diff --git a/PathWeaver/Groups/testeGroups b/PathWeaver/Groups/testeGroups new file mode 100644 index 0000000..117c5be --- /dev/null +++ b/PathWeaver/Groups/testeGroups @@ -0,0 +1,2 @@ +path1.path +path2.path diff --git a/PathWeaver/Paths/autoAwards.path b/PathWeaver/Paths/autoAwards.path deleted file mode 100644 index b9092a0..0000000 --- a/PathWeaver/Paths/autoAwards.path +++ /dev/null @@ -1,14 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.4577714206360227,-2.2482227468407165,4.152323288432162,0.45713650881821977,true,false, -4.076768782113595,-2.159335092348285,1.1047465629773638,-0.21587001805304817,true,false, -4.368828218303014,-3.352969309818081,-1.1301430356894873,-1.4222024718789061,true,false, -2.8450398555756142,-3.6450287460074993,-1.1428412720455492,0.6222135814470211,true,false, -2.4640927648937647,-2.4640927648937647,0.4952312178864049,1.7015636717122622,true,false, -4.000579363977225,-1.854577419802805,1.9682266351895565,-0.5460241633106511,true,false, -5.9434095264546585,-2.0831456742119148,0.9650659630606855,0.17777530898486305,true,false, -6.7687948895986665,-1.2577603110679072,-0.13968059991667747,1.5745813081516455,true,false, -5.613255381197056,-0.17841022080266628,-1.9936231079016808,0.12698236356061665,true,false, -3.9878811276211636,-1.5244232745452022,0.1904735453409252,-2.171398416886544,true,false, -6.273563671712262,-3.2513834189695876,1.587279544507708,0.08888765449243197,true,false, -7.327517289265379,-2.4386962921816413,-0.6349118178030837,1.8920372170531872,true,false, -0.521262602416331,-2.2482227468407165,-0.9904624357728093,0.0634911817803081,true,false, diff --git a/PathWeaver/Paths/autoAwards_0.path b/PathWeaver/Paths/autoAwards_0.path deleted file mode 100644 index 7bb5ad8..0000000 --- a/PathWeaver/Paths/autoAwards_0.path +++ /dev/null @@ -1,7 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.4577714206360227,-2.2482227468407165,4.711045688098875,0.6095153450909598,true,false, -4.076768782113595,-2.159335092348285,1.1047465629773638,-0.21587001805304817,true,false, -4.368828218303014,-3.352969309818081,-1.1301430356894873,-1.4222024718789061,true,false, -2.8450398555756142,-3.6450287460074993,-1.1428412720455492,0.6222135814470211,true,false, -2.4640927648937647,-2.4640927648937647,0.4952312178864049,1.7015636717122622,true,false, -4.000579363977225,-1.854577419802805,1.8793389806971255,-0.5841188723788364,true,false, diff --git a/PathWeaver/Paths/autoAwards_1.path b/PathWeaver/Paths/autoAwards_1.path deleted file mode 100644 index 3c1b11f..0000000 --- a/PathWeaver/Paths/autoAwards_1.path +++ /dev/null @@ -1,7 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -4.000579363977225,-1.854577419802805,1.8793389806971255,-0.5841188723788364,true,false, -5.9434095264546585,-2.006956256075545,2.107907235106234,0.19047354534092475,true,false, -6.844984307735038,-1.0672867657269822,-0.5206276905985288,1.4222024718789057,true,false, 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-4.648189418136369,-2.8831345646437994,-0.05079294542424595,2.8444049437578114,true,false, -4.2418458547423965,-0.749830856825441,0.3809470906818504,0.0,true,false, -5.3338941813637,-0.749830856825441,2.0,0.0,true,false, diff --git a/PathWeaver/Paths/galacticA_0.path b/PathWeaver/Paths/galacticA_0.path deleted file mode 100644 index e81a9a3..0000000 --- a/PathWeaver/Paths/galacticA_0.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.8768132203860575,-1.5498197472573252,2.0,0.0,true,false, -4.648189418136369,-2.8831345646437994,-0.05079294542424595,2.8444049437578114,true,false, diff --git a/PathWeaver/Paths/galacticA_1.path b/PathWeaver/Paths/galacticA_1.path deleted file mode 100644 index 0e9d915..0000000 --- a/PathWeaver/Paths/galacticA_1.path +++ /dev/null @@ -1,4 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -4.648189418136369,-2.8831345646437994,-0.05079294542424595,2.8444049437578114,true,false, -3.8355022913484236,-1.041890293014859,0.49523121788640445,0.9142730176364393,true,false, -5.3338941813637,-0.749830856825441,2.0,0.0,true,false, diff --git a/PathWeaver/Paths/galacticA_blue.path b/PathWeaver/Paths/galacticA_blue.path new file mode 100644 index 0000000..3ebef39 --- /dev/null +++ b/PathWeaver/Paths/galacticA_blue.path @@ -0,0 +1,8 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2780593164485454,-1.78428961491385,1.4463722813294417,-0.6960666603897936,true,false, +3.004666227285566,-3.3752991243762356,1.057659730722154,-0.6599073533565574,true,false, +4.677034177572733,-3.8092108087750685,0.8859030223142836,0.23503549571603433,true,false, +5.129025515488184,-2.9052281329441674,0.11751774785801672,1.581969682704077,true,false, +5.364061011204219,-1.1334220883156012,0.09943809434139883,0.967261463139064,true,false, +6.638676584125789,-2.4984359288202618,2.033961020619527,-0.37967272384897877,true,false, 