From ea8ebf6db43c90eb51a1733e2131e0e510025867 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Thu, 2 Apr 2026 18:12:05 -0400 Subject: [PATCH 1/8] Update at 'Thu Apr 02 18:12:05 EDT 2026' --- build.gradle | 2 +- src/main/deploy/elastic-layout.json | 348 +++++++++++++++--- .../autos/Right Neutral Full Sweep.auto | 44 +++ .../autos/Right Neutral Half Sweep.auto | 44 +++ .../pathplanner/autos/Semi-Circle Auto.auto | 25 -- .../pathplanner/autos/Trench Outpost.auto | 26 +- .../deploy/pathplanner/paths/New Path.path | 54 --- .../paths/Outpost To RightShoot.path | 2 +- .../paths/Right Neutral Full Sweep.path | 197 ++++++++++ .../paths/Right Neutral Half Sweep.path | 165 +++++++++ .../deploy/pathplanner/paths/Semi-Circle.path | 102 ----- .../paths/rightTrench to Outpost.path | 2 +- src/main/deploy/pathplanner/settings.json | 3 +- 13 files changed, 771 insertions(+), 243 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Right Neutral Full Sweep.auto create mode 100644 src/main/deploy/pathplanner/autos/Right Neutral Half Sweep.auto delete mode 100644 src/main/deploy/pathplanner/autos/Semi-Circle Auto.auto delete mode 100644 src/main/deploy/pathplanner/paths/New Path.path create mode 100644 src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path create mode 100644 src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path delete mode 100644 src/main/deploy/pathplanner/paths/Semi-Circle.path diff --git a/build.gradle b/build.gradle index 3789561..1c567b3 100644 --- a/build.gradle +++ b/build.gradle @@ -36,7 +36,7 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no + deleteOldFiles = true // Change to true to delete files on roboRIO that no // longer exist in deploy directory of this project } } diff --git a/src/main/deploy/elastic-layout.json b/src/main/deploy/elastic-layout.json index e572acb..23e6c7a 100644 --- a/src/main/deploy/elastic-layout.json +++ b/src/main/deploy/elastic-layout.json @@ -9,7 +9,7 @@ "containers": [ { "title": "heartbeat", - "x": 128.0, + "x": 192.0, "y": 576.0, "width": 128.0, "height": 128.0, @@ -23,7 +23,7 @@ }, { "title": "heartbeat", - "x": 0.0, + "x": 64.0, "y": 576.0, "width": 128.0, "height": 128.0, @@ -37,8 +37,8 @@ }, { "title": "Auto Choices", - "x": 0.0, - "y": 0.0, + "x": 1152.0, + "y": 256.0, "width": 384.0, "height": 128.0, "type": "ComboBox Chooser", @@ -51,9 +51,9 @@ { "title": "Alerts", "x": 0.0, - "y": 128.0, + "y": 0.0, "width": 384.0, - "height": 448.0, + "height": 320.0, "type": "Alerts", "properties": { "topic": "/SmartDashboard/Alerts", @@ -65,7 +65,7 @@ "x": 1152.0, "y": 128.0, "width": 384.0, - "height": 192.0, + "height": 128.0, "type": "Voltage View", "properties": { "topic": "/AdvantageKit/PowerDistribution/Voltage", @@ -91,14 +91,14 @@ } }, { - "title": "AtGoal", - "x": 448.0, - "y": 0.0, - "width": 256.0, - "height": 192.0, + "title": "Active", + "x": 1536.0, + "y": 64.0, + "width": 320.0, + "height": 128.0, "type": "Boolean Box", "properties": { - "topic": "/AdvantageKit/RealOutputs/PoseAlignment/AtGoal", + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/Active", "period": 0.06, "data_type": "boolean", "true_color": 4283215696, @@ -108,17 +108,32 @@ } }, { - "title": "DashboardSwerve", - "x": 448.0, + "title": "RemainingTime", + "x": 1536.0, "y": 192.0, - "width": 256.0, - "height": 512.0, - "type": "SwerveDrive", + "width": 320.0, + "height": 128.0, + "type": "Match Time", "properties": { - "topic": "/SmartDashboard/DashboardSwerve", + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/RemainingTime", "period": 0.06, - "show_robot_rotation": true, - "rotation_unit": "Radians" + "data_type": "double", + "time_display_mode": "Minutes and Seconds", + "red_start_time": 20, + "yellow_start_time": 30 + } + }, + { + "title": "CurrentShift", + "x": 1536.0, + "y": 320.0, + "width": 320.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/CurrentShift", + "period": 0.06, + "data_type": "string" } }, { @@ -131,14 +146,126 @@ "properties": { "topic": "/SmartDashboard/DashboardField", "period": 0.06, - "field_game": "Reefscape", + "field_game": "Rebuilt", "robot_width": 0.85, "robot_length": 0.85, "show_other_objects": true, "show_trajectories": true, "field_rotation": 90.0, "robot_color": 4294198070, - "trajectory_color": 4294967295 + "trajectory_color": 4294967295, + "show_robot_outside_widget": true + } + }, + { + "title": "DashboardSwerve", + "x": 448.0, + "y": 128.0, + "width": 256.0, + "height": 320.0, + "type": "SwerveDrive", + "properties": { + "topic": "/SmartDashboard/DashboardSwerve", + "period": 0.06, + "show_robot_rotation": true, + "rotation_unit": "Radians" + } + }, + { + "title": "CurrentState", + "x": 448.0, + "y": 448.0, + "width": 256.