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Double dip left trench auto (among other things) #76

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Merged
spellingcat merged 20 commits into from
Mar 27, 2026
Merged

Double dip left trench auto (among other things) #76

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c8c4988
double dip halfway done?
lQuasar9206 Mar 21, 2026
7b5cdf4
here goes nothing...
lQuasar9206 Mar 21, 2026
8df9c8d
full path completed without optimizations
lQuasar9206 Mar 21, 2026
ecf925a
not fried sorta final auton
lQuasar9206 Mar 21, 2026
29c5344
Merge branch 'refactor/autos' into double_dip_left_trench_auto
spellingcat Mar 22, 2026
43a84bb
idk what's here
spellingcat Mar 22, 2026
48243cf
fix reversed paths a little bit??
spellingcat Mar 22, 2026
2dfe231
Merge branch 'autos' into double_dip_left_trench_auto
spellingcat Mar 23, 2026
57f0552
almost works except outpost
spellingcat Mar 23, 2026
d74ad75
Merge branch 'main' into double_dip_left_trench_auto
spellingcat Mar 23, 2026
9dace83
change checking for being at the outpost from time to pose [untested]
spellingcat Mar 23, 2026
69091f0
drop flywheel speed from kick idt it helped. also add a stop thing fo…
spellingcat Mar 23, 2026
1e5562f
Hopefully ungoof turret zeroing stuff
SCool62 Mar 24, 2026
b0e58b9
Spotless
SCool62 Mar 25, 2026
423b1b0
Make sure everywhere is using new autoaim turret deadzone boolean
SCool62 Mar 25, 2026
9f694c1
Center hub outpost auto
SCool62 Mar 25, 2026
e56e9c3
Tuned right neutral depot outpost
SCool62 Mar 25, 2026
ecd9143
turn on current limit kicker and turn of intakecancoder zeroing
SCool62 Mar 25, 2026
bac0a43
bring back pivot zero off cancoder
SCool62 Mar 25, 2026
b4ff930
Stop zeroing intake
SCool62 Mar 25, 2026
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4 changes: 3 additions & 1 deletion .vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
}
87 changes: 87 additions & 0 deletions src/main/deploy/choreo/DepottoPreDepot.traj
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Original file line number Diff line number Diff line change
@@ -0,0 +1,87 @@
{
"name":"DepottoPreDepot",
"version":3,
"snapshot":{
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{"x":2.3959124088287354, "y":5.975247383117676, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
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{"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":{
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{"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":[
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{"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},
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"targetDt":{
"exp":"0.05 s",
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}
},
"trajectory":{
"config":{
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"gearing":7.03,
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"bumper":{
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"splits":[0]
},
"events":[]
}
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