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"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":[0,23] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/CentershootDepot.traj b/src/main/deploy/choreo/CentershootDepot.traj index a0492d1..eeab1c9 100644 --- a/src/main/deploy/choreo/CentershootDepot.traj +++ b/src/main/deploy/choreo/CentershootDepot.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4, "y":4.04, "heading":1.5707963267948966, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6, "y":5.96, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -12,21 +12,23 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.2}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - 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{"x":{"exp":"ClearDepot.x", "val":1.6}, "y":{"exp":"ClearDepot.y", "val":5.96}, "heading":{"exp":"ClearDepot.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"Depot.x", "val":0.52}, "y":{"exp":"Depot.y", "val":5.96}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":17, "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":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.2 m / s", "val":1.2}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -47,7 +49,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -57,111 +59,82 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.14405,4.1392], + "waypoints":[0.0,1.36203,2.39402], "samples":[ - {"t":0.0, "x":2.4, "y":4.04, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-1.8344, "ay":9.75945, "alpha":3.84323, "fx":[-32.72827,-21.32806,-19.68126,-30.27267], "fy":[137.01683,139.24394,139.50339,137.59685]}, - 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"heading":1.5707963267948966, "intervals":43, "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":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":0.7}}, "enabled":true}], "targetDt":0.005 }, "params":{ "waypoints":[ - {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":3.141592653589793}, "intervals":110, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CenterShoot.x", "val":2.85}, "y":{"exp":"CenterShoot.y", "val":4.035}, "heading":{"exp":"CenterShoot.heading", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"CenterStart.x", "val":3.6}, "y":{"exp":"CenterStart.y", "val":4.035}, "heading":{"exp":"CenterStart.heading", "val":1.5707963267948966}, "intervals":374, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CenterShoot.x", "val":2.4}, "y":{"exp":"CenterShoot.y", "val":4.04}, "heading":{"exp":"CenterShoot.heading", "val":1.5707963267948966}, "intervals":43, "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":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.7 m / s", "val":0.7}}}, "enabled":true}], "targetDt":{ "exp":"0.005 s", "val":0.005 @@ -39,7 +41,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -49,119 +51,383 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.55329], + "waypoints":[0.0,1.87173], "samples":[ - {"t":0.0, "x":3.6, "y":4.035, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.87468, "ay":0.0, "alpha":0.0, "fx":[-139.97353,-139.97353,-139.97353,-139.97353], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.00503, "x":3.59988, "y":4.035, "heading":3.14159, 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a/src/main/deploy/choreo/CloserShootIIfuelPark.traj +++ b/src/main/deploy/choreo/CloserShootIIfuelPark.traj @@ -3,39 +3,43 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.6558, "y":5.7011, "heading":3.141592653589793, "intervals":203, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.4878811836242676, "y":7.437780857086182, "heading":3.141592653589793, "intervals":99, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":146, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":155, "split":false, "fixTranslation":true, 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a/src/main/deploy/choreo/DepotShoot.traj b/src/main/deploy/choreo/DepotShoot.traj index e34394a..f181113 100644 --- a/src/main/deploy/choreo/DepotShoot.traj +++ b/src/main/deploy/choreo/DepotShoot.