From a29544948ec8a288987284a6b9093d8444296979 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Tue, 13 Jan 2026 22:15:15 -0800 Subject: [PATCH 01/40] autos --- src/main/java/frc/robot/Autos.java | 107 ++++++++++++++++++++++------- 1 file changed, 82 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index d7e1e8f..877b4a2 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +//import frc.robot.Autos.PathEndType; import frc.robot.Robot.RobotType; import frc.robot.subsystems.swerve.SwerveSubsystem; import org.littletonrobotics.junction.AutoLogOutput; @@ -23,39 +24,61 @@ public class Autos { // Declare triggers // mehhhhhhh - private static boolean autoPreScore; + private static boolean autoFeed; + private static boolean autoIntake; private static boolean autoScore; - private static boolean autoIntakeCoral; + private static boolean autoClimb; // private static boolean autoIntakeAlgae; - @AutoLogOutput(key = "Superstructure/Auto Pre Score Request") - public static Trigger autoPreScoreReq = - new Trigger(() -> autoPreScore).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Feed Request") + public static Trigger autoFeedReq = + new Trigger(() -> autoFeed).and(DriverStation::isAutonomous); - @AutoLogOutput(key = "Superstructure/Auto Score Request") - public static Trigger autoScoreReq = - new Trigger(() -> autoScore).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Intake Request") + public static Trigger autoIntakeReq = + new Trigger(() -> autoIntake).and(DriverStation::isAutonomous); - @AutoLogOutput(key = "Superstructure/Auto Coral Intake Request") - public static Trigger autoIntakeCoralReq = - new Trigger(() -> autoIntakeCoral).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Score Request") + public static Trigger autoScoreReq = + new Trigger(() -> autoScore).and(DriverStation::isAutonomous); - public enum PathEndType { - PLACEHOLDER; - } + @AutoLogOutput(key = "Superstructure/Auto Climb Request") + public static Trigger autoClimbReq = + new Trigger(() -> autoClimb).and(DriverStation::isAutonomous); + + public enum Action { + FEED, + INTAKE, + SCORE, + CLIMB; + } public enum Path { - PLACEHOLDER("placeholder", "placeholder", PathEndType.PLACEHOLDER); + //R/L for right and left. +//P for park +//C for climb. +//S for scoreing pos. +//F for feeding poses +PLtoCL("PL", "CL", Action.CLIMB), +PRtoCR("PR", "CR", Action.CLIMB), +PLtoSL("PL", "CL", Action.SCORE), +PRtoSR("PR", "CR", Action.SCORE), +SLtoCL("SL", "CL", Action.CLIMB), +SRtoCR("SR", "CR", Action.CLIMB), +SLtoFL("SL", "FL", Action.FEED), +SRtoFR("SR", "FR", Action.FEED), +FRtoFL("FR", "FL", Action.FEED), +FLtoFR("FL", "FR", Action.FEED); private final String start; private final String end; - private final PathEndType type; + private final Action action; - private Path(String start, String end, PathEndType type) { + private Path(String start, String end, Action action) { this.start = start; this.end = end; - this.type = type; + this.action = action; } public AutoTrajectory getTrajectory(AutoRoutine routine) { @@ -100,29 +123,63 @@ public Command leaveAuto() { } public Command runPath(Path path, AutoRoutine routine) { - PathEndType type = path.type; - switch (type) { + Action action = path.action; + switch (action) { default: // this should never happen return Commands.none(); } } + public Command setAutoIntakeReqTrue() { + return Commands.runOnce( + () -> { + autoIntake= true; + }); + } + public Command setAutoIntakeReqFalse() { + return Commands.runOnce( + () -> { + autoIntake = false; + }); + } + public Command setAutoScoreReqTrue() { return Commands.runOnce( () -> { autoScore = true; }); } + public Command setAutoScoreReqFalse() { + return Commands.runOnce( + () -> { + autoScore = false; + }); + } - public Command setAutoPreScoreReqTrue() { - return Commands.runOnce(() -> autoPreScore = true); + public Command setAutoFeedReqTrue() { + return Commands.runOnce( + () -> { + autoFeed = true; + }); + } + public Command setAutoFeedReqFalse() { + return Commands.runOnce( + () -> { + autoFeed = false; + }); } - public Command setAutoScoreReqFalse() { + public Command setAutoClimbReqTrue() { return Commands.runOnce( () -> { - autoScore = false; - autoPreScore = false; + autoClimb = true; + }); + } + public Command setAutoClimbReqFalse() { + return Commands.runOnce( + () -> { + autoClimb = false; }); } +//TODO other things: depot autos, waiting for balls to be intaked/shot etc, make auto traj in choreo, write for the actaul paths } From 65bd9aa8546a303e22291f8705bc12e528779775 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Wed, 14 Jan 2026 17:44:20 -0800 Subject: [PATCH 02/40] debug outline commands for autos --- src/main/java/frc/robot/Autos.java | 89 +++++++++++++-------- src/main/java/frc/robot/Superstructure.java | 2 +- 2 files changed, 56 insertions(+), 35 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 877b4a2..81a840a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -//import frc.robot.Autos.PathEndType; +// import frc.robot.Autos.PathEndType; import frc.robot.Robot.RobotType; import frc.robot.subsystems.swerve.SwerveSubsystem; import org.littletonrobotics.junction.AutoLogOutput; @@ -32,44 +32,43 @@ public class Autos { // private static boolean autoIntakeAlgae; @AutoLogOutput(key = "Superstructure/Auto Feed Request") - public static Trigger autoFeedReq = - new Trigger(() -> autoFeed).and(DriverStation::isAutonomous); + public static Trigger autoFeedReq = new Trigger(() -> autoFeed).and(DriverStation::isAutonomous); - @AutoLogOutput(key = "Superstructure/Auto Intake Request") - public static Trigger autoIntakeReq = - new Trigger(() -> autoIntake).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Intake Request") + public static Trigger autoIntakeReq = + new Trigger(() -> autoIntake).and(DriverStation::isAutonomous); - @AutoLogOutput(key = "Superstructure/Auto Score Request") - public static Trigger autoScoreReq = - new Trigger(() -> autoScore).