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/Conductor/FSM/CurrentState", + "period": 0.06, + "data_type": "string" + } + }, + { + "title": "PhotonAlerts", + "x": 0.0, + "y": 320.0, + "width": 384.0, + "height": 256.0, + "type": "Alerts", + "properties": { + "topic": "/AdvantageKit/RealOutputs/PhotonAlerts", + "period": 0.06 + } + }, + { + "title": "FlywheelManual", + "x": 448.0, + "y": 576.0, + "width": 128.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/FlywheelManual", + "period": 0.06, + "data_type": "double" + } + }, + { + "title": "TurretManual", + "x": 576.0, + "y": 576.0, + "width": 128.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/TurretManual", + "period": 0.06, + "data_type": "double" + } + }, + { + "title": "Active", + "x": 448.0, + "y": 0.0, + "width": 256.0, + "height": 128.0, + "type": "Boolean Box", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/Active", + "period": 0.06, + "data_type": "boolean", + "true_color": 4283215696, + "false_color": 4294198070, + "true_icon": "None", + "false_icon": "None" + } + }, + { + "title": "CurrentShift", + "x": 1152.0, + "y": 576.0, + "width": 384.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/CurrentShift", + "period": 0.06, + "data_type": "string" + } + }, + { + "title": "RemainingTime", + "x": 1152.0, + "y": 448.0, + "width": 384.0, + "height": 128.0, + "type": "Match Time", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/RemainingTime", + "period": 0.06, + "data_type": "double", + "time_display_mode": "Seconds Only", + "red_start_time": 5, + "yellow_start_time": 10 } } ] @@ -151,7 +278,7 @@ "containers": [ { "title": "heartbeat", - "x": 128.0, + "x": 192.0, "y": 576.0, "width": 128.0, "height": 128.0, @@ -165,7 +292,7 @@ }, { "title": "heartbeat", - "x": 0.0, + "x": 64.0, "y": 576.0, "width": 128.0, "height": 128.0, @@ -179,8 +306,8 @@ }, { "title": "Auto Choices", - "x": 0.0, - "y": 0.0, + "x": 1152.0, + "y": 256.0, "width": 384.0, "height": 128.0, "type": "ComboBox Chooser", @@ -193,9 +320,9 @@ { "title": "Alerts", "x": 0.0, - "y": 128.0, + "y": 0.0, "width": 384.0, - "height": 448.0, + "height": 320.0, "type": "Alerts", "properties": { "topic": "/SmartDashboard/Alerts", @@ -207,7 +334,7 @@ "x": 1152.0, "y": 128.0, "width": 384.0, - "height": 192.0, + "height": 128.0, "type": "Voltage View", "properties": { "topic": "/AdvantageKit/PowerDistribution/Voltage", @@ -233,14 +360,14 @@ } }, { - "title": "AtGoal", - "x": 448.0, - "y": 0.0, - "width": 256.0, - "height": 192.0, + "title": "Active", + "x": 1536.0, + "y": 64.0, + "width": 320.0, + "height": 128.0, "type": "Boolean Box", "properties": { - "topic": "/AdvantageKit/RealOutputs/PoseAlignment/AtGoal", + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/Active", "period": 0.06, "data_type": "boolean", "true_color": 4283215696, @@ -250,17 +377,32 @@ } }, { - "title": "DashboardSwerve", - "x": 448.0, + "title": "RemainingTime", + "x": 1536.0, "y": 192.0, - "width": 256.0, - "height": 512.0, - "type": "SwerveDrive", + "width": 320.0, + "height": 128.0, + "type": "Match Time", "properties": { - "topic": "/SmartDashboard/DashboardSwerve", + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/RemainingTime", "period": 0.06, - "show_robot_rotation": true, - "rotation_unit": "Radians" + "data_type": "double", + "time_display_mode": "Minutes and Seconds", + "red_start_time": 20, + "yellow_start_time": 30 + } + }, + { + "title": "CurrentShift", + "x": 1536.0, + "y": 320.0, + "width": 320.