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":0.52, "y":5.96, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6, "y":5.96, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"DepotPickup.x", "val":0.52}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"DepotPickup.y", "val":5.96}, "heading":{"exp":"DepotPickup.heading", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"Depot.x", "val":0.52}, "y":{"exp":"Depot.y", "val":5.96}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ClearDepot.x", "val":1.6}, "y":{"exp":"ClearDepot.y", "val":5.96}, "heading":{"exp":"ClearDepot.heading", "val":3.141592653589793}, "intervals":38, "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}, @@ -41,7 +41,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -51,28 +51,29 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.94199], + "waypoints":[0.0,0.97535], "samples":[ - {"t":0.0, "x":0.52, "y":5.96, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.94476, "ay":0.0, "alpha":0.0, "fx":[140.96697,140.96697,140.96697,140.96697], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04958, "x":0.53222, "y":5.96, "heading":3.14159, "vx":0.49305, "vy":0.0, "omega":0.0, "ax":9.94191, "ay":0.0, "alpha":0.0, "fx":[140.92652,140.92652,140.92652,140.92652], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.09916, "x":0.56889, 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"heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.924712657928467, "y":6.82694191456, "heading":4.363323129985824, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.74509859085083, "y":4.726553554534912, "heading":4.1887902047863905, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "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":0.07450246810913086, "y":0.04413539171218872, "w":16.541, 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"heading":3.141592653589793, "intervals":28, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.829519748687744, "y":7.437780857086182, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.002538681030273, "y":7.41730172157, "heading":3.141592653589793, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.03, "y":7.41730172157, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.595874309539795, "y":6.855919361114502, "heading":-0.7853981633974483, "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":0.07450246810913086, "y":0.04413539171218872, "w":16.541, "h":8.0692}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":3.0}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":28, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"ShootExitTrench.x", "val":5.829519748687744}, "y":{"exp":"ShootExitTrench.y", "val":7.437780857086182}, "heading":{"exp":"ShootExitTrench.heading", "val":3.141592653589793}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SideShoot.x", "val":4.002538681030273}, "y":{"exp":"SideShoot.y", "val":7.41730172157}, "heading":{"exp":"SideShoot.heading", "val":3.141592653589793}, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NeutralClearTrench.x", "val":6.03}, "y":{"exp":"NeutralClearTrench.y", "val":7.41730172157}, "heading":{"exp":"NeutralClearTrench.heading", "val":3.141592653589793}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Park.x", "val":6.595874309539795}, "y":{"exp":"Park.y", "val":6.855919361114502}, "heading":{"exp":"Park.heading", "val":-0.7853981633974483}, "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":"74.50246810913086 