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Score Request") + public static Trigger autoScoreReq = + new Trigger(() -> autoScore).and(DriverStation::isAutonomous); - @AutoLogOutput(key = "Superstructure/Auto Climb Request") - public static Trigger autoClimbReq = - new Trigger(() -> autoClimb).and(DriverStation::isAutonomous); + @AutoLogOutput(key = "Superstructure/Auto Climb Request") + public static Trigger autoClimbReq = + new Trigger(() -> autoClimb).and(DriverStation::isAutonomous); public enum Action { - FEED, - INTAKE, - SCORE, - CLIMB; - } + FEED, + INTAKE, + SCORE, + CLIMB; + } public enum Path { - //R/L for right and left. -//P for park -//C for climb. -//S for scoreing pos. -//F for feeding poses -PLtoCL("PL", "CL", Action.CLIMB), -PRtoCR("PR", "CR", Action.CLIMB), -PLtoSL("PL", "CL", Action.SCORE), -PRtoSR("PR", "CR", Action.SCORE), -SLtoCL("SL", "CL", Action.CLIMB), -SRtoCR("SR", "CR", Action.CLIMB), -SLtoFL("SL", "FL", Action.FEED), -SRtoFR("SR", "FR", Action.FEED), -FRtoFL("FR", "FL", Action.FEED), -FLtoFR("FL", "FR", Action.FEED); + // R/L for right and left. + // P for park + // C for climb. + // S for scoreing pos. + // F for feeding poses + PLtoCL("PL", "CL", Action.CLIMB), + PRtoCR("PR", "CR", Action.CLIMB), + PLtoSL("PL", "CL", Action.SCORE), + PRtoSR("PR", "CR", Action.SCORE), + SLtoCL("SL", "CL", Action.CLIMB), + SRtoCR("SR", "CR", Action.CLIMB), + SLtoFL("SL", "FL", Action.FEED), + SRtoFR("SR", "FR", Action.FEED), + FRtoFL("FR", "FL", Action.FEED), + FLtoFR("FL", "FR", Action.FEED); private final String start; private final String end; @@ -122,6 +121,23 @@ public Command leaveAuto() { return routine.cmd(); } + //TODO + public Command climbInAuto() { + return null; + } + + public Command feedInAuto() { + return null; + } + + public Command scoreInAuto() { + return null; + } + + public Command intakeInAuto() { + return null; + } + public Command runPath(Path path, AutoRoutine routine) { Action action = path.action; switch (action) { @@ -133,9 +149,10 @@ public Command runPath(Path path, AutoRoutine routine) { public Command setAutoIntakeReqTrue() { return Commands.runOnce( () -> { - autoIntake= true; + autoIntake = true; }); } + public Command setAutoIntakeReqFalse() { return Commands.runOnce( () -> { @@ -149,6 +166,7 @@ public Command setAutoScoreReqTrue() { autoScore = true; }); } + public Command setAutoScoreReqFalse() { return Commands.runOnce( () -> { @@ -162,6 +180,7 @@ public Command setAutoFeedReqTrue() { autoFeed = true; }); } + public Command setAutoFeedReqFalse() { return Commands.runOnce( () -> { @@ -175,11 +194,13 @@ public Command setAutoClimbReqTrue() { autoClimb = true; }); } + public Command setAutoClimbReqFalse() { return Commands.runOnce( () -> { autoClimb = false; }); } -//TODO other things: depot autos, waiting for balls to be intaked/shot etc, make auto traj in choreo, write for the actaul paths + // TODO other things: depot autos, waiting for balls to be intaked/shot etc, make auto traj in + // choreo, write for the actaul paths } diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 91759fa..9101fe6 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -70,7 +70,7 @@ public Superstructure( } private void addTriggers() { - preScoreReq = driver.rightTrigger().or(Autos.autoPreScoreReq); + // preScoreReq = driver.rightTrigger().or(Autos.autoPreScoreReq); scoreReq = driver.rightTrigger().negate().and(DriverStation::isTeleop).or(Autos.autoScoreReq); } From 16aa43832847f60dc5138790d5b080cc1ee7b9c3 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 17 Jan 2026 16:21:39 -0800 Subject: [PATCH 03/40] import autp trajectories --- src/main/deploy/choreo/DtoFL.traj | 191 ++++++++++++++++ src/main/deploy/choreo/FLMtoPL.traj | 149 +++++++++++++ src/main/deploy/choreo/FLtoFLM.traj | 77 +++++++ src/main/deploy/choreo/FLtoPL.traj | 148 +++++++++++++ src/main/deploy/choreo/FRMtoPR.traj | 168 ++++++++++++++ src/main/deploy/choreo/FRtoFRM.traj | 77 +++++++ src/main/deploy/choreo/FRtoPR.traj | 149 +++++++++++++ src/main/deploy/choreo/OtoFR.traj | 181 +++++++++++++++ src/main/deploy/choreo/PLtoCL.traj | 88 ++++++++ src/main/deploy/choreo/PLtoCM.traj | 89 ++++++++ src/main/deploy/choreo/PLtoD.traj | 81 +++++++ src/main/deploy/choreo/PLtoFL.traj | 167 ++++++++++++++ src/main/deploy/choreo/PRtoCM.traj | 87 ++++++++ src/main/deploy/choreo/PRtoCR.traj | 85 ++++++++ src/main/deploy/choreo/PRtoFR.traj | 146 +++++++++++++ src/main/deploy/choreo/PRtoO.traj | 82 +++++++ src/main/deploy/choreo/h.traj | 31 +++ src/main/deploy/choreo/rebuiltChoreo.chor | 254 ++++++++++++++++++++++ src/main/deploy/example.txt | 3 - src/main/java/frc/robot/Autos.java | 43 ++-- 20 files changed, 2279 insertions(+), 17 deletions(-) create mode 100644 src/main/deploy/choreo/DtoFL.traj create mode 100644 src/main/deploy/choreo/FLMtoPL.traj create mode 100644 src/main/deploy/choreo/FLtoFLM.traj create mode 100644 src/main/deploy/choreo/FLtoPL.traj create mode 100644 src/main/deploy/choreo/FRMtoPR.traj create mode 100644 src/main/deploy/choreo/FRtoFRM.traj create mode 100644 src/main/deploy/choreo/FRtoPR.traj create mode 100644 src/main/deploy/choreo/OtoFR.traj create mode 100644 src/main/deploy/choreo/PLtoCL.traj create mode 100644 src/main/deploy/choreo/PLtoCM.traj create mode 100644 src/main/deploy/choreo/PLtoD.traj create mode 100644 src/main/deploy/choreo/PLtoFL.traj create mode 100644 src/main/deploy/choreo/PRtoCM.traj create mode 100644 src/main/deploy/choreo/PRtoCR.traj create mode 100644 src/main/deploy/choreo/PRtoFR.traj create mode 100644 src/main/deploy/choreo/PRtoO.traj create mode 100644 src/main/deploy/choreo/h.traj create mode 100644 src/main/deploy/choreo/rebuiltChoreo.chor delete mode 100644 src/main/deploy/example.txt diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj new file mode 100644 index 0000000..4ca2f60 --- /dev/null +++ b/src/main/deploy/choreo/DtoFL.traj @@ -0,0 +1,191 @@ +{ + "name":"DtoFL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.598788022994995, "y":7.017364501953125, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.455245018005371, "y":7.414467811584473, "heading":-1.5458023132011167, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.023802280426025, "y":7.464105606079102, "heading":-2.1641466961467395, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.582432270050049, "y":6.997509479522705, "heading":-1.5042280921760645, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.598788022994995 m", "val":2.598788022994995}, "y":{"exp":"7.017364501953125 m", "val":7.017364501953125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.455245018005371 m", "val":4.455245018005371}, "y":{"exp":"7.414467811584473 m", "val":7.414467811584473}, "heading":{"exp":"-1.5458023132011167 rad", "val":-1.5458023132011167}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.023802280426025 m", "val":6.023802280426025}, "y":{"exp":"7.464105606079102 m", "val":7.464105606079102}, "heading":{"exp":"-2.1641466961467395 rad", "val":-2.1641466961467395}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"7.582432270050049 m", "val":7.582432270050049}, "y":{"exp":"6.997509479522705 m", "val":6.997509479522705}, "heading":{"exp":"-1.5042280921760645 rad", "val":-1.5042280921760645}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"-23.56243133544922 mm", "val":-0.02356243133544922}, "y":{"exp":"-0.10602998733520508 m", "val":-0.10602998733520508}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.301625, + "y":0.295275 + }, + "backLeft":{ + "x":-0.301625, + "y":0.295275 + }, + "mass":65.39238106842257, + "inertia":6.590492861012039, + "gearing":5.902777777777778, + "radius":0.0508, + "vmax":523.5987755982989, + "tmax":0.9, + "cof":1.5, + "bumper":{ + "front":0.46609, + "side":0.46609, + "back":0.46609 