From e934037d001c439c0eeaa88ac5128de782fa3e3a Mon Sep 17 00:00:00 2001 From: BrunoOsio Date: Thu, 18 Mar 2021 11:18:25 -0300 Subject: [PATCH 1/9] added parallel commands --- src/main/java/frc/robot/RobotContainer.java | 3 ++- .../java/frc/robot/commands/autons/GalacticA.java | 15 +++++++++++++-- 2 files changed, 15 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2fd5032..f824e8f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -126,7 +126,8 @@ public void configureButtonBindingsDrivetrain() { } public Command getAutonomousCommand() { - return new GalacticA(this.trajectoryBuilder); + // return new GalacticA(this.trajectoryBuilder); + return null; } public void reset() { diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 6b76b7c..5d43437 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -1,13 +1,24 @@ 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.commands.buffer.SmartFeed; +import frc.robot.commands.intake.CollectPowerCell; +import frc.robot.subsystems.Buffer; +import frc.robot.subsystems.Intake; public class GalacticA extends ParallelCommandGroup { + public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { + Limelight.setPipeline(1); + + var galacticCommand = Limelight.isTarget() ? "red" : "blue"; + var path = String.format("galacticA_%s", galacticCommand); - public GalacticA(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - // trajectoryBuilder.build("galacticA") + trajectoryBuilder.build(path), + new SmartFeed(buffer), + new CollectPowerCell(intake) ); } } From e8789cf2448ea775bcf25977b6bd19f58d1e2659 Mon Sep 17 00:00:00 2001 From: BrunoOsio Date: Thu, 18 Mar 2021 11:52:17 -0300 Subject: [PATCH 2/9] constants for colors --- src/main/java/frc/robot/Constants.java | 6 ++++++ src/main/java/frc/robot/commands/autons/GalacticA.java | 5 +++-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 48c3cc1..781707b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -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/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 5d43437..a176706 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -3,6 +3,7 @@ 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; @@ -12,8 +13,8 @@ public class GalacticA extends ParallelCommandGroup { public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { Limelight.setPipeline(1); - var galacticCommand = Limelight.isTarget() ? "red" : "blue"; - var path = String.format("galacticA_%s", galacticCommand); + var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; + var path = String.format("galacticA_%s", allianceColor); super.addCommands( trajectoryBuilder.build(path), From ec550474d712e796de5bc168321052e2333e56b1 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 15:24:57 -0300 Subject: [PATCH 3/9] paths --- PathWeaver/Groups/testegroups1 | 2 ++ PathWeaver/Paths/autoAwards.path | 18 +++++++++++------- PathWeaver/Paths/slalom.path | 14 ++++++++++++++ PathWeaver/Paths/three.path | 15 +++++++++++++++ PathWeaver/Paths/three_rapidao.path | 15 +++++++++++++++ PathWeaver/Paths/three_rapidao_0.path | 3 +++ PathWeaver/Paths/three_rapidao_1.path | 3 +++ PathWeaver/pathweaver.json | 4 ++-- .../deploy/paths/output/autoAwards.wpilib.json | 2 +- .../paths/output/autoAwards_0.wpilib.json | 2 +- .../paths/output/autoAwards_1.wpilib.json | 2 +- .../deploy/paths/output/galacticA.wpilib.json | 2 +- .../paths/output/galacticA_0.wpilib.json | 2 +- .../paths/output/galacticA_1.wpilib.json | 2 +- .../deploy/paths/output/slalom.wpilib.json | 1 + src/main/deploy/paths/output/test.wpilib.json | 2 +- .../deploy/paths/output/teste1.wpilib.json | 2 +- src/main/deploy/paths/output/three.wpilib.json | 1 + .../paths/output/three_rapidao.wpilib.json | 1 + .../paths/output/three_rapidao_0.wpilib.json | 1 + .../paths/output/three_rapidao_1.wpilib.json | 1 + src/main/java/frc/robot/Constants.java | 8 ++++---- src/main/java/frc/robot/RobotContainer.java | 2 +- .../frc/robot/commands/autons/GalacticA.java | 2 +- .../java/frc/robot/subsystems/Drivetrain.java | 2 +- 25 files changed, 85 insertions(+), 24 deletions(-) create mode 100644 PathWeaver/Groups/testegroups1 create mode 100644 PathWeaver/Paths/slalom.path create mode 100644 PathWeaver/Paths/three.path create mode 100644 PathWeaver/Paths/three_rapidao.path create mode 100644 PathWeaver/Paths/three_rapidao_0.path create mode 100644 PathWeaver/Paths/three_rapidao_1.path create mode 100644 src/main/deploy/paths/output/slalom.wpilib.json create mode 100644 src/main/deploy/paths/output/three.wpilib.json create mode 100644 src/main/deploy/paths/output/three_rapidao.wpilib.json create mode 100644 src/main/deploy/paths/output/three_rapidao_0.wpilib.json create mode 100644 src/main/deploy/paths/output/three_rapidao_1.wpilib.json diff --git a/PathWeaver/Groups/testegroups1 b/PathWeaver/Groups/testegroups1 new file mode 100644 index 0000000..fba659c --- /dev/null +++ b/PathWeaver/Groups/testegroups1 @@ -0,0 +1,2 @@ +three_rapidao_0.path +three_rapidao_1.path diff --git a/PathWeaver/Paths/autoAwards.path b/PathWeaver/Paths/autoAwards.path index b9092a0..571656d 100644 --- a/PathWeaver/Paths/autoAwards.path +++ b/PathWeaver/Paths/autoAwards.path @@ -2,13 +2,17 @@ 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, 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--git a/PathWeaver/Paths/slalom.path b/PathWeaver/Paths/slalom.path new file mode 100644 index 0000000..86d756b --- /dev/null +++ b/PathWeaver/Paths/slalom.path @@ -0,0 +1,14 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2690194896902365,-3.8453701158083047,3.6249705300819133,0.009039826758309388,true,false, +3.4476177384427076,-1.9198870162884851,2.1514787684775443,0.26215497599096116,true,false, +6.765234158742114,-2.2453207795876096,0.28927445626588977,-1.1390181715469354,true,false, +6.918911213633368,-3.221622069484983,0.11751774785801583,-0.9582216363807547,true,false, +7.696336314847942,-4.234082666415592,1.229416439130027,-0.03615930703323578,true,false, +8.582239337162227,-3.1854627624517464,0.271194802749271,1.2746155729215705,true,false, +8.383363148479427,-1.9922056303549571,-0.7231861406647218,0.5966285660483948,true,false, +6.909871386875058,-2.1639623387628286,-0.5062302984653027,-1.2565359194049521,true,false, 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a/PathWeaver/Paths/three_rapidao.path b/PathWeaver/Paths/three_rapidao.path new file mode 100644 index 0000000..4d92dac --- /dev/null +++ b/PathWeaver/Paths/three_rapidao.path @@ -0,0 +1,15 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7085502306750777,-2.679232463986442,4.537993032671123,0.08135844082478139,false,false, +2.534595235853498,-1.2328601826570005,-0.2621549759909616,0.9943809434139913,true,false, +2.291,-0.7,-0.03615930703323622,-0.49719047170699565,false,false, +2.932347613219094,-2.4984359288202618,0.9130225025892105,-1.2113367856134079,true,false, +3.3572194708596177,-3.9176887298747767,0.35255324357405193,-0.6960666603897936,true,false, +4.098485265040957,-4.170803879107429,0.9763012898973731,0.027119480274927277,true,false, +4.875910366255532,-3.9538480369080125,0.10847792109970822,0.6147082195650126,true,false, +4.848790885980605,-2.281480086620846,-0.036159307033236665,1.5277307221542231,true,false, 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a/PathWeaver/Paths/three_rapidao_1.path b/PathWeaver/Paths/three_rapidao_1.path new file mode 100644 index 0000000..5082366 --- /dev/null +++ b/PathWeaver/Paths/three_rapidao_1.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +2.2995597401374637,-0.8351078052914038,0.009039826758308944,0.5152701252236137,true,true, +3.1131441483852744,-3.42953808492609,-0.91302250258921,1.3017350531964977,true,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 13dc455..d27ddf1 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 1.5, - "maxAcceleration": 1.5, + "maxAcceleration": 1.0, "wheelBase": 0.585, - "gameName": "Barrel Racing Path", + "gameName": "Bounce Path", "outputDir": "../src/main/deploy/paths" } \ No newline at end of file diff --git a/src/main/deploy/paths/output/autoAwards.wpilib.json 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\ 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 10e35fc..c143dbc 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 diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 06ad557..67854a1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -45,7 +45,7 @@ public RobotContainer() { this.driver = new XboxController(OIConstants.driverControllerPort); this.operator = new XboxController(OIConstants.operatorControllerPort); - this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards"); + this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards", "slalom", "three", "three_rapidao", "three_rapidao_0", "three_rapidao_1"); this.configureButtonBindings(); this.configureDefaultCommand(); diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 3fd8f8b..d139b50 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -7,7 +7,7 @@ public class GalacticA extends SequentialCommandGroup { public GalacticA(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - trajectoryBuilder.buildTrajectory("autoAwards") + trajectoryBuilder.buildTrajectory("three_rapidao") ); } } diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index 6e6016e..2abeff2 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -61,7 +61,7 @@ public Drivetrain() { //helpers 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) { From a316a7d426fe4f7f15b6a3bf4d59e560159cb2d4 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 19:02:43 -0300 Subject: [PATCH 4/9] galacticA working --- PathWeaver/Paths/galacticA_red.path | 7 +++ PathWeaver/pathweaver.json | 4 +- .../paths/output/autoAwards.wpilib.json | 2 +- .../paths/output/autoAwards_0.wpilib.json | 2 +- .../paths/output/autoAwards_1.wpilib.json | 2 +- .../deploy/paths/output/galacticA.wpilib.json | 2 +- .../paths/output/galacticA_0.wpilib.json | 2 +- .../paths/output/galacticA_1.wpilib.json | 2 +- .../paths/output/galacticA_red.wpilib.json | 1 + src/main/deploy/paths/output/test.wpilib.json | 2 +- .../deploy/paths/output/teste1.wpilib.