mm", "val":0.07450246810913086}, "y":{"exp":"44.13539171218872 mm", "val":0.04413539171218872}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"3 rad / s", "val":3.0}}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"4 m / s ^ 2", "val":4.0}}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"4 m / s ^ 2", "val":4.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -45,7 +49,7 @@ "gearing":6.03, "radius":0.0508, "vmax":484.6430266937854, - "tmax":1.1886, + "tmax":0.55, "cof":1.5, "bumper":{ "front":0.4305, @@ -55,79 +59,83 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.00348,1.79295], + "waypoints":[0.0,1.1095,1.95225], "samples":[ - 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{"t":5.77259, "x":4.18931, "y":7.41752, "heading":3.12677, "vx":-1.31065, "vy":-0.00258, "omega":0.10265, "ax":4.59775, "ay":0.01965, "alpha":-0.34609, "fx":[65.16987,65.17441,65.17609,65.17193], "fy":[0.80529,-0.22876,-0.24028,0.77765]}, + {"t":5.80821, "x":4.14554, "y":7.41744, "heading":3.13021, "vx":-1.14687, "vy":-0.00188, "omega":0.09032, "ax":4.59824, "ay":0.01616, "alpha":-0.3511, "fx":[65.17727,65.18106,65.18267,65.17919], "fy":[0.76155,-0.28778,-0.29498,0.73775]}, + {"t":5.84383, "x":4.1076, "y":7.41738, "heading":3.13321, "vx":-0.98307, "vy":-0.00131, "omega":0.07781, "ax":4.59867, "ay":0.01295, "alpha":-0.3555, "fx":[65.18381,65.18688,65.18843,65.1856], "fy":[0.72089,-0.34186,-0.34516,0.70057]}, + {"t":5.87946, "x":4.0755, "y":7.41734, "heading":3.13575, "vx":-0.81926, "vy":-0.00085, "omega":0.06515, "ax":4.59906, "ay":0.00997, "alpha":-0.35941, "fx":[65.18962,65.19201,65.19351,65.1913], "fy":[0.68299,-0.39167,-0.3915,0.66576]}, + {"t":5.91508, "x":4.04924, "y":7.41732, "heading":3.13785, "vx":-0.65543, "vy":-0.00049, "omega":0.05235, "ax":4.5994, "ay":0.0072, "alpha":-0.36291, "fx":[65.19482,65.19656,65.19801,65.1964], "fy":[0.64756,-0.43775,-0.43459,0.63297]}, + {"t":5.9507, "x":4.02881, "y":7.41731, "heading":3.13948, "vx":-0.49158, "vy":-0.00023, "omega":0.03942, "ax":4.5997, "ay":0.0046, "alpha":-0.36607, "fx":[65.1995,65.20062,65.20203,65.20099], "fy":[0.61433,-0.48058,-0.47493,0.60192]}, + {"t":5.98632, "x":4.01421, "y":7.4173, "heading":3.14065, "vx":-0.32773, "vy":-0.00007, "omega":0.02638, "ax":4.59998, "ay":0.00215, "alpha":-0.36893, "fx":[65.20373,65.20426,65.20563,65.20514], "fy":[0.58305,-0.52057,-0.51294,0.57234]}, + {"t":6.02195, "x":4.00546, "y":7.4173, "heading":3.14136, "vx":-0.16387, "vy":0.00001, "omega":0.01324, "ax":4.60023, "ay":-0.00017, "alpha":-0.37155, "fx":[65.20757,65.20753,65.20888,65.20892], "fy":[0.55352,-0.55806,-0.54897,0.544]}, + {"t":6.05757, "x":4.00254, "y":7.4173, "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/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 200a0ed..63a2f7b 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -5,21 +5,49 @@ "variables":{ "expressions":{}, "poses":{ + "AllianceBump":{ + "x":{ + "exp":"AllianceClearTrench.x", + "val":3.221188 + }, + "y":{ + "exp":"NeutralBump.y", + "val":5.55 + }, + "heading":{ + "exp":"NeutralBump.heading", + "val":3.9269908169872414 + } + }, + "AllianceClearTrench":{ + "x":{ + "exp":"3.221188 m", + "val":3.221188 + }, + "y":{ + "exp":"SideShoot.y", + "val":7.41730172157 + }, + "heading":{ + "exp":"180 