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.76857,1.20601,1.55528,2.04589,2.73535], + "samples":[ + {"t":0.0, "x":1.30785, "y":5.92098, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.75524, "ay":4.37439, "alpha":7.94477, "fx":[102.43327,70.98175,13.11124,59.03764], "fy":[20.27731,76.65071,103.60455,85.51927]}, + {"t":0.02562, "x":1.30909, "y":5.92242, "heading":3.14159, "vx":0.09621, "vy":0.11207, "omega":0.20354, "ax":3.79571, "ay":4.3599, "alpha":7.84786, "fx":[102.32488,71.13844,14.05993,60.68706], "fy":[20.78179,76.4981,103.47276,84.35179]}, + {"t":0.05124, "x":1.3128, "y":5.92672, "heading":-3.13638, "vx":0.19345, "vy":0.22376, "omega":0.40459, "ax":3.84716, "ay":4.33874, "alpha":7.73186, "fx":[102.16584,71.14679,14.93448,63.32786], "fy":[21.51452,76.48239,103.3417,82.38199]}, + {"t":0.07686, "x":1.31902, "y":5.93387, "heading":-3.12601, "vx":0.29201, "vy":0.33492, "omega":0.60267, "ax":3.90641, "ay":4.31126, "alpha":7.60854, "fx":[101.95373,71.01703,15.76331,66.71561], "fy":[22.4628,76.59408,103.20874,79.65786]}, + {"t":0.10248, "x":1.32778, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.6150895357131958}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", 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"omega":0.0, "ax":6.39021, "ay":0.00209, "alpha":0.0, "fx":[104.46774,104.46774,104.46774,104.46774], "fy":[0.03421,0.03421,0.03421,0.03421]}, + {"t":1.0646, "x":0.64502, "y":0.71987, "heading":3.14159, "vx":-0.61855, "vy":-0.0002, "omega":0.0, "ax":6.39084, "ay":0.00209, "alpha":0.0, "fx":[104.47813,104.47813,104.47813,104.47813], "fy":[0.03421,0.03421,0.03421,0.03421]}, + {"t":1.113, "x":0.62257, "y":0.71987, "heading":3.14159, "vx":-0.30929, "vy":-0.0001, "omega":0.0, "ax":6.39137, "ay":0.00209, "alpha":0.0, "fx":[104.48671,104.48671,104.48671,104.48671], "fy":[0.03422,0.03422,0.03422,0.03422]}, + {"t":1.16139, "x":0.61509, "y":0.71986, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/h.traj b/src/main/deploy/choreo/h.traj new file mode 100644 index 0000000..ff6d34c --- /dev/null +++ b/src/main/deploy/choreo/h.traj @@ -0,0 +1,31 @@ +{ + "name":"h", + "version":3, + "snapshot":{ + "waypoints":[], + "constraints":[], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"3.9535651206970215 m", "val":3.9535651206970215}, "y":{"exp":"0.9628096222877502 m", "val":0.9628096222877502}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.2157375812530518 m", "val":2.215737581253052}, "y":{"exp":"2.18951153755188 m", "val":2.18951153755188}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.7779757976531982 m", "val":2.7779757976531982}, "y":{"exp":"1.1417036056518555 m", "val":1.1417036056518557}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":null, + "sampleType":null, + "waypoints":[], + "samples":[], + "splits":[] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor new file mode 100644 index 0000000..58a8a34 --- /dev/null +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -0,0 +1,254 @@ +{ + "name":"rebuiltChoreo", + "version":2, + "type":"Swerve", + "variables":{ + "expressions":{ + "slow":{ + "dimension":"LinVel", + "var":{ + "exp":"1.15 m / s", + "val":1.15 + } + }, + "slowaccel":{ + "dimension":"LinAcc", + "var":{ + "exp":"1.5 m / s ^ 2", + "val":1.5 + } + } + }, + "poses":{ + "CL":{ + "x":{ + "exp":"1.7636412382125854 m", + "val":1.7636412382125854 + }, + "y":{ + "exp":"4.111053943634033 m", + "val":4.111053943634033 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "CM":{ + "x":{ + "exp":"1.7500560283660889 m", + "val":1.7500560283660889 + }, + "y":{ + "exp":"3.7646303176879883 m", + "val":3.764630317687988 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "CR":{ + "x":{ + "exp":"1.7568485736846924 m", + "val":1.7568485736846924 + }, + "y":{ + "exp":"3.397829055786133 m", + "val":3.397829055786133 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "D":{ + "x":{ + "exp":"1.307854413986206 m", + "val":1.307854413986206 + }, + "y":{ + "exp":"5.920979976654053 m", + "val":5.920979976654053 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "FL":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"5.865901947021484 m", + "val":5.865901947021484 + }, + "heading":{ + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "FLM":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"4.503572463989258 m", + "val":4.503572463989258 + }, + "heading":{ + "exp":"-1.5707963267948966 rad", + "val":-1.5707963267948966 + } + }, + "FR":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"2.2169458866119385 m", + "val":2.2169458866119385 + }, + "heading":{ + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 + } + }, + "FRM":{ + "x":{ + "exp":"7.8203654289245605 m", + "val":7.82036542892456 + }, + "y":{ + "exp":"3.55698299407959 m", + "val":3.55698299407959 + }, + "heading":{ + "exp":"1.5707963267948966 rad", + "val":1.5707963267948966 + } + }, + "O":{ + "x":{ + "exp":"0.6150895357131958 m", + "val":0.6150895357131958 + }, + "y":{ + "exp":"0.7198631167411804 m", + "val":0.7198631167411804 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "PLO":{ + "x":{ + "exp":"2.814626932144165 m", + "val":2.814626932144165 + }, + "y":{ + "exp":"7.330637454986572 m", + "val":7.330637454986572 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "PR":{ + "x":{ + "exp":"2.768587827682495 m", + "val":2.768587827682495 + }, + "y":{ + "exp":"0.7205682992935181 m", + "val":0.7205682992935181 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + } + } + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"23.75 / 2 in", + "val":0.301625 + }, + "y":{ + "exp":"23.25 / 2 in", + "val":0.295275 + } + }, + "backLeft":{ + "x":{ + "exp":"-23.75 / 2 in", + "val":-0.301625 + }, + "y":{ + "exp":"23.25 / 2 in", + "val":0.295275 + } + }, + "mass":{ + "exp":"144.1655226 lb", + "val":65.39238106842257 + }, + "inertia":{ + "exp":"22520.847 in ^ 2 lb", + "val":6.590492861012039 + }, + "gearing":{ + "exp":"(50 / 16) * (17 / 27) * (45 / 15)", + "val":5.902777777777778 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"5000 RPM", + "val":523.5987755982989 + }, + "tmax":{ + "exp":"0.9 N * m", + "val":0.9 + }, + "cof":{ + "exp":"1.5", + "val":1.5 + }, + "bumper":{ + "front":{ + "exp":"36.7 / 2 in", + "val":0.46609 + }, + "side":{ + "exp":"36.7 / 2 in", + "val":0.46609 + }, + "back":{ + "exp":"36.7 / 2 in", + "val":0.46609 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[], + "codegen":{ + "root":null, + "genVars":true, + "genTrajData":true, + "useChoreoLib":true + } +} diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt deleted file mode 100644 index bb82515..0000000 --- a/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 81a840a..3cf3ab5 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -54,21 +54,37 @@ public enum Action { } public enum Path { - // R/L for right and left. - // P for park - // C for climb. - // S for scoreing pos. + // R for right + // L