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/CurrentShift", + "period": 0.06, + "data_type": "string" } }, { @@ -273,14 +415,126 @@ "properties": { "topic": "/SmartDashboard/DashboardField", "period": 0.06, - "field_game": "Reefscape", + "field_game": "Rebuilt", "robot_width": 0.85, "robot_length": 0.85, "show_other_objects": true, "show_trajectories": true, "field_rotation": -90.0, - "robot_color": 4281746164, - "trajectory_color": 4294967295 + "robot_color": 4281755636, + "trajectory_color": 4294967295, + "show_robot_outside_widget": true + } + }, + { + "title": "DashboardSwerve", + "x": 448.0, + "y": 128.0, + "width": 256.0, + "height": 320.0, + "type": "SwerveDrive", + "properties": { + "topic": "/SmartDashboard/DashboardSwerve", + "period": 0.06, + "show_robot_rotation": true, + "rotation_unit": "Radians" + } + }, + { + "title": "CurrentState", + "x": 448.0, + "y": 448.0, + "width": 256.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/Conductor/FSM/CurrentState", + "period": 0.06, + "data_type": "string" + } + }, + { + "title": "PhotonAlerts", + "x": 0.0, + "y": 320.0, + "width": 384.0, + "height": 256.0, + "type": "Alerts", + "properties": { + "topic": "/AdvantageKit/RealOutputs/PhotonAlerts", + "period": 0.06 + } + }, + { + "title": "FlywheelManual", + "x": 448.0, + "y": 576.0, + "width": 128.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/FlywheelManual", + "period": 0.06, + "data_type": "double" + } + }, + { + "title": "TurretManual", + "x": 576.0, + "y": 576.0, + "width": 128.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/TurretManual", + "period": 0.06, + "data_type": "double" + } + }, + { + "title": "Active", + "x": 448.0, + "y": 0.0, + "width": 256.0, + "height": 128.0, + "type": "Boolean Box", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/Active", + "period": 0.06, + "data_type": "boolean", + "true_color": 4283215696, + "false_color": 4294198070, + "true_icon": "None", + "false_icon": "None" + } + }, + { + "title": "CurrentShift", + "x": 1152.0, + "y": 576.0, + "width": 384.0, + "height": 128.0, + "type": "Large Text Display", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/CurrentShift", + "period": 0.06, + "data_type": "string" + } + }, + { + "title": "RemainingTime", + "x": 1152.0, + "y": 448.0, + "width": 384.0, + "height": 128.0, + "type": "Match Time", + "properties": { + "topic": "/AdvantageKit/RealOutputs/ShiftUtil/Dashboard/RemainingTime", + "period": 0.06, + "data_type": "double", + "time_display_mode": "Seconds Only", + "red_start_time": 5, + "yellow_start_time": 10 } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Neutral Full Sweep.auto b/src/main/deploy/pathplanner/autos/Right Neutral Full Sweep.auto new file mode 100644 index 0000000..b2d3d98 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right Neutral Full Sweep.auto @@ -0,0 +1,44 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Neutral Full Sweep" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "named", + "data": { + "name": "Agitate" + } + }, + { + "type": "named", + "data": { + "name": "Stop Drive" + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right Neutral Half Sweep.auto b/src/main/deploy/pathplanner/autos/Right Neutral Half Sweep.auto new file mode 100644 index 0000000..ceba2e0 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right Neutral Half Sweep.auto @@ -0,0 +1,44 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Neutral Half Sweep" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "named", + "data": { + "name": "Agitate" + } + }, + { + "type": "named", + "data": { + "name": "Stop Drive" + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Semi-Circle Auto.auto b/src/main/deploy/pathplanner/autos/Semi-Circle Auto.auto deleted file mode 100644 index 780c5cc..0000000 --- a/src/main/deploy/pathplanner/autos/Semi-Circle Auto.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Semi-Circle" - } - }, - { - "type": "named", - "data": { - "name": "Named Command Test" - } - } - ] - } - }, - "resetOdom": false, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Trench Outpost.auto b/src/main/deploy/pathplanner/autos/Trench Outpost.auto index 2af940b..4c3ad12 100644 --- a/src/main/deploy/pathplanner/autos/Trench Outpost.auto +++ b/src/main/deploy/pathplanner/autos/Trench Outpost.auto @@ -48,6 +48,12 @@ "waitTime": 5.0 } }, + { + "type": "named", + "data": { + "name": "Stop Drive" + } + }, { "type": "path", "data": { @@ -55,29 +61,29 @@ } }, { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "named", "data": { - "waitTime": 5.0 + "name": "Shoot" } }, { "type": "named", "data": { - "name": "Shoot" + "name": "Agitate" + } + }, + { + "type": "named", + "data": { + "name": "Stop Drive" } } ] } - }, - { - "type": "named", - "data": { - "name": "Stop Shooter" - } } ] } diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path deleted file mode 100644 index 7d95f54..0000000 --- a/src/main/deploy/pathplanner/paths/New Path.