deg", + "val":3.141592653589793 + } + }, "BumpStart":{ "x":{ "exp":"CenterStart.x", "val":3.6 }, "y":{ - "exp":"5.06 m", - "val":5.06 + "exp":"6.054 m", + "val":6.054 }, "heading":{ "exp":"180 deg", "val":3.141592653589793 } }, - "CSMT":{ + "CenterShoot":{ "x":{ "exp":"2.4 m", "val":2.4 @@ -43,22 +71,22 @@ "val":4.035 }, "heading":{ - "exp":"180 deg", - "val":3.141592653589793 + "exp":"90 deg", + "val":1.5707963267948966 } }, - "CenterStop":{ + "ClearDepot":{ "x":{ - "exp":"2.4 m", - "val":2.4 + "exp":"1.6 m", + "val":1.6 }, "y":{ - "exp":"CenterStart.y", - "val":4.035 + "exp":"Depot.y", + "val":5.96 }, "heading":{ - "exp":"-90 deg", - "val":-1.5707963267948966 + "exp":"Depot.heading", + "val":3.141592653589793 } }, "CloserShoot":{ @@ -75,7 +103,7 @@ "val":3.141592653589793 } }, - "DepotPickup":{ + "Depot":{ "x":{ "exp":"0.52 m", "val":0.52 @@ -89,20 +117,132 @@ "val":3.141592653589793 } }, - "GreedyEnterFuel":{ + "HubInnerFuel":{ + "x":{ + "exp":"5.9 m", + "val":5.9 + }, + "y":{ + "exp":"5 m", + "val":5.0 + }, + "heading":{ + "exp":"HubOuterFuel.heading", + "val":4.363323129985824 + } + }, + "HubOuterFuel":{ + "x":{ + "exp":"HubInnerFuel.x", + "val":5.9 + }, + "y":{ + "exp":"6.42 m", + "val":6.42 + }, + "heading":{ + "exp":"IOuterFuel.heading", + "val":4.363323129985824 + } + }, + "IIInnerFuel":{ + "x":{ + "exp":"7.74509859085083 m", + "val":7.74509859085083 + }, + "y":{ + "exp":"IInnerFuel.y", + "val":4.726553554534912 + }, + "heading":{ + "exp":"IInnerFuel.heading", + "val":4.1887902047863905 + } + }, + "IIOuterFuel":{ + "x":{ + "exp":"7.924712657928467 m", + "val":7.924712657928467 + }, + "y":{ + "exp":"IOuterFuel.y", + "val":6.82694191456 + }, + "heading":{ + "exp":"IOuterFuel.heading", + "val":4.363323129985824 + } + }, + "IInnerFuel":{ "x":{ - "exp":"8.65 m", - "val":8.65 + "exp":"IOuterFuel.x", + "val":8.5 }, "y":{ - "exp":"6.8 m", - "val":6.8 + "exp":"4.726553554534912 m", + "val":4.726553554534912 + }, + "heading":{ + "exp":"240 deg", + "val":4.1887902047863905 + } + }, + "IOuterFuel":{ + "x":{ + "exp":"8.5 m", + "val":8.5 + }, + "y":{ + "exp":"6.82694191456 m", + "val":6.82694191456 }, "heading":{ "exp":"250 deg", "val":4.363323129985824 } }, + "NeutralBump":{ + "x":{ + "exp":"NeutralClearTrench.x", + "val":6.03 + }, + "y":{ + "exp":"5.55 m", + "val":5.55 + }, + "heading":{ + "exp":"225 deg", + "val":3.9269908169872414 + } + }, + "NeutralClearTrench":{ + "x":{ + "exp":"6.03 m", + "val":6.03 + }, + "y":{ + "exp":"SideShoot.y", + "val":7.41730172157 + }, + "heading":{ + "exp":"180 deg", + "val":3.141592653589793 + } + }, + "NeutralTrench":{ + "x":{ + "exp":"AllianceClearTrench.x", + "val":3.221188 + }, + "y":{ + "exp":"NeutralBump.y", + "val":5.55 + }, + "heading":{ + "exp":"135 deg", + "val":2.356194490192345 + } + }, "Park":{ "x":{ "exp":"6.595874309539795 m", @@ -117,6 +257,34 @@ "val":-0.7853981633974483 } }, + "PreHubOuterFuel":{ + "x":{ + "exp":"NeutralClearTrench.x", + "val":6.03 + }, + "y":{ + "exp":"IOuterFuel.y", + "val":6.82694191456 + }, + "heading":{ + "exp":"HubOuterFuel.heading", + "val":4.363323129985824 + } + }, + "PreIOuterFuel":{ + "x":{ + "exp":"7.71 m", + "val":7.71 + }, + "y":{ + "exp":"7.11 m", + "val":7.11 + }, + "heading":{ + "exp":"IOuterFuel.heading", + "val":4.363323129985824 + } + }, "SideShoot":{ "x":{ "exp":"4.002538681030273 m", @@ -189,8 +357,8 @@ "val":484.6430266937854 }, "tmax":{ - "exp":"1.1886 N * m", - "val":1.1886 + "exp":"0.55 N * m", + "val":0.55 }, "cof":{ "exp":"1.5", diff --git a/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto b/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto index 6c136d7..a29562c 100644 --- a/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto +++ b/src/main/deploy/pathplanner/autos/Bump Close Shoot, Far Park.