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b/PathWeaver/Paths/galacticB_red.path @@ -0,0 +1,8 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.1876610488654553,-1.7300506543639957,2.5853904528763767,0.06327878730816283,true,false, +3.1402636286602017,-1.711971000847378,1.1118986912720081,-0.6599073533565583,true,false, +4.053286131249412,-3.61033462009227,0.7051064871481021,-0.7864649279728839,true,false, +5.327901704170983,-3.411458431409472,0.5062302984653044,1.3559740137463518,true,false, +5.499658412578853,-1.1786212221071461,0.7412657941813379,1.3469341869880427,true,false, +7.416101685340363,-0.898386592599567,1.3378943602297344,-0.7231861406647209,true,false, +8.600318990678844,-2.4713164485453345,0.849743715281047,-1.1751774785801716,true,false, diff --git a/PathWeaver/Paths/path1.path b/PathWeaver/Paths/path1.path new file mode 100644 index 0000000..3ca5dbd --- /dev/null +++ b/PathWeaver/Paths/path1.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 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--git a/src/main/deploy/paths/output/autoAwards.wpilib.json b/src/main/deploy/paths/output/autoAwards.wpilib.json deleted file mode 100644 index 86d9837..0000000 --- a/src/main/deploy/paths/output/autoAwards.wpilib.json +++ /dev/null @@ -1 +0,0 @@ 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"acceleration": -1.9999999999999998, - "pose": { - "translation": { - "x": 4.102165254825725, - "y": 3.6443938341896924 - }, - "rotation": { - "radians": 1.5707963267947362 - } - }, - "curvature": -3.0601372030406003E-12 - } -] \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 48c3cc1..da3fad9 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -30,10 +30,10 @@ public static final class DrivetrainConstants { //voltageConstraint public static final double - ksVolts = 0.976, //kS - kvVoltSecondsPerMeter = 2.21, //kV - kaVoltSecondsSquaredPerMeter = 0.726, //kA - kTrackwidthMeters = 2.81, + ksVolts = 0.932, //kS + kvVoltSecondsPerMeter = 2.4, //kV + kaVoltSecondsSquaredPerMeter = 0.793, //kA + kTrackwidthMeters = 2.36, differentialDriveVoltageConstraintMaxVoltage = 10; public static final DifferentialDriveKinematics @@ -137,4 +137,10 @@ public static final class Seeking { public static final double kP = 0; } } + + public static final class FieldConstants { + public static final String + red = "red", + blue = "blue"; + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2fd5032..6f576e5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,3 +1,4 @@ + package frc.robot; import edu.wpi.first.wpilibj.GenericHID.Hand; @@ -17,6 +18,8 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; +import frc.robot.commands.autons.GalacticB; +import frc.robot.commands.autons.TesteGroups; import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; @@ -47,12 +50,15 @@ public RobotContainer() { this.trajectoryBuilder = new TrajectoryBuilder( this.drivetrain, - "autoAwards" - // "barrel", - // "slalom", - // "galacticA", - // "galacticB", - // "bounce" + "barrel", + "slalom", + "galacticA_red", + "galacticA_blue", + "galacticB_red", + "galacticB_blue", + "bounce", + "path1", + "path2" ); this.configureButtonBindings(); @@ -126,10 +132,10 @@ public void configureButtonBindingsDrivetrain() { } public Command getAutonomousCommand() { - return new GalacticA(this.trajectoryBuilder); + return new GalacticB(this.trajectoryBuilder, this.buffer, this.intake); } public void reset() { this.drivetrain.reset(); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/autons/Barrel.java b/src/main/java/frc/robot/commands/autons/Barrel.java index 9bd8c09..f118d95 100644 --- a/src/main/java/frc/robot/commands/autons/Barrel.java +++ b/src/main/java/frc/robot/commands/autons/Barrel.java @@ -10,7 +10,7 @@ public class Barrel extends SequentialCommandGroup { public Barrel(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - // trajectoryBuilder.build("barrel") + trajectoryBuilder.build("barrel") ); } } diff --git a/src/main/java/frc/robot/commands/autons/Bounce.java b/src/main/java/frc/robot/commands/autons/Bounce.java index ec39475..4c7d2a3 100644 --- a/src/main/java/frc/robot/commands/autons/Bounce.java +++ b/src/main/java/frc/robot/commands/autons/Bounce.java @@ -10,7 +10,7 @@ public class Bounce extends SequentialCommandGroup { public Bounce(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - // trajectoryBuilder.build("bounce") + trajectoryBuilder.build("bounce") ); } } diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 