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.0, - "y": 7.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.0, - "y": 6.0 - }, - "prevControl": { - "x": 3.0, - "y": 6.0 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path b/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path index 60e1ace..1742063 100644 --- a/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path +++ b/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path @@ -45,7 +45,7 @@ "rotation": -119.99999999999999 }, "reversed": false, - "folder": "To RightShoot", + "folder": "Outpost Auto", "idealStartingState": { "velocity": 0, "rotation": 180.0 diff --git a/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path b/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path new file mode 100644 index 0000000..3c809e4 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path @@ -0,0 +1,197 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 0.6429999999999989 + }, + "prevControl": null, + "nextControl": { + "x": 5.021864092621733, + "y": 0.6429999999999989 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.0, + "y": 0.6429999999999989 + }, + "prevControl": { + "x": 6.727969040145628, + "y": 0.6429999999999989 + }, + "nextControl": { + "x": 7.980367017179473, + "y": 0.6429999999999989 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.68, + "y": 3.9499999999999993 + }, + "prevControl": { + "x": 7.68, + "y": 3.3287630151593604 + }, + "nextControl": { + "x": 7.68, + "y": 5.296042210232905 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.8, + "y": 6.860999999999999 + }, + "prevControl": { + "x": 7.8, + "y": 6.007615016497655 + }, + "nextControl": { + "x": 7.8, + "y": 7.43984896646117 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.789409638554216, + "y": 7.792999999999999 + }, + "prevControl": { + "x": 6.511844581533098, + "y": 7.792999999999999 + }, + "nextControl": { + "x": 4.879637382163483, + "y": 7.792999999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.634236804564908, + "y": 7.792999999999999 + }, + "prevControl": { + "x": 5.203666831914715, + "y": 7.792999999999999 + }, + "nextControl": { + "x": 4.009785681601021, + "y": 7.792999999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.642, + "y": 7.792999999999999 + }, + "prevControl": { + "x": 3.1315108995463365, + "y": 7.792999999999999 + }, + "nextControl": { + "x": 1.8425491608118125, + "y": 7.792999999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.8006704707560623, + "y": 5.398999999999999 + }, + "prevControl": { + "x": 1.8006704707560623, + "y": 4.959923443796501 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.2000000000000002, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 2.95, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 3.3980277902285914, + "rotationDegrees": 180.0 + }, + { + "waypointRelativePos": 5.757507844016127, + "rotationDegrees": 180.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "trig1", + "waypointRelativePos": 0.484204793028322, + "endWaypointRelativePos": 3.625816993464026, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + } + }, + { + "name": "trig2", + "waypointRelativePos": 3.656318082788627, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Intake" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0.0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path b/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path new file mode 100644 index 0000000..ea7d5ae --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path @@ -0,0 +1,165 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 0.643 + }, + "prevControl": null, + "nextControl": { + "x": 4.593033753547269, + "y": 0.643 + }, + "isLocked": true, + "linkedName": null + }, + { + "anchor": { + "x": 7.0, + "y": 0.643 + }, + "prevControl": { + "x": 6.622827709284137, + "y": 0.6429999999999998 + }, + "nextControl": { + "x": 8.067382668275584, + "y": 0.6429999999999998 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.723614457831324, + "y": 3.4399999999999995 + }, + "prevControl": { + "x": 7.735575913564262, + "y": 3.6897136831988764 + }, + "nextControl": { + "x": 7.69092050645532, + "y": 2.757463760372751 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.570855421686747, + "y": 1.142999999999999 + }, + "prevControl": { + "x": 6.432483073985738, + "y": 1.142999999999999 + }, + "nextControl": { + "x": 5.320855421686747, + "y": 1.142999999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.276036144578313, + "y": 1.142999999999999 + }, + "prevControl": { + "x": 3.6180916374832632, + "y": 1.142999999999999 + }, + "nextControl": { + "x": 3.026036144578313, + "y": 1.142999999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.975638554216867, + "y": 2.805999999999999 + }, + "prevControl": { + "x": 2.1524152495135045, + "y": 2.9827766952966357 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.2000000000000002, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 2.083032490974756, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 2.487364620938623, + "rotationDegrees": 180.0 + }, + { + "waypointRelativePos": 3.8447653429602773, + "rotationDegrees": 180.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "trig1", + "waypointRelativePos": 0.6189473684210521, + "endWaypointRelativePos": 2.2526315789473634, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + } + }, + { + "name": "trig3", + "waypointRelativePos": 2.3284210526315743, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Intake" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -150.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0.0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Semi-Circle.path b/src/main/deploy/pathplanner/paths/Semi-Circle.path deleted file mode 100644 index 0a85fc5..0000000 --- a/src/main/deploy/pathplanner/paths/Semi-Circle.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.5, - "y": 5.6 - }, - "prevControl": null, - "nextControl": { - "x": 4.490787326171328, - "y": 5.536670467583472 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.5, - "y": 5.4 - }, - "prevControl": { - "x": 5.061098589081348, - "y": 5.6629348051751425 - }, - "nextControl": { - "x": 5.83360843870226, - "y": 5.200143568344054 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.197, - "y": 3.939573567708333 - }, - "prevControl": { - "x": 6.233061190529636, - "y": 4.186959077667153 - }, - "nextControl": { - "x": 6.134194144585286, - "y": 3.5087153974158096 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.5, - "y": 2.6 - }, - "prevControl": { - "x": 5.865023980710401, - "y": 2.865949220629911 - }, - "nextControl": { - "x": 5.139613204125132, - "y": 2.337429340117047 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.5, - "y": 2.4 - }, - "prevControl": { - "x": 3.164381558276821, - "y": 2.420457355222254 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path b/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path index d1ee99a..ef9e441 100644 --- a/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path +++ b/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path @@ -45,7 +45,7 @@ "rotation": 180.0 }, "reversed": false, - "folder": "Start to Outpost", + "folder": "Outpost Auto", "idealStartingState": { "velocity": 0, "rotation": 180.0 diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 227b43b..0fa0376 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,8 +3,7 @@ "robotLength": 0.889, "holonomicMode": true, "pathFolders": [ - "To RightShoot", - "Start to Outpost" + "Outpost Auto" ], "autoFolders": [], "defaultMaxVel": 2.5, From 7d92131d743641f1d85c8930a4e2269ddf67bdb6 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Fri, 3 Apr 2026 11:16:13 -0400 Subject: [PATCH 2/8] Update at 'Fri Apr 03 11:16:10 EDT 2026' --- src/main/java/org/team2342/frc/RobotContainer.java | 3 +++ .../java/org/team2342/frc/subsystems/Conductor.java | 10 ++++++++++ 2 files changed, 13 insertions(+) diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 1dc1271..a70a1aa 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -453,6 +453,9 @@ private void configureBindings() { operatorController .povRight() .whileTrue(Commands.run(() -> turretManual += Units.degreesToRadians(0.75))); + operatorController + .rightTrigger() + .whileTrue(conductor.forceTowerShot().alongWith(Commands.runOnce(this::resetManual))); // Location