopFeeding(), + stopFlowing(), + startIntaking(), + // holy chopped + // this is here because i suspect the time based at end will cause it to stop early if it + // hits something and messes up the time + // though this may be fixed by having a better path?? idk + path.getTrajectory(routine) + .cmd() + .until( + path.getTrajectory(routine) + .atPose( + path.getTrajectory(routine) + .getFinalPose() + .orElse( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? BLUE_DEPOT + : RED_DEPOT), + 0.25, + Units.degreesToRadians(30))), + // TODO tune tolerance + swerve.stopForTime(() -> 1)); // TODO tune time } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { @@ -601,6 +643,15 @@ public Command getHubDepotOutpostAuto() { Commands.none()); } + public Command getHubOutpostDepotAuto() { + return createAuto( + "Hub Outpost Depot Auto", + new Path[] { + Path.HubtoOutpost, Path.OutposttoPreDepot, Path.PreDepottoDepot, Path.DepottoPreDepot + }, + Commands.none()); + } + // this is so cursed and im not proud of it public Command getRightBumpOutpostClimbAuto() { return createAuto( diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index c35a74b5..2f98395a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -691,8 +691,8 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta driver .leftBumper() .onTrue( - Commands.parallel( - shooter.resetTurretToCalculatedPosition(), intake.zeroPivotOffCancoder())); + Commands.runOnce(() -> + shooter.resetTurretToCalculatedPosition())); //, intake.zeroPivotOffCancoder())); operator .leftBumper() @@ -795,6 +795,7 @@ private void addAutos() { autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); autoChooser.addOption("Hub Depot Outpost", autos.getHubDepotOutpostAuto()); + autoChooser.addOption("Hub Outpost Depot", autos.getHubOutpostDepotAuto()); autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid()); autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 2a910f2f..d4e567e3 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -151,7 +151,7 @@ public static TalonFXConfiguration getKickerConfig() { config.Slot0.kD = 0; config.CurrentLimits.StatorCurrentLimit = 80.0; - config.CurrentLimits.StatorCurrentLimitEnable = false; + config.CurrentLimits.StatorCurrentLimitEnable = true; config.CurrentLimits.SupplyCurrentLimit = 40.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; config.CurrentLimits.SupplyCurrentLowerLimit = 40.0; diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index 8004ac6f..b4ca166f 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -171,7 +171,7 @@ public Command runCurrentZeroing() { @Override public Command zeroPivotOffCancoder() { - return this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations)); + return Commands.none(); //this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations)); } @Override From bac0a438eca37dd6cf18440db87c8a2dacc9a869 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 21:55:06 -0700 Subject: [PATCH 16/17] bring back pivot zero off cancoder --- .../java/frc/robot/subsystems/intake/SlapdownSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java index b4ca166f..8004ac6f 100644 --- a/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java @@ -171,7 +171,7 @@ public Command runCurrentZeroing() { @Override public Command zeroPivotOffCancoder() { - return Commands.none(); //this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations)); + return this.runOnce(() -> pivotIO.resetEncoder(cancoderIOInputs.cancoderPositionRotations)); } @Override From b4ff930f84373531fd1189f467a09899c9b1ec9f Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 24 Mar 2026 23:50:16 -0700 Subject: [PATCH 17/17] Stop zeroing intake --- src/main/java/frc/robot/Robot.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 2f98395a..513bf888 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -691,8 +691,10 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta driver .leftBumper() .onTrue( - Commands.runOnce(() -> - shooter.resetTurretToCalculatedPosition())); //, intake.zeroPivotOffCancoder())); + Commands.runOnce( + () -> + shooter + .resetTurretToCalculatedPosition())); // , intake.zeroPivotOffCancoder())); operator .leftBumper()