6b76b7c..7bc68bd 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -1,13 +1,27 @@ package frc.robot.commands.autons; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import frc.core.components.Limelight; import frc.core.util.TrajectoryBuilder; +import frc.robot.Constants.FieldConstants; +import frc.robot.commands.buffer.SmartFeed; +import frc.robot.commands.intake.CollectPowerCell; +import frc.robot.subsystems.Buffer; +import frc.robot.subsystems.Intake; + +// speed = 1.5 +// aceleration = 2 public class GalacticA extends ParallelCommandGroup { + public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { + + var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; + var path = String.format("galacticA_%s", allianceColor); - public GalacticA(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - // trajectoryBuilder.build("galacticA") + trajectoryBuilder.build(path), + new SmartFeed(buffer), + new CollectPowerCell(intake) ); } } diff --git a/src/main/java/frc/robot/commands/autons/GalacticB.java b/src/main/java/frc/robot/commands/autons/GalacticB.java index b6ed1fa..9fcc306 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticB.java +++ b/src/main/java/frc/robot/commands/autons/GalacticB.java @@ -1,13 +1,25 @@ package frc.robot.commands.autons; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import frc.core.components.Limelight; import frc.core.util.TrajectoryBuilder; +import frc.robot.Constants.FieldConstants; +import frc.robot.commands.buffer.SmartFeed; +import frc.robot.commands.intake.CollectPowerCell; +import frc.robot.subsystems.Buffer; +import frc.robot.subsystems.Intake; public class GalacticB extends ParallelCommandGroup { - public GalacticB(TrajectoryBuilder trajectoryBuilder) { + public GalacticB(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { + + var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; + var path = String.format("galacticB_%s", allianceColor); + super.addCommands( - // trajectoryBuilder.build("galacticB") + trajectoryBuilder.build(path), + new SmartFeed(buffer), + new CollectPowerCell(intake) ); } } diff --git a/src/main/java/frc/robot/commands/autons/TesteGroups.java b/src/main/java/frc/robot/commands/autons/TesteGroups.java new file mode 100644 index 0000000..0ff7575 --- /dev/null +++ b/src/main/java/frc/robot/commands/autons/TesteGroups.java @@ -0,0 +1,14 @@ +package frc.robot.commands.autons; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.core.util.TrajectoryBuilder; + +// speed = 1.2 +// aceleration = 1.0 + +public class TesteGroups extends SequentialCommandGroup { + public TesteGroups(TrajectoryBuilder trajectoryBuilder) { + super.addCommands( + trajectoryBuilder.build("path1", "path2") + ); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java index 235eea1..0d93a70 100644 --- a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java +++ b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java @@ -9,12 +9,13 @@ public class CollectPowerCell extends CommandBase { public CollectPowerCell(Intake intake) { this.intake = intake; + addRequirements(this.intake); } @Override public void execute() { - this.intake.setSpeed(0.4, 1); + this.intake.setSpeed(0.35); } @Override diff --git a/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java b/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java index 4b71e24..a261b16 100644 --- a/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java +++ b/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java @@ -14,7 +14,7 @@ public ReleasePowerCell(Intake intake) { @Override public void execute() { - this.intake.setSpeed(-1, 0); + // this.intake.setSpeed(-1, 0); } @Override diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index 2e93a93..58905af 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -59,7 +59,7 @@ public Drivetrain() { } public void arcadeDrive(double forward, double rotation) { - this.drive.arcadeDrive(forward, -(rotation)); + this.drive.arcadeDrive(forward, (rotation)); } public void curvatureDrive(double forward, double rotation, boolean isQuickTurn) { diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index d0fdaac..9e11a2c 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -13,9 +13,9 @@ public Intake() { this.motorRight = new VictorSPX(IntakeConstants.motorsPorts[1]); } - public void setSpeed(double speedY, double speedX) { - this.motorLeft.set(ControlMode.PercentOutput, speedY); - this.motorRight.set(ControlMode.PercentOutput, speedX); + public void setSpeed(double speed) { + this.motorLeft.set(ControlMode.PercentOutput, speed); + this.motorRight.set(ControlMode.PercentOutput, speed); } public void stop() {