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 61 +++++++------------ .../frc/robot/commands/autons/GalacticA.java | 1 - .../commands/intake/CollectPowerCell.java | 2 +- .../commands/intake/ReleasePowerCell.java | 2 +- .../java/frc/robot/subsystems/Intake.java | 6 +- 16 files changed, 46 insertions(+), 54 deletions(-) create mode 100644 PathWeaver/Paths/galacticA_red.path create mode 100644 src/main/deploy/paths/output/galacticA_red.wpilib.json diff --git a/PathWeaver/Paths/galacticA_red.path b/PathWeaver/Paths/galacticA_red.path new file mode 100644 index 0000000..aa5e53e --- /dev/null +++ b/PathWeaver/Paths/galacticA_red.path @@ -0,0 +1,7 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7085502306750777,-2.2543606063459185,3.048,0.0,true,false, +3.104104321626966,-2.579794369645043,0.777425101214575,-0.696066660389794,true,false, +4.812631578947368,-3.14930345541851,0.14463722813294488,1.2113367856134072,true,false, +4.7222333113642785,-0.1932801054514641,1.0486199039638455,0.16271688164956216,true,false, +6.6296367573674795,-0.7175900574333868,1.3045366714638862,-0.6162471416749186,false,false, +8.555119856887298,-2.2001216457960644,1.4030385086150083,-1.186082666415592,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 383c004..c4cee77 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 1.5, - "maxAcceleration": 1.5, + "maxAcceleration": 2.0, "wheelBase": 0.585, - "gameName": "Slalom Path", + "gameName": "Galactic Search A", "outputDir": "../src/main/deploy/paths" } \ No newline at end of file diff --git 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\ 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 f824e8f..2fd13ca 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -17,7 +17,6 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; -import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; import frc.robot.commands.buffer.SmartFeed; @@ -45,24 +44,36 @@ public RobotContainer() { this.driver = new XboxController(OIConstants.driverControllerPort); this.operator = new XboxController(OIConstants.operatorControllerPort); - this.trajectoryBuilder = new TrajectoryBuilder( - this.drivetrain, - "autoAwards" - // "barrel", - // "slalom", - // "galacticA", - // "galacticB", - // "bounce" - ); + this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards", "galacticA_red"); this.configureButtonBindings(); + this.configureDefaultCommand(); + } + + private void configureDefaultCommand() { + var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); + + buttonBumperLeft.whenHeld( + new CurvatureDrive( + this.drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + this.drivetrain.setDefaultCommand( + new ArcadeDrive( + drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); } private void configureButtonBindings() { this.configureButtonBindingsIntake(); this.configureButtonBindingsBuffer(); this.configureButtonBindingsShooter(); - this.configureButtonBindingsDrivetrain(); } private void configureButtonBindingsIntake() { @@ -100,34 +111,8 @@ private void configureButtonBindingsShooter() { doubleButton.whileActiveContinuous(new ShootPowerCellAngle(this.shooter)); } - public void configureButtonBindingsDrivetrain() { - var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); - - buttonBumperLeft.whenHeld( - new CurvatureDrive( - this.drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); - - this.drivetrain.setDefaultCommand( - new ArcadeDrive( - drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); - - var buttonBumperRight = new JoystickButton(this.driver, Button.kBumperRight.value); - - buttonBumperRight - .whileHeld(new AimTarget(this.drivetrain)); - } - public Command getAutonomousCommand() { - // return new GalacticA(this.trajectoryBuilder); - return null; + return new GalacticA(this.trajectoryBuilder, this.buffer, this.intake); } public void reset() { diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index a176706..20a1d00 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -11,7 +11,6 @@ public class GalacticA extends ParallelCommandGroup { public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { - Limelight.setPipeline(1); var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; var path = String.format("galacticA_%s", allianceColor); diff --git a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java index 235eea1..4973466 100644 --- a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java +++ b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java @@ -14,7 +14,7 @@ public CollectPowerCell(Intake intake) { @Override public void execute() { - this.intake.setSpeed(0.4, 