for left + // M for middle + // P for park (starting pose but often used for scoring pose ig) + // D for depot + // O for outpost + // C for climb + // S was going to be for scoreing pos but i think we will just score // F for feeding poses + // I for intake??? + + // not every same path will result in same action so ill think on that a little bit or i could + // just make two different paths for each like the intake version and feeding version + // may have to rethink naming to some extent and add more poses + + DtoFL("D", "FL", Action.INTAKE), // intake or feed + FLMtoPL("FLM", "PL", Action.SCORE), + FLtoFLM("FL", "FLM", Action.INTAKE), // intake or feed + FLtoPL("FL", "PL", Action.SCORE), + FRMtoPR("FRM", "PR", Action.SCORE), + FRtoFRM("FR", "FRM", Action.INTAKE), // intake or feed + FRtoPR("FR", "PR", Action.SCORE), + OtoFR("O", "FR", Action.INTAKE), // intake or feed PLtoCL("PL", "CL", Action.CLIMB), + PLtoCM("PL", "CM", Action.CLIMB), + PLtoD("PL", "D", Action.INTAKE), + PLtoFL("PL", "FL", Action.INTAKE), // intake or feed + PRtoCM("PR", "CM", Action.CLIMB), PRtoCR("PR", "CR", Action.CLIMB), - PLtoSL("PL", "CL", Action.SCORE), - PRtoSR("PR", "CR", Action.SCORE), - SLtoCL("SL", "CL", Action.CLIMB), - SRtoCR("SR", "CR", Action.CLIMB), - SLtoFL("SL", "FL", Action.FEED), - SRtoFR("SR", "FR", Action.FEED), - FRtoFL("FR", "FL", Action.FEED), - FLtoFR("FL", "FR", Action.FEED); + PRtoFR("PR", "FR", Action.INTAKE), // intake or feed + PRtoO("PR", "O", Action.INTAKE); private final String start; private final String end; @@ -106,7 +122,6 @@ public Autos(SwerveSubsystem swerve) { }); } - // TODO write leave auto public Command leaveAuto() { final AutoRoutine routine = factory.newRoutine("Leave Auto"); Path[] paths = {}; @@ -121,7 +136,7 @@ public Command leaveAuto() { return routine.cmd(); } - //TODO + // TODO public Command climbInAuto() { return null; } From efccd48a40ecc35b547fb3952f2c976144171834 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 18 Jan 2026 15:43:21 -0800 Subject: [PATCH 04/40] adding action paths in autos --- src/main/deploy/choreo/FRtoFRM.traj | 3 +- src/main/deploy/choreo/h.traj | 31 ------ src/main/java/frc/robot/Autos.java | 164 ++++++++++++++++++++++++---- 3 files changed, 142 insertions(+), 56 deletions(-) delete mode 100644 src/main/deploy/choreo/h.traj diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index bbe1e8a..d08d343 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -14,7 +14,8 @@ "params":{ "waypoints":[ {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.7779757976531982 m", "val":2.7779757976531982}, "y":{"exp":"1.1417036056518555 m", "val":1.1417036056518557}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, diff --git a/src/main/deploy/choreo/h.traj b/src/main/deploy/choreo/h.traj deleted file mode 100644 index ff6d34c..0000000 --- a/src/main/deploy/choreo/h.traj +++ /dev/null @@ -1,31 +0,0 @@ -{ - "name":"h", - "version":3, - "snapshot":{ - "waypoints":[], - "constraints":[], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"3.9535651206970215 m", "val":3.9535651206970215}, "y":{"exp":"0.9628096222877502 m", "val":0.9628096222877502}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.2157375812530518 m", "val":2.215737581253052}, "y":{"exp":"2.18951153755188 m", "val":2.18951153755188}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.7779757976531982 m", "val":2.7779757976531982}, "y":{"exp":"1.1417036056518555 m", "val":1.1417036056518557}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "config":null, - "sampleType":null, - "waypoints":[], - "samples":[], - "splits":[] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 3cf3ab5..4907f08 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -69,22 +69,35 @@ public enum Path { // just make two different paths for each like the intake version and feeding version // may have to rethink naming to some extent and add more poses - DtoFL("D", "FL", Action.INTAKE), // intake or feed + // may change back to include action it makes stuff easier + DtoFL("D", "FL", Action.FEED), FLMtoPL("FLM", "PL", Action.SCORE), - FLtoFLM("FL", "FLM", Action.INTAKE), // intake or feed + FLtoFLM("FL", "FLM", Action.FEED), FLtoPL("FL", "PL", Action.SCORE), FRMtoPR("FRM", "PR", Action.SCORE), - FRtoFRM("FR", "FRM", Action.INTAKE), // intake or feed + FRtoFRM("FR", "FRM", Action.FEED), FRtoPR("FR", "PR", Action.SCORE), - OtoFR("O", "FR", Action.INTAKE), // intake or feed + OtoFR("O", "FR", Action.FEED), PLtoCL("PL", "CL", Action.CLIMB), PLtoCM("PL", "CM", Action.CLIMB), PLtoD("PL", "D", Action.INTAKE), - PLtoFL("PL", "FL", Action.INTAKE), // intake or feed + PLtoFL("PL", "FL", Action.FEED), PRtoCM("PR", "CM", Action.CLIMB), PRtoCR("PR", "CR", Action.CLIMB), - PRtoFR("PR", "FR", Action.INTAKE), // intake or feed - PRtoO("PR", "O", Action.INTAKE); + PRtoFR("PR", "FR", Action.FEED), + PRtoO("PR", "O", Action.INTAKE), + // idk sep intake and feed so action is included makes it easier for me but they use the same + // trajectories so i dont have to make new paths + DtoIL("D", "FL", Action.INTAKE), + ILMtoPL("FLM", "PL", Action.SCORE), + ILtoILM("FL", "FLM", Action.INTAKE), + ILtoPL("FL", "PL", Action.SCORE), + IRMtoPR("FRM", "PR", Action.SCORE), + IRtoIRM("FR", "FRM", Action.INTAKE), + IRtoPR("FR", "PR", Action.SCORE), + OtoIR("O", "FR", Action.INTAKE), + PLtoIL("PL", "FL", Action.INTAKE), + PRtoIR("PR", "FR", Action.INTAKE); private final String start; private final String end; @@ -136,29 +149,78 @@ public Command leaveAuto() { return routine.cmd(); } - // TODO - public Command climbInAuto() { - return null; + public Command runPath(Path path, AutoRoutine routine) { + Action action = path.action; + switch (action) { + case INTAKE: + return intakeInAutoPath(path, routine); + case FEED: + return feedInAutoPath(path, routine); + case SCORE: + return scoreInAutoPath(path, routine); + case CLIMB: + return climbInAutoPath(path, routine); + default: // this should never happen + return Commands.none(); + } } - public Command feedInAuto() { - return null; + // TODO aligning to climb pos correctly + public Command climbInAutoPath(Path path, AutoRoutine routine) { + // path align and climb + return Commands.sequence( + path.getTrajectory(routine) + .cmd() + .until( + routine.observe( + path.getTrajectory(routine) + .atTime( + path.getTrajectory(routine).getRawTrajectory().getTotalTime() + - (path.end.length() == 1 ? 0.3 : 0.0)))), + setAutoClimbReqTrue()); } - public Command scoreInAuto() { - return null; + public Command feedInAutoPath(Path path, AutoRoutine routine) { + return Commands.sequence( + setAutoFeedReqTrue(), + path.getTrajectory(routine).cmd(), + path.getTrajectory(routine) + .cmd() + .until( + routine.observe( + path.getTrajectory(routine) + .atTime(path.getTrajectory(routine).getRawTrajectory().getTotalTime()))), + setAutoFeedReqFalse()); } - public Command intakeInAuto() { - return null; + public Command scoreInAutoPath(Path path, AutoRoutine routine) { + // path align and score + return Commands.sequence( + path.getTrajectory(routine) + .cmd() + .until( + routine.observe( + path.getTrajectory(routine) + .atTime( + path.getTrajectory(routine).getRawTrajectory().getTotalTime() + - (path.end.length() == 1 ? 