Triggers allianceZoneTrigger diff --git a/src/main/java/org/team2342/frc/subsystems/Conductor.java b/src/main/java/org/team2342/frc/subsystems/Conductor.java index e1c0755..cef2da6 100644 --- a/src/main/java/org/team2342/frc/subsystems/Conductor.java +++ b/src/main/java/org/team2342/frc/subsystems/Conductor.java @@ -32,6 +32,7 @@ public enum ConductorState { DISABLED, MANUAL, WARM_UP, + TOWER_SHOT, TRACKED_FIRING, TUNING, } @@ -113,6 +114,10 @@ private void setupStateCommands() { .calculate(velocitySupplier.get(), poseSupplier.get()) .wheelSpeed()))); + fsm.addStateCommand( + ConductorState.TOWER_SHOT, + turret.runPositionNoLimitCommand(manualTurretSupplier).alongWith(flywheel.shoot(16.270))); + fsm.addStateCommand( ConductorState.TRACKED_FIRING, turret @@ -154,6 +159,11 @@ public Command forceManual() { .finallyDo(() -> fsm.forceState(ConductorState.DISABLED)); } + public Command forceTowerShot() { + return Commands.run(() -> fsm.forceState(ConductorState.TOWER_SHOT)) + .finallyDo(() -> fsm.forceState(ConductorState.DISABLED)); + } + public Command enable() { return Commands.runOnce(() -> fsm.enable()); } From 43c3368cb5c78a85baf5143212b6ed7cdab88107 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Fri, 3 Apr 2026 12:26:21 -0400 Subject: [PATCH 3/8] Update at 'Fri Apr 03 12:26:21 EDT 2026' --- src/main/java/org/team2342/frc/Constants.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index ffc98d6..be79c05 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -212,7 +212,8 @@ public static final class IntakeConstants { .withControlType(ControlType.PROFILED_POSITION) .withIdleMode(IdleMode.BRAKE) .withMotorInverted(false) - .withSupplyCurrentLimit(40.0) + .withSupplyCurrentLimit(50.0) + .withStatorCurrentLimit(80) .withFeedbackConfig( FeedbackConfig.fused( CANConstants.INTAKE_PIVOT_ENCODER_ID, PIVOT_GEAR_RATIO, 0.01, true)) From a567a0fdb5a1e7f7a5f5f247c5ef087a32b05f03 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Fri, 3 Apr 2026 15:07:22 -0400 Subject: [PATCH 4/8] Update at 'Fri Apr 03 15:07:22 EDT 2026' --- src/main/java/org/team2342/frc/Constants.java | 6 +++--- .../java/org/team2342/frc/subsystems/indexer/Indexer.java | 4 +--- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index be79c05..3493aec 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -184,14 +184,14 @@ public static final class IndexerConstants { } public static final class IntakeConstants { - public static final double RUN_VOLTAGE = 7.0; + public static final double RUN_VOLTAGE = 8.0; public static final double RUN_CURRENT = 10.0; public static final MotorConfig INTAKE_WHEELS_MOTOR_CONFIG = new MotorConfig() .withMotorInverted(true) - .withSupplyCurrentLimit(30.0) - .withStatorCurrentLimit(70.0) + .withSupplyCurrentLimit(40.0) + .withStatorCurrentLimit(80.0) .withIdleMode(IdleMode.COAST); public static final DCMotor INTAKE_WHEELS_SIM_MOTOR = DCMotor.getKrakenX44(1); diff --git a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java index 85d67f8..777f38b 100644 --- a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java +++ b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java @@ -9,7 +9,6 @@ import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; import org.team2342.frc.Constants.IndexerConstants; @@ -50,8 +49,7 @@ public Command out() { } public Command pulseIn() { - return Commands.repeatingSequence( - in().withTimeout(2), stop().andThen(Commands.waitSeconds(0.5))); + return in(); } public Command stop() { From 7e62b3fb4c68d881a619cb41ddf19a27e7d1c32a Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Fri, 3 Apr 2026 17:02:29 -0400 Subject: [PATCH 5/8] Update at 'Fri Apr 03 17:02:29 EDT 2026' --- .../pathplanner/paths/Left Neutral Full Sweep.path | 10 +++++----- .../pathplanner/paths/Left Neutral Half Sweep.path | 8 ++++---- .../pathplanner/paths/Outpost To RightShoot.path | 8 ++++---- .../pathplanner/paths/Right Neutral Full Sweep.path | 8 ++++---- .../pathplanner/paths/Right Neutral Half Sweep.path | 8 ++++---- .../pathplanner/paths/rightTrench to Outpost.path | 8 ++++---- src/main/deploy/pathplanner/settings.json | 8 ++++---- 7 files changed, 29 insertions(+), 29 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Left Neutral Full Sweep.path b/src/main/deploy/pathplanner/paths/Left Neutral