1); + this.intake.setSpeed(0.6); } @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/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() { From 413150e9aaa032404a68b1b45ce031671bcafb02 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 19:15:43 -0300 Subject: [PATCH 5/9] removed unused paths --- PathWeaver/Paths/autoAwards_0.path | 7 - PathWeaver/Paths/autoAwards_1.path | 7 - PathWeaver/Paths/galacticA.path | 5 - PathWeaver/Paths/galacticA_0.path | 3 - PathWeaver/Paths/galacticA_1.path | 4 - PathWeaver/Paths/teste1.path | 3 - .../paths/output/autoAwards_0.wpilib.json | 1 - .../paths/output/autoAwards_1.wpilib.json | 1 - .../deploy/paths/output/galacticA.wpilib.json | 1 - .../paths/output/galacticA_0.wpilib.json | 1 - .../paths/output/galacticA_1.wpilib.json | 1 - .../deploy/paths/output/teste1.wpilib.json | 1 - src/main/deploy/paths/test.wpilib.json | 1037 ----------------- src/main/java/frc/robot/RobotContainer.java | 63 +- 14 files changed, 40 insertions(+), 1095 deletions(-) delete mode 100644 PathWeaver/Paths/autoAwards_0.path delete mode 100644 PathWeaver/Paths/autoAwards_1.path delete mode 100644 PathWeaver/Paths/galacticA.path delete mode 100644 PathWeaver/Paths/galacticA_0.path delete mode 100644 PathWeaver/Paths/galacticA_1.path delete mode 100644 PathWeaver/Paths/teste1.path delete mode 100644 src/main/deploy/paths/output/autoAwards_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/autoAwards_1.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_1.wpilib.json delete mode 100644 src/main/deploy/paths/output/teste1.wpilib.json delete mode 100644 src/main/deploy/paths/test.wpilib.json 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, 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"radians": 1.582515747265711 - } - }, - "curvature": 0.299614746615785 - }, - { - "time": 3.379869667415137, - "velocity": 0.7995767936622356, - "acceleration": -2.000000000000001, - "pose": { - "translation": { - "x": 4.109490280113227, - "y": 3.4847369230291836 - }, - "rotation": { - "radians": 1.603560025288062 - } - }, - "curvature": 0.2803416556673965 - }, - { - "time": 3.4611639196322295, - "velocity": 0.6369882892280511, - "acceleration": -2.0, - "pose": { - "translation": { - "x": 4.1071131027808665, - "y": 3.5430807570129144 - }, - "rotation": { - "radians": 1.6191692302009988 - } - }, - "curvature": 0.24720520102446095 - }, - { - "time": 3.610666024350202, - "velocity": 0.33798407979210576, - "acceleration": -1.9999999999999998, - "pose": { - "translation": { - "x": 4.103119715157296, - "y": 3.6158514788256384 - }, - "rotation": { - "radians": 1.6253286881132611 - } - }, - "curvature": -0.49426335446023656 - }, - { - "time": 3.779658064246255, - "velocity": 0.0, - "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/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2fd13ca..0eb47f2 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 +18,7 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; +import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; import frc.robot.commands.buffer.SmartFeed; @@ -44,36 +46,26 @@ public RobotContainer() { this.driver = new XboxController(OIConstants.driverControllerPort); this.operator = new XboxController(OIConstants.operatorControllerPort); - this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards", "galacticA_red"); - - this.configureButtonBindings(); - this.configureDefaultCommand(); - } - - private void configureDefaultCommand() { - var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); - - buttonBumperLeft.whenHeld( - new CurvatureDrive( - this.drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) + this.trajectoryBuilder = new TrajectoryBuilder( + this.drivetrain, + "autoAwards", + // "barrel", + // "slalom", + "galacticA_red" + // "galacticA_blue", + // "galacticB_red", + // "galacticB_blue", + // "bounce" ); - this.drivetrain.setDefaultCommand( - new ArcadeDrive( - drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); + this.configureButtonBindings(); } private void configureButtonBindings() { this.configureButtonBindingsIntake(); this.configureButtonBindingsBuffer(); this.configureButtonBindingsShooter(); + this.configureButtonBindingsDrivetrain(); } private void configureButtonBindingsIntake() { @@ -111,6 +103,31 @@ private void configureButtonBindingsShooter() { doubleButton.whileActiveContinuous(new ShootPowerCellAngle(this.shooter)); } + public void configureButtonBindingsDrivetrain() { + var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); + + buttonBumperLeft.whenHeld( + new CurvatureDrive( + this.drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + this.drivetrain.setDefaultCommand( + new ArcadeDrive( + drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + var buttonBumperRight = new JoystickButton(this.driver, Button.kBumperRight.value); + + buttonBumperRight + .whileHeld(new AimTarget(this.drivetrain)); + } + public Command