0.3 : 0.0)))), + setAutoScoreReqTrue(), + waitUntilEmpty(), + setAutoScoreReqFalse()); } - public Command runPath(Path path, AutoRoutine routine) { - Action action = path.action; - switch (action) { - default: // this should never happen - return Commands.none(); - } + // feeding and intake could prob be improved + public Command intakeInAutoPath(Path path, AutoRoutine routine) { + return Commands.sequence( + setAutoIntakeReqTrue(), + path.getTrajectory(routine).cmd(), + path.getTrajectory(routine) + .cmd() + .until( + routine.observe( + path.getTrajectory(routine) + .atTime(path.getTrajectory(routine).getRawTrajectory().getTotalTime()))), + setAutoIntakeReqFalse()); } public Command setAutoIntakeReqTrue() { @@ -216,6 +278,60 @@ public Command setAutoClimbReqFalse() { autoClimb = false; }); } - // TODO other things: depot autos, waiting for balls to be intaked/shot etc, make auto traj in - // choreo, write for the actaul paths + + // specific paths: + // no idea what to name them + public Command getDepotScoreClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + // Will always need to reset odo at the start of a routine + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + return routine.cmd(); + } + + public Command getOutpostScoreClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + return routine.cmd(); + } + + public Command getDepotFeedClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + return routine.cmd(); + } + + public Command getOutpostFeedClimbAuto() { + final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + return routine.cmd(); + } + + public Command waitUntilEmpty() { + // TODO wait till robot empty / done scoring + return null; + } } From 1ef61d85edd62d96b364ba07371d17b79527eae1 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 18 Jan 2026 19:27:19 -0800 Subject: [PATCH 05/40] update auto paths for each auto --- src/main/deploy/choreo/FRtoFRM.traj | 99 +++++++++--- src/main/deploy/choreo/OtoFR.traj | 242 +++++++++++++--------------- 2 files changed, 190 insertions(+), 151 deletions(-) diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index d08d343..c290398 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -4,7 +4,8 @@ "snapshot":{ "waypoints":[ {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.7779757976531982, "y":1.1417036056518557, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -14,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.7779757976531982 m", "val":2.7779757976531982}, "y":{"exp":"1.1417036056518555 m", "val":1.1417036056518557}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -50,28 +51,80 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.29818], + "waypoints":[0.0,0.51399,2.10416], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":4.4843, "omega":0.0, "ax":0.0, "ay":0.64596, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[10.56016,10.56016,10.56016,10.56016]}, - {"t":0.01569, "x":7.82037, "y":2.2874, "heading":1.5708, "vx":0.0, "vy":4.49444, "omega":0.0, "ax":0.0, "ay":0.01651, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.26987,0.26987,0.26987,0.26987]}, - {"t":0.03139, "x":7.82037, "y":2.35793, "heading":1.5708, "vx":0.0, "vy":4.4947, "omega":0.0, "ax":0.0, "ay":0.00041, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00668,0.00668,0.00668,0.00668]}, - {"t":0.04708, "x":7.82037, "y":2.42847, "heading":1.5708, "vx":0.0, "vy":4.4947, "omega":0.0, "ax":0.0, "ay":0.00001, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.00017,0.00017,0.00017,0.00017]}, - {"t":0.06277, "x":7.82037, "y":2.49901, "heading":1.5708, "vx":0.0, "vy":4.49471, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.07847, "x":7.82037, "y":2.56955, "heading":1.5708, "vx":0.0, "vy":4.49471, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.09416, "x":7.82037, "y":2.64008, "heading":1.5708, "vx":0.0, "vy":4.49471, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.10985, "x":7.82037, "y":2.71062, "heading":1.5708, "vx":0.0, "vy":4.49471, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.12555, "x":7.82037, "y":2.78116, "heading":1.5708, "vx":0.0, "vy":4.49471, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, 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a/src/main/deploy/choreo/OtoFR.traj b/src/main/deploy/choreo/OtoFR.traj index c42bc6c..ac95ce6 100644 --- a/src/main/deploy/choreo/OtoFR.traj +++ b/src/main/deploy/choreo/OtoFR.traj @@ -3,27 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.490277051925659, "y":0.5908936262130737, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":4.591293811798096, "y":0.6516668200492859, "heading":1.5707963267948966, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.682045936584473, "y":1.163898229598999, "heading":1.3663751654706588, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6150895357131958, "y":0.7198631167411804, 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"alpha":-5.69727, "fx":[-2.36379,-68.31369,-45.14665,-1.82329], "fy":[-104.27801,-78.90596,-94.17911,-104.41111]}, + {"t":2.56599, "x":7.81983, "y":2.21509, "heading":1.56706, "vx":0.04246, "vy":0.14749, "omega":0.1484, "ax":-1.68518, "ay":-5.85397, "alpha":-5.88979, "fx":[1.16963,-67.83149,-43.99202,0.45573], "fy":[-104.30834,-79.33128,-94.73138,-104.43377]}, + {"t":2.59118, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] From fbe11c0e186a9133c0839762432287a54fcc446e Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 18 Jan 2026 19:37:42 -0800 Subject: [PATCH 06/40] debugging and renaming --- src/main/java/frc/robot/Autos.java | 87 +++++++++--------------------- 1 file changed, 26 insertions(+), 61 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 4907f08..c63511c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -65,11 +65,8 @@ public enum Path { // F for feeding poses // I for intake??? - // not every same path will result in same action so ill think on that a little bit or i could - // just make two different paths for each like the intake version and feeding version // may have to rethink naming to some extent and add more poses - // may change back to include action it makes stuff easier DtoFL("D", "FL", Action.FEED), FLMtoPL("FLM", "PL", Action.SCORE), FLtoFLM("FL", "FLM", Action.FEED), @@ -86,7 +83,8 @@ public enum Path { PRtoCR("PR", "CR", Action.CLIMB), PRtoFR("PR", "FR", Action.FEED), PRtoO("PR", "O", Action.INTAKE), - // idk sep intake and feed so action is included makes it easier for me but they use the same + // idk seperate intake and feed so action is included