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "BumpIIfuelShoot" + "pathName": "BumpstartIIfuelShoot" } }, { diff --git a/src/main/deploy/pathplanner/autos/Bump Test.auto b/src/main/deploy/pathplanner/autos/Bump Test.auto new file mode 100644 index 0000000..7b062e7 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Bump Test.auto @@ -0,0 +1,43 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": "BumpstartHubfuelBumpshoot" + } + }, + { + "type": "named", + "data": { + "name": "shootWithIntake4s" + } + }, + { + "type": "path", + "data": { + "pathName": "BumpshootIfuelShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootWithIntake" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto b/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto index 7a87a52..42792f5 100644 --- a/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto +++ b/src/main/deploy/pathplanner/autos/Close Shoot, Hubfuel Shoot, Park.auto @@ -13,7 +13,7 @@ { "type": "named", "data": { - "name": "shootWithIntake" + "name": "shootWithIntake4s" } }, { diff --git a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto b/src/main/deploy/pathplanner/autos/[DM] Center Depot.auto similarity index 95% rename from src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto rename to src/main/deploy/pathplanner/autos/[DM] Center Depot.auto index aceaa27..226764b 100644 --- a/src/main/deploy/pathplanner/autos/[DM] Depot Pickup.auto +++ b/src/main/deploy/pathplanner/autos/[DM] Center Depot.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "CenterstartBackup" + "pathName": "CenterstartCentershoot" } }, { diff --git a/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto b/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto index 45fd094..ee5be05 100644 --- a/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto +++ b/src/main/deploy/pathplanner/autos/[DM] Center Shoot Preload.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "CenterstartBackup" + "pathName": "CenterstartCentershoot" } }, { diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json index 23e0db9..ac5f521 100644 --- a/src/main/deploy/pathplanner/navgrid.json +++ b/src/main/deploy/pathplanner/navgrid.json @@ -1 +1 @@ -{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]} \ No newline at end of file +{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,t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\ No newline at end of file diff --git a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java index 52614cb..07d8e49 100644 --- a/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java +++ b/src/main/java/com/team1816/lib/util/ShooterCalculator/LinearMPSToLauncherRPSLookup.java @@ -23,8 +23,8 @@ public class LinearMPSToLauncherRPSLookup { * velocity, in meters. */ public LinearMPSToLauncherRPSLookup(double deltaZMeters) { - // TODO: If we calibrate this using the linearMPSToLaunchRPS YAML, we can use the line below. - // For now we are just trying to use some physics to get data from the shooterSettings table. + // If we calibrated this using the linearMPSToLaunchRPS YAML, we could use the line below. + // Currently, we are using physics to get this data based on the shooterSettings table. // LinearMPSToLauncherRPSConfig table = factory.getLinearMPSToLauncherRPSConfig(); LinearMPSToLauncherRPSConfig table = factory.stealLinearMPSToLauncherRPSConfigFromShooterSettings(deltaZMeters); diff --git a/src/main/java/com/team1816/season/RobotContainer.java