getAutonomousCommand() { return new GalacticA(this.trajectoryBuilder, this.buffer, this.intake); } @@ -118,4 +135,4 @@ public Command getAutonomousCommand() { public void reset() { this.drivetrain.reset(); } -} +} \ No newline at end of file From 4863d12288e3d6d81c6784c6a01c5bca85107159 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 19:29:36 -0300 Subject: [PATCH 6/9] removed unused paths --- PathWeaver/Groups/testegroups1 | 2 - PathWeaver/Paths/autoAwards_0.path | 7 - PathWeaver/Paths/autoAwards_1.path | 7 - .../Paths/{autoAwards.path => barrel.path} | 0 .../Paths/{three_rapidao.path => bounce.path} | 0 PathWeaver/Paths/galacticA.path | 5 - PathWeaver/Paths/galacticA_0.path | 3 - PathWeaver/Paths/galacticA_1.path | 4 - PathWeaver/Paths/teste1.path | 3 - PathWeaver/Paths/three.path | 15 - PathWeaver/Paths/three_rapidao_0.path | 3 - PathWeaver/Paths/three_rapidao_1.path | 3 - .../paths/output/autoAwards_0.wpilib.json | 1 - .../paths/output/autoAwards_1.wpilib.json | 1 - ...oAwards.wpilib.json => barrel.wpilib.json} | 0 ...rapidao.wpilib.json => bounce.wpilib.json} | 0 .../deploy/paths/output/galacticA.wpilib.json | 1 - .../paths/output/galacticA_0.wpilib.json | 1 - .../paths/output/galacticA_1.wpilib.json | 1 - src/main/deploy/paths/output/test.wpilib.json | 1 - .../deploy/paths/output/teste1.wpilib.json | 1 - .../deploy/paths/output/three.wpilib.json | 1 - .../paths/output/three_rapidao_0.wpilib.json | 1 - .../paths/output/three_rapidao_1.wpilib.json | 1 - src/main/deploy/paths/test.wpilib.json | 1037 ----------------- 25 files changed, 1099 deletions(-) delete mode 100644 PathWeaver/Groups/testegroups1 delete mode 100644 PathWeaver/Paths/autoAwards_0.path delete mode 100644 PathWeaver/Paths/autoAwards_1.path rename PathWeaver/Paths/{autoAwards.path => barrel.path} (100%) rename PathWeaver/Paths/{three_rapidao.path => bounce.path} (100%) delete mode 100644 PathWeaver/Paths/galacticA.path delete mode 100644 PathWeaver/Paths/galacticA_0.path delete mode 100644 PathWeaver/Paths/galacticA_1.path delete mode 100644 PathWeaver/Paths/teste1.path delete mode 100644 PathWeaver/Paths/three.path delete mode 100644 PathWeaver/Paths/three_rapidao_0.path delete mode 100644 PathWeaver/Paths/three_rapidao_1.path delete mode 100644 src/main/deploy/paths/output/autoAwards_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/autoAwards_1.wpilib.json rename src/main/deploy/paths/output/{autoAwards.wpilib.json => barrel.wpilib.json} (100%) rename src/main/deploy/paths/output/{three_rapidao.wpilib.json => bounce.wpilib.json} (100%) delete mode 100644 src/main/deploy/paths/output/galacticA.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_1.wpilib.json delete mode 100644 src/main/deploy/paths/output/test.wpilib.json delete mode 100644 src/main/deploy/paths/output/teste1.wpilib.json delete mode 100644 src/main/deploy/paths/output/three.wpilib.json delete mode 100644 src/main/deploy/paths/output/three_rapidao_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/three_rapidao_1.wpilib.json delete mode 100644 src/main/deploy/paths/test.wpilib.json diff --git a/PathWeaver/Groups/testegroups1 b/PathWeaver/Groups/testegroups1 deleted file mode 100644 index fba659c..0000000 --- a/PathWeaver/Groups/testegroups1 +++ /dev/null @@ -1,2 +0,0 @@ -three_rapidao_0.path -three_rapidao_1.path 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, -5.1180241633106505,-1.0291920566587973,-1.1428412720455494,-1.4983918900152755,true,false, -5.194213581447022,-2.451394528537703,0.5968171087348981,-1.0666518539091792,true,false, -6.375149562560755,-3.695821691431745,1.3460130537425359,-0.05079294542424684,true,false, diff --git a/PathWeaver/Paths/autoAwards.path b/PathWeaver/Paths/barrel.path similarity index 100% rename from PathWeaver/Paths/autoAwards.path rename to PathWeaver/Paths/barrel.path diff --git a/PathWeaver/Paths/three_rapidao.path b/PathWeaver/Paths/bounce.path similarity index 100% rename from PathWeaver/Paths/three_rapidao.path rename to PathWeaver/Paths/bounce.path diff --git a/PathWeaver/Paths/galacticA.path b/PathWeaver/Paths/galacticA.path deleted file mode 100644 index cbe4a0e..0000000 --- a/PathWeaver/Paths/galacticA.path +++ /dev/null @@ -1,5 +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, 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src/main/deploy/paths/output/test.wpilib.json | 1 + src/main/java/frc/robot/RobotContainer.java | 15 +++++++-------- .../java/frc/robot/commands/autons/Barrel.java | 2 +- .../java/frc/robot/commands/autons/Bounce.java | 2 +- .../frc/robot/commands/autons/GalacticA.java | 3 +++ .../frc/robot/commands/autons/GalacticB.java | 16 ++++++++++++++-- 17 files changed, 61 insertions(+), 18 deletions(-) create mode 100644 PathWeaver/Paths/galacticA_blue.path create mode 100644 PathWeaver/Paths/galacticB_blue.path create mode 100644 PathWeaver/Paths/galacticB_red.path create mode 100644 