makes it easier for me but they use the + // same // trajectories so i dont have to make new paths DtoIL("D", "FL", Action.INTAKE), ILMtoPL("FLM", "PL", Action.SCORE), @@ -153,20 +151,20 @@ public Command runPath(Path path, AutoRoutine routine) { Action action = path.action; switch (action) { case INTAKE: - return intakeInAutoPath(path, routine); + return intakePath(path, routine); case FEED: - return feedInAutoPath(path, routine); + return feedPath(path, routine); case SCORE: - return scoreInAutoPath(path, routine); + return scorePath(path, routine); case CLIMB: - return climbInAutoPath(path, routine); + return climbPath(path, routine); default: // this should never happen return Commands.none(); } } // TODO aligning to climb pos correctly - public Command climbInAutoPath(Path path, AutoRoutine routine) { + public Command climbPath(Path path, AutoRoutine routine) { // path align and climb return Commands.sequence( path.getTrajectory(routine) @@ -176,24 +174,19 @@ public Command climbInAutoPath(Path path, AutoRoutine routine) { path.getTrajectory(routine) .atTime( path.getTrajectory(routine).getRawTrajectory().getTotalTime() - - (path.end.length() == 1 ? 0.3 : 0.0)))), + - (0.3)))), setAutoClimbReqTrue()); } - public Command feedInAutoPath(Path path, AutoRoutine routine) { + public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoFeedReqTrue(), path.getTrajectory(routine).cmd(), - path.getTrajectory(routine) - .cmd() - .until( - routine.observe( - path.getTrajectory(routine) - .atTime(path.getTrajectory(routine).getRawTrajectory().getTotalTime()))), + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoFeedReqFalse()); } - public Command scoreInAutoPath(Path path, AutoRoutine routine) { + public Command scorePath(Path path, AutoRoutine routine) { // path align and score return Commands.sequence( path.getTrajectory(routine) @@ -203,82 +196,54 @@ public Command scoreInAutoPath(Path path, AutoRoutine routine) { path.getTrajectory(routine) .atTime( path.getTrajectory(routine).getRawTrajectory().getTotalTime() - - (path.end.length() == 1 ? 0.3 : 0.0)))), + - (0.3)))), setAutoScoreReqTrue(), waitUntilEmpty(), setAutoScoreReqFalse()); } // feeding and intake could prob be improved - public Command intakeInAutoPath(Path path, AutoRoutine routine) { + public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoIntakeReqTrue(), path.getTrajectory(routine).cmd(), - path.getTrajectory(routine) - .cmd() - .until( - routine.observe( - path.getTrajectory(routine) - .atTime(path.getTrajectory(routine).getRawTrajectory().getTotalTime()))), + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoIntakeReqFalse()); } public Command setAutoIntakeReqTrue() { - return Commands.runOnce( - () -> { - autoIntake = true; - }); + return Commands.runOnce(() -> autoIntake = true); } public Command setAutoIntakeReqFalse() { - return Commands.runOnce( - () -> { - autoIntake = false; - }); + return Commands.runOnce(() -> autoIntake = false); } public Command setAutoScoreReqTrue() { - return Commands.runOnce( - () -> { - autoScore = true; - }); + return Commands.runOnce(() -> autoScore = true); } public Command setAutoScoreReqFalse() { - return Commands.runOnce( - () -> { - autoScore = false; - }); + return Commands.runOnce(() -> autoScore = false); } public Command setAutoFeedReqTrue() { - return Commands.runOnce( - () -> { - autoFeed = true; - }); + return Commands.runOnce(() -> autoFeed = true); } public Command setAutoFeedReqFalse() { - return Commands.runOnce( - () -> { - autoFeed = false; - }); + return Commands.runOnce(() -> autoFeed = false); } public Command setAutoClimbReqTrue() { - return Commands.runOnce( - () -> { - autoClimb = true; - }); + return Commands.runOnce(() -> autoClimb = true); } public Command setAutoClimbReqFalse() { - return Commands.runOnce( - () -> { - autoClimb = false; - }); + return Commands.runOnce(() -> autoClimb = false); } + // TODO: score at the start of each auto // specific paths: // no idea what to name them public Command getDepotScoreClimbAuto() { @@ -296,7 +261,7 @@ public Command getDepotScoreClimbAuto() { public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); for (Path p : paths) { @@ -308,7 +273,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); for (Path p : paths) { @@ -320,7 +285,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); for (Path p : paths) { From 7808fa0643a61ac4b9f4ac9aa60f78a9254e482a Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 19 Jan 2026 12:10:52 -0800 Subject: [PATCH 07/40] copy over sotm --- src/main/java/frc/robot/Robot.java | 2 +- .../subsystems/swerve/SwerveSubsystem.java | 5 +++++ .../java/frc/robot/utils/autoaim/AutoAim.java | 22 +++++++++++++++++++ .../utils/autoaim/InterpolatingShotTree.java | 9 ++++++++ 4 files changed, 37 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 036f351..6f5c38f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -349,7 +349,7 @@ private void addControllerBindings() { driver .leftBumper() .whileTrue( - swerve.faceHub( + swerve.faceHubSOTM( () -> modifyJoystick(driver.getLeftY()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 220fa62..24d3165 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -48,6 +48,7 @@ import frc.robot.subsystems.swerve.odometry.PhoenixOdometryThread.SignalType; import frc.robot.utils.FieldUtils; import frc.robot.utils.Tracer; +import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.AutoAlign; import java.util.Arrays; import java.util.List; @@ -593,6 +594,10 @@ public Command faceHub(DoubleSupplier xVel, DoubleSupplier yVel) { yVel); } + public Command faceHubSOTM(DoubleSupplier xVel, DoubleSupplier yVel) { + return driveWithHeadingSnap(() -> AutoAim.getSOTMYaw(getPose(), getVelocityFieldRelative()), xVel, yVel); + } + public boolean isInAutoAimTolerance(Pose2d target) { return isInTolerance( target, AutoAlign.TRANSLATION_TOLERANCE_METERS, AutoAlign.ROTATION_TOLERANCE_RADIANS); diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 1426b50..0022d66 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -1,7 +1,12 @@ package frc.robot.utils.autoaim; +import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import frc.robot.utils.FieldUtils; import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData; @@ -31,4 +36,21 @@ public class AutoAim { public static double distanceToHub(Pose2d pose) { return pose.getTranslation().getDistance(FieldUtils.getCurrentHubTranslation()); } + + public static Rotation2d getSOTMYaw(Pose2d robot, ChassisSpeeds fieldRelativeSpeeds) { + // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) + // if we want the ball to go straight towards the goal, + // the V_ball-robot vector needs to cancel out with the V_robot-ground vector to "offset" the + // velocity it already has + // the ball exits the shooter with velocity v at an angle theta (just assume it's the correct + // velocity and