Pre duluth - #27
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Pre duluth#27
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…th orbit tuning constans later.
* Test Reject on Compile Error (#7) * test reject merge to main * test reject merge with compile error * fix compile error - pull request test * Shooter Subsystem * Shooter Subsystem * Kinda buggy light subsystem + Blinking lights uhh nothing really else * Constant motor speed * Slight organization * X config + More optimized code * Lights When Shooting + Shooting Lights + Light Control * ID Switch * Controll Changes and Feeder Addition * Minor Feeder Bot Changes * Moving IDS to constant * !!!(NEEDS TESTING)!!! Robot motor code updated maybe * Attempted fixes (not tested) * Configured the Motors * removed line 21 * made a boolean public * working shooter and feeder code shooter is a toggle feeder works when held * Remove lightSubsystem.java - moved to light-subsystem branch --------- Co-authored-by: AlexHuie <ahuie26@moundsparkacademy.org> Co-authored-by: Zachray <145231265+ZachrayL@users.noreply.github.com> Co-authored-by: jmmaloney3 <jmmaloney3@gmail.com> * Auto align (#9) * Update LimelightHelpers.java * AutoAlign coded with placeholder distance * Coded auto align, also commented for most of them. Need correction with orbit tuning constans later. * Add PID controller for correct radius & feedforward with angular velocity * Fixed the swervemodules --------- Co-authored-by: Seqi <gavin2noah@gmail.com> * Pathplanner lib and basic auto structure (no commands) * errors but commit so other people can get code * Intake Toggle Code (#8) * intake code does not work yet * updated intake code changed control to toggle w/ x button on hems controller roborio connection problem can build but can't deploy * updated pid value for test board * toggle intake code * started intake arm code doesn't work yet * added intake arm code needs PID tuning and testing * arm code with setpoints moves to the setpoints but oscillates around them nees tuning * updated PID values (in progress) * Changed intake button to two separate ones, A for lowering the intake arm, Y for raising the intake arm on helms controller * adjust intake * updated controls * fixed intake arm (working), the motor is really strong but it's fine --------- Co-authored-by: Nonochen0104 <xchen26@moundsparkacademy.org> * shooter subsystem (#10) * Shooter Subsystem * Kinda buggy light subsystem + Blinking lights uhh nothing really else * Constant motor speed * Slight organization * X config + More optimized code * Lights When Shooting + Shooting Lights + Light Control * ID Switch * Controll Changes and Feeder Addition * Minor Feeder Bot Changes * Moving IDS to constant * !!!(NEEDS TESTING)!!! Robot motor code updated maybe * Attempted fixes (not tested) * Configured the Motors * removed line 21 * made a boolean public * working shooter and feeder code shooter is a toggle feeder works when held * Remove lightSubsystem.java - moved to light-subsystem branch * Added hood and controllers for all shooter related parts * Fixed all the shooter parts, everything is working (shooter, feeder, hood) * Deleted repeated helms controller definition --------- Co-authored-by: FireheadReal <jwrich28@moundsparkacademy.org> Co-authored-by: AlexHuie <ahuie26@moundsparkacademy.org> Co-authored-by: jmmaloney3 <jmmaloney3@gmail.com> Co-authored-by: Nonochen0104 <xchen26@moundsparkacademy.org> Co-authored-by: Gavin <gavin2noah@gmail.com> * Fix compile error in startAutoAt() method - Complete the incomplete if statement - Implement proper odometry reset with alliance-aware coordinate flipping - Add missing Translation2d import - Method now properly resets robot pose to starting position for autonomous * fix compile error by completing startAutoAt method * Theoretically working auto (probably not) * partial autobuilder configuration code * finished autoBuilder config needs testing and review * changed build.gradle * Added pathplaner folder with eight lemon path * added depot auto(s) * add leave auto --------- Co-authored-by: jmmaloney3 <jmmaloney3@users.noreply.github.com> Co-authored-by: FireheadReal <jwrich28@moundsparkacademy.org> Co-authored-by: AlexHuie <ahuie26@moundsparkacademy.org> Co-authored-by: Zachray <145231265+ZachrayL@users.noreply.github.com> Co-authored-by: jmmaloney3 <jmmaloney3@gmail.com> Co-authored-by: Seqi <gavin2noah@gmail.com>
This reverts commit 24fa677.
This reverts commit a6b3ecb.
added the Pathplannerlib in vendor and the constants&swervesubsystem settings for autonomous, started the 8 fuel auto with a path code in.
Got some big blocks of comments deleted for this branch for now (better going over code for coding auto)
Added a drive test autonomous with both driving manually and driving by pathplanner (the pathplanner drive code is currently comment out but can bring back at any time, just switch the manual drive code)
Put driveInvert and angleInvert specifically for every single module in Constants.
Rebuilt Drive Base
… the pathplanner auto
This reverts commit 297dbc4.
…melight and the livecam
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Pre-Duluth & Duluth Changes
* I'm sure I missed some changes but these are the major ones
Swerve
- Updated simulation things - SwerveSubsystem.java
- Changed getSpeedMultiplier to 70% strafe and translation speed - RobotContainer.java
ShooterArchetecture
- Updated motors and configs/commands - ShooterSubsystem.java
- Added some variables to elastic - ShooterSubsystem.java
- Updated Controls - RobotContainer.java
- Added another hood angle - ShooterSubsystem.java, Constants.java, & RobotContainer.java
Intake Subsystem
- Changed intake arm PID (now works)
- Changed intake roller speed
Vision
- Changed to MegaTag 1 (potentially to be changed back) - SwerveSubsystem.java
- Changed limelight stream for elastic - Constants.VisionConstants & RobotContainer.java
- Added Vision Camera stream - RobotContainer.java
Auto
- Added unused auto folder - UnusedAuto/
- Updated/created the following autos:
I. Left LemonAuto
II. RightLemonAuto
III. CenterLemonAuto
IV. ShootEightAuto
Auto Align
- Updated AltAutoAlign.java
- Minor Updates to AutoAlign.java
- Neither Auto-Align works perfectly
Extra
- Added language and project year - wpilib_preferences.json
- removed and double checked that it was in gitignore - ctre_sim/, .gitignore
- Updated WPIlib to version 26.2.1
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All the changes before the competition and at the competition