src/main/deploy/paths/output/galacticA_blue.wpilib.json create mode 100644 src/main/deploy/paths/output/galacticB_blue.wpilib.json create mode 100644 src/main/deploy/paths/output/galacticB_red.wpilib.json create mode 100644 src/main/deploy/paths/output/test.wpilib.json diff --git a/PathWeaver/Paths/galacticA_blue.path b/PathWeaver/Paths/galacticA_blue.path new file mode 100644 index 0000000..58a0d3e --- /dev/null +++ b/PathWeaver/Paths/galacticA_blue.path @@ -0,0 +1,9 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2780593164485454,-1.78428961491385,1.4463722813294417,-0.6960666603897936,true,false, +3.0227458808021845,-3.2035424159683648,0.6870268336314851,-2.015881367102909,true,false, +3.501856698992562,-4.243122493173901,0.5333497787402313,-0.5604692590151581,true,false, +4.487197815648244,-4.1617640523491195,0.5514294322568496,0.8949428490725926,true,false, +4.469118162131626,-2.959467093494021,-0.488150644948687,1.7537263911119478,true,false, +4.98438828735524,-1.5582939459561245,1.5819696827040763,0.1988761886827981,true,false, +6.331322474343282,-1.9922056303549571,1.3559740137463514,-0.849743715281047,true,false, +8.500880896337446,-2.4351571415120987,3.1548995386498446,-0.09943809434139972,true,false, diff --git a/PathWeaver/Paths/galacticA_red.path b/PathWeaver/Paths/galacticA_red.path index aa5e53e..5d6eaff 100644 --- a/PathWeaver/Paths/galacticA_red.path +++ b/PathWeaver/Paths/galacticA_red.path @@ -1,6 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.7085502306750777,-2.2543606063459185,3.048,0.0,true,false, -3.104104321626966,-2.579794369645043,0.777425101214575,-0.696066660389794,true,false, +1.3051787967234725,-1.811409095188777,2.6034701063929946,-1.1751774785801714,true,false, 4.812631578947368,-3.14930345541851,0.14463722813294488,1.2113367856134072,true,false, 4.7222333113642785,-0.1932801054514641,1.0486199039638455,0.16271688164956216,true,false, 6.6296367573674795,-0.7175900574333868,1.3045366714638862,-0.6162471416749186,false,false, diff --git a/PathWeaver/Paths/galacticB_blue.path b/PathWeaver/Paths/galacticB_blue.path new file mode 100644 index 0000000..3bf66d5 --- /dev/null +++ b/PathWeaver/Paths/galacticB_blue.path @@ -0,0 +1,9 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2870991432068544,-1.7300506543639957,1.4282926278128234,0.5333497787402315,true,false, 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\ 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 0eb47f2..cbe3ed4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -48,14 +48,13 @@ public RobotContainer() { this.trajectoryBuilder = new TrajectoryBuilder( this.drivetrain, - "autoAwards", - // "barrel", - // "slalom", - "galacticA_red" - // "galacticA_blue", - // "galacticB_red", - // "galacticB_blue", - // "bounce" + "barrel", + "slalom", + "galacticA_red", + "galacticA_blue", + "galacticB_red", + "galacticB_blue", + "bounce" ); this.configureButtonBindings(); 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 20a1d00..7bc68bd 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -9,6 +9,9 @@ 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) { 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) ); } } From 3b31e18784d91db05e56521146bbacf334843c8d Mon Sep 17 00:00:00 2001 From: luan machado Date: Fri, 19 Mar 2021 19:03:21 -0300 Subject: [PATCH 8/9] galacticA red & blue --- PathWeaver/Groups/testeGroups | 2 ++ PathWeaver/Paths/galacticA_blue.path | 13 ++++++------- PathWeaver/Paths/galacticA_red.path | 8 ++++---- PathWeaver/Paths/galacticB_blue.path | 2 +- PathWeaver/Paths/galacticB_red.path | 2 +- PathWeaver/Paths/path1.path | 3 +++ PathWeaver/Paths/path2.path | 3 +++ PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/output/barrel.wpilib.json | 2 +- src/main/deploy/paths/output/bounce.wpilib.json | 2 +- .../deploy/paths/output/galacticA_blue.wpilib.json | 2 +- .../deploy/paths/output/galacticA_red.wpilib.json | 2 +- .../deploy/paths/output/galacticB_blue.wpilib.json | 2 +- .../deploy/paths/output/galacticB_red.wpilib.json | 2 +- src/main/deploy/paths/output/path1.wpilib.json | 1 + src/main/deploy/paths/output/path2.wpilib.json | 1 + src/main/deploy/paths/output/slalom.wpilib.json | 2 +- src/main/deploy/paths/output/test.wpilib.