Full Sweep.path index f7699c1..728287b 100644 --- a/src/main/deploy/pathplanner/paths/Left Neutral Full Sweep.path +++ b/src/main/deploy/pathplanner/paths/Left Neutral Full Sweep.path @@ -89,7 +89,7 @@ }, "nextControl": { "x": 4.009785681601021, - "y": 0.24999999999999994 + "y": 0.24999999999999992 }, "isLocked": false, "linkedName": null @@ -176,10 +176,10 @@ } ], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Left Neutral Half Sweep.path b/src/main/deploy/pathplanner/paths/Left Neutral Half Sweep.path index 3ac93f1..4595d85 100644 --- a/src/main/deploy/pathplanner/paths/Left Neutral Half Sweep.path +++ b/src/main/deploy/pathplanner/paths/Left Neutral Half Sweep.path @@ -144,10 +144,10 @@ } ], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path b/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path index 1742063..56c035d 100644 --- a/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path +++ b/src/main/deploy/pathplanner/paths/Outpost To RightShoot.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path b/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path index 3c809e4..5465a8b 100644 --- a/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path +++ b/src/main/deploy/pathplanner/paths/Right Neutral Full Sweep.path @@ -176,10 +176,10 @@ } ], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path b/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path index ea7d5ae..8676ad1 100644 --- a/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path +++ b/src/main/deploy/pathplanner/paths/Right Neutral Half Sweep.path @@ -144,10 +144,10 @@ } ], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path b/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path index ef9e441..0526673 100644 --- a/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path +++ b/src/main/deploy/pathplanner/paths/rightTrench to Outpost.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 540.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 0fa0376..69abd90 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -6,10 +6,10 @@ "Outpost Auto" ], "autoFolders": [], - "defaultMaxVel": 2.5, - "defaultMaxAccel": 2.5, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, + "defaultMaxVel": 2.0, + "defaultMaxAccel": 2.0, + "defaultMaxAngVel": 360.0, + "defaultMaxAngAccel": 540.0, "defaultNominalVoltage": 12.0, "robotMass": 74.088, "robotMOI": 6.883, From 7ef236593ec7c97e77bfb7898684fa9a63558ea1 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sat, 4 Apr 2026 08:58:19 -0400 Subject: [PATCH 6/8] Update at 'Sat Apr 04 08:58:19 EDT 2026' --- src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java index 777f38b..4aecf05 100644 --- a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java +++ b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java @@ -49,7 +49,8 @@ public Command out() { } public Command pulseIn() { - return in(); + return Commands.repeatingSequence( + in().withTimeout(2), stop().andThen(Commands.waitSeconds(0.2))); } public Command stop() { From 48624827d0e9c64c522245bb344b532581ce7c87 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sat, 4 Apr 2026 09:00:05 -0400 Subject: [PATCH 7/8] Update at 'Sat Apr 04 09:00:04 EDT 2026' --- src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java index 4aecf05..edad672 100644 --- a/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java +++ b/src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java @@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; import org.team2342.frc.Constants.IndexerConstants; From 7034277b0736d74f86c5bd6feb6c21a042aaaaca Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sat, 4 Apr 2026 13:53:14 -0400 Subject: [PATCH 8/8] Update at 'Sat Apr 04 13:53:14 EDT 2026' --- .../deploy/pathplanner/autos/Left Neutral Half Sweep.auto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/deploy/pathplanner/autos/Left Neutral Half Sweep.auto b/src/main/deploy/pathplanner/autos/Left Neutral Half Sweep.auto index f7ecbd1..09afe1b 100644 --- a/src/main/deploy/pathplanner/autos/Left Neutral Half Sweep.auto +++ b/src/main/deploy/pathplanner/autos/Left Neutral Half Sweep.auto @@ -4,6 +4,12 @@ "type": "sequential", "data": { "commands": [ + { + "type": "wait", + "data": { + "waitTime": 4.0 + } + }, { "type": "path", "data": {