b/src/main/java/com/team1816/season/RobotContainer.java index 7c49329..43d6fea 100644 --- a/src/main/java/com/team1816/season/RobotContainer.java +++ b/src/main/java/com/team1816/season/RobotContainer.java @@ -133,7 +133,7 @@ public final void registerCommands() { Commands.repeatingSequence( Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), Commands.waitSeconds(0.3), - Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), Commands.waitSeconds(0.3) ), Commands.waitSeconds(4) @@ -142,6 +142,42 @@ public final void registerCommands() { Commands.runOnce(() -> superstructure.setInclineDucking(true)), Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) )); + NamedCommands.registerCommand("shootWithIntake4s", Commands.sequence( + Commands.runOnce(() -> GreenLogger.log("Running named command: shootWithIntake4s")), + Commands.runOnce(() -> superstructure.setInclineDucking(false)), + Commands.runOnce(() -> Commands.waitSeconds(1)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.OPEN)), + Commands.race( + Commands.repeatingSequence( + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), + Commands.waitSeconds(0.3), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), + Commands.waitSeconds(0.3) + ), + Commands.waitSeconds(3) + ), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setInclineDucking(true)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) + )); + NamedCommands.registerCommand("shootWithIntake3s", Commands.sequence( + Commands.runOnce(() -> GreenLogger.log("Running named command: shootWithIntake3s")), + Commands.runOnce(() -> superstructure.setInclineDucking(false)), + Commands.runOnce(() -> Commands.waitSeconds(1)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.OPEN)), + Commands.race( + Commands.repeatingSequence( + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.STOW)), + Commands.waitSeconds(0.3), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.HALF_IN)), + Commands.waitSeconds(0.3) + ), + Commands.waitSeconds(2) + ), + Commands.runOnce(() -> superstructure.setSuperstructureWantedIntakeState(Superstructure.WantedIntakeState.INTAKE)), + Commands.runOnce(() -> superstructure.setInclineDucking(true)), + Commands.runOnce(() -> superstructure.setSuperstructureWantedGatekeeperState(Superstructure.WantedGatekeeperState.CLOSE)) + )); NamedCommands.registerCommand("waitForDucking", Commands.parallel( Commands.runOnce(() -> GreenLogger.log("Running named command: waitForDucking")), diff --git a/src/main/java/com/team1816/season/subsystems/Intake.java b/src/main/java/com/team1816/season/subsystems/Intake.java index cbfda85..3484286 100644 --- a/src/main/java/com/team1816/season/subsystems/Intake.java +++ b/src/main/java/com/team1816/season/subsystems/Intake.java @@ -32,6 +32,7 @@ public class Intake extends SubsystemBase implements ITestableSubsystem { private final double FLIPPER_MOTOR_OUT_POSITION; private final double FLIPPER_MOTOR_IN_POSITION; + private final double FLIPPER_MOTOR_HALF_IN_POSITION; //MECHANISMS private double currentPosition = 0; @@ -46,6 +47,7 @@ public Intake () { SmartDashboard.putData("Intake", intakeMech); FLIPPER_MOTOR_OUT_POSITION = factory.getConstant(NAME, "flipperMotorOutPosition", 0); FLIPPER_MOTOR_IN_POSITION = factory.getConstant(NAME, "flipperMotorInPosition", 0); + FLIPPER_MOTOR_HALF_IN_POSITION = factory.getConstant(NAME, "flipperMotorHalfInPosition", 0); GreenLogger.periodicLog(NAME + "/Wanted State", () -> wantedState); GreenLogger.periodicLog(NAME + "/Wanted Flipper Position", () -> wantedFlipperPosition); @@ -81,6 +83,7 @@ private void