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 5 ++++- .../frc/robot/commands/autons/TesteGroups.java | 14 ++++++++++++++ .../robot/commands/intake/CollectPowerCell.java | 3 ++- 21 files changed, 51 insertions(+), 24 deletions(-) create mode 100644 PathWeaver/Groups/testeGroups create mode 100644 PathWeaver/Paths/path1.path create mode 100644 PathWeaver/Paths/path2.path create mode 100644 src/main/deploy/paths/output/path1.wpilib.json create mode 100644 src/main/deploy/paths/output/path2.wpilib.json create mode 100644 src/main/java/frc/robot/commands/autons/TesteGroups.java 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/galacticA_blue.path b/PathWeaver/Paths/galacticA_blue.path index 58a0d3e..4e38c69 100644 --- a/PathWeaver/Paths/galacticA_blue.path +++ b/PathWeaver/Paths/galacticA_blue.path @@ -1,9 +1,8 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 1.2780593164485454,-1.78428961491385,1.4463722813294417,-0.6960666603897936,true,false, -3.0227458808021845,-3.2035424159683648,0.6870268336314851,-2.015881367102909,true,false, -3.501856698992562,-4.243122493173901,0.5333497787402313,-0.5604692590151581,true,false, -4.487197815648244,-4.1617640523491195,0.5514294322568496,0.8949428490725926,true,false, -4.469118162131626,-2.959467093494021,-0.488150644948687,1.7537263911119478,true,false, -4.98438828735524,-1.5582939459561245,1.5819696827040763,0.1988761886827981,true,false, -6.331322474343282,-1.9922056303549571,1.3559740137463514,-0.849743715281047,true,false, -8.500880896337446,-2.4351571415120987,3.1548995386498446,-0.09943809434139972,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, +5.25558309010451,-1.0882229545240563,0.09943809434139883,0.967261463139064,true,false, +6.394601261651445,-2.2272411260709912,2.033961020619527,-0.37967272384897877,true,false, +8.663597777987006,-2.281480086620846,0.47911081819037804,0.07231861406647244,true,false, diff --git a/PathWeaver/Paths/galacticA_red.path b/PathWeaver/Paths/galacticA_red.path index 5d6eaff..727a435 100644 --- a/PathWeaver/Paths/galacticA_red.path +++ b/PathWeaver/Paths/galacticA_red.path @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 1.3051787967234725,-1.811409095188777,2.6034701063929946,-1.1751774785801714,true,false, -4.812631578947368,-3.14930345541851,0.14463722813294488,1.2113367856134072,true,false, -4.7222333113642785,-0.1932801054514641,1.0486199039638455,0.16271688164956216,true,false, -6.6296367573674795,-0.7175900574333868,1.3045366714638862,-0.6162471416749186,false,false, -8.555119856887298,-2.2001216457960644,1.4030385086150083,-1.186082666415592,true,false, +4.234082666415592,-2.8961883061858584,0.0,1.2113367856134074,true,false, +4.261202146690519,-0.1661606251765371,1.0486199039638455,0.16271688164956216,true,false, +6.503079182751154,-0.925506072874494,2.0068415403446,-1.0757393842387724,true,false, +8.564159683645608,-2.0645242444214293,1.0666995574804634,-0.7051064871481034,true,false, diff --git a/PathWeaver/Paths/galacticB_blue.path b/PathWeaver/Paths/galacticB_blue.path index 3bf66d5..c87e887 100644 --- a/PathWeaver/Paths/galacticB_blue.path +++ b/PathWeaver/Paths/galacticB_blue.path @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.2870991432068544,-1.7300506543639957,1.4282926278128234,0.5333497787402315,true,false, +1.1063026080406742,-1.775249788155541,1.4734917616043686,0.108477921099708,true,false, 2.805790038602768,-3.1945025892100554,1.3198147067131156,-1.1118986912720081,true,false, 4.423919028340081,-3.3300999905846904,0.7322259674230294,1.0847792109970809,true,false, 4.89399001977215,-2.0374047641465025,0.5152701252236147,1.9978017135862915,true,false, diff --git a/PathWeaver/Paths/galacticB_red.path b/PathWeaver/Paths/galacticB_red.path index 314fbf5..b0ef688 100644 --- a/PathWeaver/Paths/galacticB_red.path +++ b/PathWeaver/Paths/galacticB_red.path @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.1876610488654553,-1.7300506543639957,2.630589586667922,0.5875887392900856,true,false, +1.1876610488654553,-1.7300506543639957,2.5853904528763767,0.06327878730816283,true,false, 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\ 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 cbe3ed4..1559bc9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,6 +18,7 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; +import frc.robot.commands.autons.TesteGroups; import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; @@ -54,7 +55,9 @@ public RobotContainer() { "galacticA_blue", "galacticB_red", "galacticB_blue", - "bounce" + "bounce", + "path1", + "path2" ); this.configureButtonBindings(); 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 4973466..38ef187 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(0.6); + this.intake.setSpeed(0.4); } @Override From 51778b193fe9439059bcd9bd2961f467a6b1be66 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 25 Mar 2021 16:09:43 -0300 Subject: [PATCH 9/9] pronto --- PathWeaver/Paths/galacticA_blue.path | 6 +++--- PathWeaver/Paths/galacticA_red.path | 6 +++--- PathWeaver/Paths/galacticB_blue.path | 17 +++++++++-------- PathWeaver/pathweaver.json | 2 +- .../paths/output/galacticA_blue.wpilib.json | 2 +- .../paths/output/galacticA_red.wpilib.json | 2 +- .../paths/output/galacticB_blue.wpilib.