angle) + // the magnitude of the V_ball-ground vector (or |V_ball-ground|) is v * cos (theta) + double fuelHorizVelocity = + HUB_SHOT_TREE.calculateShot(robot).flywheelVelocityRotPerSec() + * HUB_SHOT_TREE.calculateShot(robot).hoodAngle().getCos(); + // let phi be the azimuth + // phi = arcsin(-V_robot-ground / |V_ball-ground|) + double phi = Math.asin((-1) * fieldRelativeSpeeds.vyMetersPerSecond / fuelHorizVelocity); + return Rotation2d.fromRadians(phi); + } } diff --git a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java index deaebd9..78ae35f 100644 --- a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java +++ b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java @@ -1,7 +1,12 @@ package frc.robot.utils.autoaim; import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.utils.FieldUtils; + +import java.lang.reflect.Field; import java.util.TreeMap; public class InterpolatingShotTree { @@ -114,4 +119,8 @@ private double inverseInterpolate(Double up, Double query, Double down) { } return queryToLower / upperToLower; } + + public ShotData calculateShot(Pose2d pose) { + return get(AutoAim.distanceToHub(pose)); + } } From f24f5f5787313698d70dbcc67c2e01168fdb0e1f Mon Sep 17 00:00:00 2001 From: vivi-o Date: Thu, 22 Jan 2026 09:26:38 -0800 Subject: [PATCH 08/40] shoot preload at the start of each auto routine --- src/main/java/frc/robot/Autos.java | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index c63511c..d107fc6 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -211,6 +211,10 @@ public Command intakePath(Path path, AutoRoutine routine) { setAutoIntakeReqFalse()); } + public Command shootPreload() { + return Commands.sequence(setAutoScoreReqTrue(), waitUntilEmpty(), setAutoScoreReqFalse()); + } + public Command setAutoIntakeReqTrue() { return Commands.runOnce(() -> autoIntake = true); } @@ -250,7 +254,11 @@ public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; // Will always need to reset odo at the start of a routine - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + Command autoCommand = + paths[0] + .getTrajectory(routine) + .resetOdometry() + .andThen(shootPreload()); // shoot preload then do the paths for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -262,7 +270,7 @@ public Command getDepotScoreClimbAuto() { public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -274,7 +282,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -286,7 +294,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; - Command autoCommand = paths[0].getTrajectory(routine).resetOdometry(); + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -297,6 +305,7 @@ public Command getOutpostFeedClimbAuto() { public Command waitUntilEmpty() { // TODO wait till robot empty / done scoring - return null; + // return null; + return Commands.waitSeconds(0.5); } } From 41f904134e876db83f3493937dc50c7ec9c2a3eb Mon Sep 17 00:00:00 2001 From: vivi-o Date: Thu, 22 Jan 2026 16:44:13 -0800 Subject: [PATCH 09/40] fix running path twice --- src/main/java/frc/robot/Autos.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index d107fc6..887d61a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -181,7 +181,6 @@ public Command climbPath(Path path, AutoRoutine routine) { public Command feedPath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoFeedReqTrue(), - path.getTrajectory(routine).cmd(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoFeedReqFalse()); } @@ -206,7 +205,6 @@ public Command scorePath(Path path, AutoRoutine routine) { public Command intakePath(Path path, AutoRoutine routine) { return Commands.sequence( setAutoIntakeReqTrue(), - path.getTrajectory(routine).cmd(), path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), setAutoIntakeReqFalse()); } From 83ed1ef305f89110dbcf6d7a453a0292cdd7b315 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 10:59:28 -0800 Subject: [PATCH 10/40] add current zeroing for hood --- src/main/java/frc/robot/Robot.java | 10 +++++--- .../frc/robot/subsystems/shooter/Shooter.java | 3 +++ .../subsystems/shooter/ShooterSubsystem.java | 23 ++++++++++++++++++- .../subsystems/shooter/TurretSubsystem.java | 6 +++++ 4 files changed, 38 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 072bae8..d442a6a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -348,7 +348,7 @@ public Robot() { * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) .times(-1))); - addControllerBindings(); + addControllerBindings(shooter); // Auto things autos = new Autos(swerve); @@ -409,7 +409,8 @@ private static double modifyJoystick(double val) { return MathUtil.applyDeadband(Math.abs(Math.pow(val, 2)) * Math.signum(val), 0.02); } - private void addControllerBindings() { + //passing in the shooter is kind of chopped but like it's fine + private void addControllerBindings(Shooter shooter) { // heading reset driver .leftStick() @@ -424,7 +425,7 @@ private void addControllerBindings() { ? Rotation2d.kZero : Rotation2d.k180deg))); - // TODO: ACTUAL BUTTON BINDING + //autoaim (alpha) driver .leftBumper() .whileTrue( @@ -437,6 +438,9 @@ private void addControllerBindings() { * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); // TODO add binding for climb + // current zero shooter hood + driver.a().onTrue(shooter.runCurrentZeroing()); + // ---zeroing stuff--- // create triggers for joystick disconnect alerts diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index cacef67..48bf01a 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -40,4 +40,7 @@ public interface Shooter { /** Shoots based on dashboard numbers. For testing only */ public Command testShoot(); + + /** Runs the hood backwards until it hits its hard stop and the current spikes, then resets encoder position. */ + public Command runCurrentZeroing(); } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java index cd4ab04..25da4f9 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java @@ -7,11 +7,13 @@ import static edu.wpi.first.units.Units.Volts; import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction; @@ -28,6 +30,7 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter { public static double HOOD_GEAR_RATIO = 24.230769; public static Rotation2d HOOD_MAX_ROTATION = Rotation2d.fromDegrees(40); public static Rotation2d HOOD_MIN_ROTATION = Rotation2d.fromDegrees(2); + public static double CURRENT_ZERO_THRESHOLD = 30.0; //TODO tune public static double FLYWHEEL_GEAR_RATIO = 28.0 / 24.0; @@ -60,6 +63,11 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter { private LoggedTunableNumber testDegrees = new LoggedTunableNumber("Shooter/Test Degrees", 10.0); private LoggedTunableNumber testVelocity = new LoggedTunableNumber("Shooter/Test Velocity", 30.0); + private LinearFilter currentFilter = LinearFilter.movingAverage(10); + + @AutoLogOutput(key = "Shooter/Hood/Current Filter Value") + private double currentFilterValue = 0.0; + /** Creates a