setFlipperPosition(FlipperPosition position) { switch (position) { case IN -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_IN_POSITION)); case OUT -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_OUT_POSITION)); + case HALF_IN -> flipperMotor.setControl(flipperMotorPositionRequest.withPosition(FLIPPER_MOTOR_HALF_IN_POSITION)); } } @@ -90,7 +93,8 @@ public void setWantedState(IntakeState state) { public enum FlipperPosition { IN, - OUT + OUT, + HALF_IN } public enum IntakeState { @@ -109,6 +113,10 @@ public enum IntakeState { STOP_OUT( 0, FlipperPosition.OUT + ), + HALF_IN( + factory.getConstant(NAME, "intakeOnSpeed", .5, true), + FlipperPosition.HALF_IN ); private double intakeMotorValue; diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java index 7f9a2ca..017fd42 100644 --- a/src/main/java/com/team1816/season/subsystems/Shooter.java +++ b/src/main/java/com/team1816/season/subsystems/Shooter.java @@ -351,15 +351,25 @@ private void applyState() { setLaunchVelocities(wantedDistanceState.getLaunchVelocityRPS()); } case AUTOMATIC -> { - IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate( - getCurrentTurretPose3d().getTranslation(), - target, - calculatorAngleOfEntryDegrees, - useChassisSpeedForHoodAngleAndSpeed, - 0 - ); - setInclineAngle(calculatorResponse.inclineAngleDegrees()); - setLaunchVelocities(calculatorResponse.launchVelocityRPS()); + if ( + DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue + ? BaseRobotState.robotPose.getX() > FlippingUtil.fieldSizeX - ROBOT_STARTING_LINE + : BaseRobotState.robotPose.getX() < ROBOT_STARTING_LINE + ) { + setInclineAngle(ShooterDistanceState.PRESET_FAR_SNOWBLOW.getInclineAngleDegrees()); + setLaunchVelocities(ShooterDistanceState.PRESET_FAR_SNOWBLOW.getLaunchVelocityRPS()); + } + else { + IShooterCalculator.ShooterCalculatorResponse calculatorResponse = shooterTableCalculator.calculate( + getCurrentTurretPose3d().getTranslation(), + target, + calculatorAngleOfEntryDegrees, + useChassisSpeedForHoodAngleAndSpeed, + 0 + ); + setInclineAngle(calculatorResponse.inclineAngleDegrees()); + setLaunchVelocities(calculatorResponse.launchVelocityRPS()); + } } } } @@ -772,6 +782,10 @@ public enum ShooterDistanceState { Units.rotationsToDegrees(factory.getConstant(NAME,"distanceThreeInclineAngleRotations",0)), factory.getConstant(NAME,"brokenInclineAutoLaunchVelocityRPS",0) ), + PRESET_FAR_SNOWBLOW( + Units.rotationsToDegrees(factory.getConstant(NAME,"farSnowblowInclineAngleRotations",0)), + factory.getConstant(NAME,"farSnowblowLaunchVelocityRPS",0) + ), AUTOMATIC(-1, -1), IDLE(0, 0); diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index 97e0283..1004dbe 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -1,10 +1,13 @@ package com.team1816.season.subsystems; +import com.pathplanner.lib.util.FlippingUtil; +import com.team1816.lib.BaseRobotState; import com.team1816.lib.Singleton; import com.team1816.lib.subsystems.BaseSuperstructure; import com.team1816.lib.subsystems.Vision; import com.team1816.lib.subsystems.drivetrain.Swerve; import com.team1816.lib.util.GreenLogger; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; public class Superstructure extends BaseSuperstructure { @@ -222,9 +225,9 @@ private void defaulting() { // Limit the drive speed if we are trying to shoot and in teleop. In auto, the speed should // be handled by the path. - double shootingLinearSpeedLimitMPS = 3; + double shootingLinearSpeedLimitMPS = 0.55; double shootingAngularSpeedLimitRadPerSec = 1.5; - if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop()) { + if (wantedGatekeeperState == WantedGatekeeperState.OPEN && DriverStation.isTeleop() && isInAllianceZone()) { swerve.limitDriveSpeed(shootingLinearSpeedLimitMPS, shootingAngularSpeedLimitRadPerSec); } else { @@ -239,6 +242,7 @@ private void defaulting() { case OUTTAKE -> Intake.IntakeState.OUTTAKE; case STOP_OUT -> Intake.IntakeState.STOP_OUT; case STOW -> Intake.IntakeState.STOW; + case HALF_IN -> Intake.IntakeState.HALF_IN; } ); feeder.setWantedState( @@ -258,6 +262,18 @@ private void climbingL3() { // TODO: Handle Superstructure climbing behavior. } + private boolean isInAllianceZone() { + // This has a lot of overlap with part of the getTargetTranslation3d method in the shooter + // and should probably be a single method used in both places. + double ROBOT_STARTING_LINE = 4.2684; + Pose2d robotPose = BaseRobotState.robotPose; + double robotXMeters = robotPose.getX(); + boolean isBlueAlliance = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue; + return isBlueAlliance + ? robotXMeters < ROBOT_STARTING_LINE + : robotXMeters > FlippingUtil.fieldSizeX - ROBOT_STARTING_LINE; + } + public enum WantedSuperState { DEFAULT, CLIMB_L1, @@ -294,5 +310,6 @@ public enum WantedIntakeState { STOW, OUTTAKE, STOP_OUT, + HALF_IN } } diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml index 2bdb171..c32d289 100644 --- a/src/main/resources/yaml/ztldr.yml +++ b/src/main/resources/yaml/ztldr.yml @@ -18,21 +18,14 @@ shooterSettings: - 0.095 # 272 - 0.085 # 272 launchVelocitiesRPS: - - 38 # 48.5 - - 40 # 60 - - 42 # 96 - - 43 #120 - - 44 # 156 - - 49 # 210 - - 54 # 272 - - 58 # 272 -linearMPSToLaunchRPS: # TODO: Actual tune this. For now we are just using the shooterSettings and doing some physics to convert. - linearVelocitiesMPS: - - 10 - - 20 - launchVelocitiesRPS: - - 20 - - 40 + - 35.25 # 48.5 + - 37.25 # 60 + - 39.25 # 96 + - 40.25 #120 + - 41.25 # 156 + - 46.25 # 210 + - 51.25 # 272 + - 55.25 # 272 subsystems: drivetrain: implemented: true @@ -148,9 +141,9 @@ subsystems: maxDriveRPS: 98 # measured motor max speed rps maxAngularRate: 8.285 # rad/sec wheelCOF: 1.7 - slipCurrentAmps: 42 + slipCurrentAmps: 120 constants: - translationKp: 20 + translationKp: 10 translationKd: 0 rotationKp: 10 rotationKi: 0 @@ -230,6 +223,7 @@ subsystems: flipperMotorPullInOnePosition: 0.1 flipperMotorPullInTwoPosition: 0.05 flipperMotorInPosition: 0.025 + flipperMotorHalfInPosition: 0.1045 gatekeeper: canBusName: shootercanivore devices: @@ -244,7 +238,7 @@ subsystems: kV: 0.081 constants: topClosedVelocity: 0 - topOpenVelocity: 30 + topOpenVelocity: 45 shooter: implemented: true canBusName: shootercanivore @@ -274,9 +268,9 @@ subsystems: remoteSensorId: 29 id: 27 motorRotation: Clockwise_Positive - reverseSoftLimit: 0.057 + reverseSoftLimit: 0.056 forwardSoftLimit: 0.1029 - statorCurrentLimit: 35 + statorCurrentLimit: 20 pidConfig: slot0: kS: 0.01 @@ -314,14 +308,16 @@ subsystems: shooterOffsetXMeters: -0.111303 shooterOffsetYMeters: -0.112268 shooterOffsetZMeters: 0.508 - inclineDuckingLimitRotations: 0.057 + inclineDuckingLimitRotations: 0.056 distanceOneInclineAngleRotations: 0.064 distanceOneLaunchVelocityRPS: 35 distanceTwoInclineAngleRotations: 0.08 distanceTwoLaunchVelocityRPS: 47 distanceThreeInclineAngleRotations: 0.1113 - distanceThreeLaunchVelocityRPS: 100 + distanceThreeLaunchVelocityRPS: 90 brokenInclineAutoLaunchVelocityRPS: 55 # Set to the RPS required to score at a distance from shooter to hub of 101.283 inches. + farSnowblowInclineAngleRotations: 0.1029 + farSnowblowLaunchVelocityRPS: 95 closeDistanceBetweenBeamBreaks: 0.026816 farDistanceBetweenBeamBreaks: 0.86848 secondLowestBeamBreakToZero: 0.4337216