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 3 ++- .../robot/commands/intake/CollectPowerCell.java | 2 +- 9 files changed, 22 insertions(+), 20 deletions(-) diff --git a/PathWeaver/Paths/galacticA_blue.path b/PathWeaver/Paths/galacticA_blue.path index 4e38c69..3ebef39 100644 --- a/PathWeaver/Paths/galacticA_blue.path +++ b/PathWeaver/Paths/galacticA_blue.path @@ -3,6 +3,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 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, -5.25558309010451,-1.0882229545240563,0.09943809434139883,0.967261463139064,true,false, -6.394601261651445,-2.2272411260709912,2.033961020619527,-0.37967272384897877,true,false, -8.663597777987006,-2.281480086620846,0.47911081819037804,0.07231861406647244,true,false, +5.364061011204219,-1.1334220883156012,0.09943809434139883,0.967261463139064,true,false, +6.638676584125789,-2.4984359288202618,2.033961020619527,-0.37967272384897877,true,false, +8.72687656529517,-2.3176393936540816,0.47911081819037804,0.07231861406647244,true,false, diff --git a/PathWeaver/Paths/galacticA_red.path b/PathWeaver/Paths/galacticA_red.path index 727a435..a11c5b3 100644 --- a/PathWeaver/Paths/galacticA_red.path +++ b/PathWeaver/Paths/galacticA_red.path @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 1.3051787967234725,-1.811409095188777,2.6034701063929946,-1.1751774785801714,true,false, -4.234082666415592,-2.8961883061858584,0.0,1.2113367856134074,true,false, -4.261202146690519,-0.1661606251765371,1.0486199039638455,0.16271688164956216,true,false, +4.234082666415592,-2.8961883061858584,0.18983636192448916,1.1932571320967895,true,false, +4.776472271914133,-0.3288775068260993,1.0486199039638455,0.16271688164956216,true,false, 6.503079182751154,-0.925506072874494,2.0068415403446,-1.0757393842387724,true,false, -8.564159683645608,-2.0645242444214293,1.0666995574804634,-0.7051064871481034,true,false, +8.717836738536862,-2.2634004331042274,1.0666995574804634,-0.7051064871481034,true,false, diff --git a/PathWeaver/Paths/galacticB_blue.path b/PathWeaver/Paths/galacticB_blue.path index c87e887..e3dcb54 100644 --- a/PathWeaver/Paths/galacticB_blue.path +++ b/PathWeaver/Paths/galacticB_blue.path @@ -1,9 +1,10 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.1063026080406742,-1.775249788155541,1.4734917616043686,0.108477921099708,true,false, -2.805790038602768,-3.1945025892100554,1.3198147067131156,-1.1118986912720081,true,false, -4.423919028340081,-3.3300999905846904,0.7322259674230294,1.0847792109970809,true,false, -4.89399001977215,-2.0374047641465025,0.5152701252236147,1.9978017135862915,true,false, -6.150525939177103,-1.5402142924395068,0.641827699839939,-0.5243099519819225,true,false, -6.864672253083515,-2.453236795028716,0.8226242350061197,-1.1118986912720086,true,false, -8.066969211938611,-2.8329095188776954,0.9039826758309033,1.0215004236889182,true,false, -8.91671292721966,-2.0102852838715752,0.49719047170699504,0.5062302984653049,true,false, +0.7537493644666228,-2.281480086620846,1.4734917616043686,0.108477921099708,true,false, +2.3176393936540816,-3.0589051878354208,1.3198147067131156,-1.1118986912720081,true,false, +3.483777045475944,-3.601294793333961,0.8859030223142832,-0.045199133791545165,true,false, +4.6,-3.2758610300348368,0.6979017041709827,0.9401419828641373,true,false, +5.445419452028999,-2.2362809528293006,0.3977523773655989,0.7231861406647209,true,false, +6.45,-0.9,0.4429515111571414,-0.6237480463233216,true,false, +6.692915544675643,-2.4261173147537898,-0.009039826758309388,-1.9616424065530556,true,false, +7.244344976932493,-3.3572194708596177,0.6418276998399399,1.2565359194049526,true,false, +8.500880896337446,-1.6486922135392148,0.47007099143206865,0.5695090857734677,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index ffc1817..77ae6f5 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 1.2, "maxAcceleration": 2.0, "wheelBase": 0.585, - "gameName": "Galactic Search A", + "gameName": "Galactic Search B", "outputDir": "../src/main/deploy/paths" } \ No newline at end of file diff --git a/src/main/deploy/paths/output/galacticA_blue.wpilib.json b/src/main/deploy/paths/output/galacticA_blue.wpilib.json index 407682a..153aa32 100644 --- a/src/main/deploy/paths/output/galacticA_blue.wpilib.json +++ b/src/main/deploy/paths/output/galacticA_blue.wpilib.json @@ -1 +1 @@ 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\ 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 1559bc9..6f576e5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,6 +18,7 @@ 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; @@ -131,7 +132,7 @@ public void configureButtonBindingsDrivetrain() { } public Command getAutonomousCommand() { - return new GalacticA(this.trajectoryBuilder, this.buffer, this.intake); + return new GalacticB(this.trajectoryBuilder, this.buffer, this.intake); } public void reset() { diff --git a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java index 38ef187..0d93a70 100644 --- a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java +++ b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java @@ -15,7 +15,7 @@ public CollectPowerCell(Intake intake) { @Override public void execute() { - this.intake.setSpeed(0.4); + this.intake.setSpeed(0.35); } @Override