new HoodSubsystem. */ public ShooterSubsystem(HoodIO hoodIO, FlywheelIO flywheelIO) { this.hoodIO = hoodIO; @@ -114,7 +122,7 @@ public Command rest() { public Command spit() { return this.run( () -> { - hoodIO.setHoodPosition(Rotation2d.kZero); + hoodIO.setHoodPosition(HOOD_MIN_ROTATION); flywheelIO.setMotionProfiledFlywheelVelocity(20); }); // TODO: TUNE HOOD POS AND FLYWHEEL VELOCITY } @@ -126,6 +134,8 @@ public void periodic() { flywheelIO.updateInputs(flywheelInputs); Logger.processInputs("Shooter/Flywheel", flywheelInputs); + + currentFilterValue = currentFilter.calculate(hoodInputs.hoodStatorCurrentAmps); } public Command runHoodSysid() { @@ -184,4 +194,15 @@ public boolean atHoodSetpoint() { public Command zeroHood() { return this.runOnce(() -> hoodIO.resetEncoder(HOOD_MIN_ROTATION)); } + + public Command runCurrentZeroing() { + return this.run(() -> hoodIO.setHoodVoltage(-3.0)) + .until( + new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD) + .debounce(0.25)) + .andThen( + Commands.parallel( + Commands.print("Hood Zeroed"), + zeroHood())); + } } diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 685b95a..224af4d 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -66,4 +66,10 @@ public Command testShoot() { // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'testShoot'"); } + + @Override + public Command runCurrentZeroing() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'runCurrentZeroing'"); + } } From 184e2e1073b88137a724cbf57c9a4f0b17241a03 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 16:39:14 -0800 Subject: [PATCH 11/40] i might be stupid --- src/main/java/frc/robot/Robot.java | 39 ++++++++++--------- src/main/java/frc/robot/Superstructure.java | 4 +- .../subsystems/indexer/LindexerSubsystem.java | 2 +- 3 files changed, 24 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d6d290e..9d497ae 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -76,23 +76,24 @@ public enum RobotEdition { } public static final RobotMode ROBOT_MODE = Robot.isReal() ? RobotMode.REAL : RobotMode.SIM; - // public static final RobotEdition ROBOT_EDITION = RobotEdition.COMP; - public static final RobotEdition ROBOT_EDITION; - - // TODO get rio serial numbers - static { - switch (RobotController.getSerialNumber()) { - case "1": - ROBOT_EDITION = RobotEdition.ALPHA; - break; - case "2": - ROBOT_EDITION = RobotEdition.COMP; - break; - default: - // defaulting to comp is probably safer? - ROBOT_EDITION = RobotEdition.COMP; - } - } + public static final RobotEdition ROBOT_EDITION = RobotEdition.ALPHA; + + // public static final RobotEdition ROBOT_EDITION; + + // // TODO get rio serial numbers + // static { + // switch (RobotController.getSerialNumber()) { + // case "1": + // ROBOT_EDITION = RobotEdition.ALPHA; + // break; + // case "2": + // ROBOT_EDITION = RobotEdition.COMP; + // break; + // default: + // // defaulting to comp is probably safer? + // ROBOT_EDITION = RobotEdition.COMP; + // } + // } /** * This is for when we're testing shot and extension numbers and should be FALSE once bring up is @@ -340,9 +341,9 @@ public Robot() { swerve.driveOpenLoopFieldRelative( () -> new ChassisSpeeds( - modifyJoystick(driver.getLeftY()) + modifyJoystick(-1 * driver.getLeftX()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - modifyJoystick(driver.getLeftX()) + modifyJoystick(driver.getLeftY()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), modifyJoystick(driver.getRightX()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 0ce8617..e0c9438 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -51,6 +51,8 @@ public Trigger getTrigger() { public boolean isScoringActive = isOurShift(); // assuming we want the dashboard to show if the time allows us to score not if + public boolean practice = true; + // its litterly possible private SuperState prevState = SuperState.IDLE; @@ -402,6 +404,6 @@ public boolean inScoringArea() { } public boolean canScore() { - return isOurShift() && inScoringArea(); + return isOurShift() && inScoringArea() && practice; } } diff --git a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java index 44cceff..0d648aa 100644 --- a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java @@ -74,7 +74,7 @@ public Command index() { return this.run( () -> { indexRollerIO.setRollerVoltage(7); - kickerIO.setRollerVoltage(7); + kickerIO.setRollerVoltage(5.5); }); } From 1e51a634d6dadfa9c7480cfb94fd5cc0ffbbcc3e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 16:40:55 -0800 Subject: [PATCH 12/40] i've accepted that there are people in the world we are better than me at physics --- .../frc/robot/utils/ChassisAccelerations.java | 48 ++++ .../robot/utils/ShootOnTheFlyCalculator.java | 258 ++++++++++++++++++ 2 files changed, 306 insertions(+) create mode 100644 src/main/java/frc/robot/utils/ChassisAccelerations.java create mode 100644 src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java diff --git a/src/main/java/frc/robot/utils/ChassisAccelerations.java b/src/main/java/frc/robot/utils/ChassisAccelerations.java new file mode 100644 index 0000000..68bc616 --- /dev/null +++ b/src/main/java/frc/robot/utils/ChassisAccelerations.java @@ -0,0 +1,48 @@ +package frc.robot.utils; + +import edu.wpi.first.math.kinematics.ChassisSpeeds; + +/** + * Represents the complete acceleration data of a chassis. Counterpart to + * {@link ChassisSpeeds}. Used when acceleration data is needed for some + * computation (in 2024, shooting on the move). + */ +public class ChassisAccelerations { + public double axMetersPerSecondSquared; + public double ayMetersPerSecondSquared; + public double omegaRadiansPerSecondSquared; + + /** + * Creates a {@link ChassisAccelerations} object based on given acceleration + * data. + * + * @param axMetersPerSecondSquared the acceleration in the x direction, in + * m/s^2 + * @param ayMetersPerSecondSquared the acceleration in the y direction, in + * m/s^2 + * @param omegaRadiansPerSecondSquared the rotational acceleration of the + * chassis (CCW+), in rad/s^2 + */ + public ChassisAccelerations(double axMetersPerSecondSquared, double ayMetersPerSecondSquared, + double omegaRadiansPerSecondSquared) { + this.axMetersPerSecondSquared = axMetersPerSecondSquared; + this.ayMetersPerSecondSquared = ayMetersPerSecondSquared; + this.omegaRadiansPerSecondSquared = omegaRadiansPerSecondSquared; + } + + /** + * Creates a {@link ChassisAccelerations} object based on the current + * {@link ChassisSpeeds}, the {@link ChassisSpeeds} from the previous iteration, + * and the time between iterations. + * + * @param speed the current speed of the chassis + * @param previousSpeed the previous speed of the chassis + * @param dt the time elapsed between measurements (your loop time), + * in seconds + */ + public ChassisAccelerations(ChassisSpeeds speed, ChassisSpeeds previousSpeed, double dt) { + this.axMetersPerSecondSquared = (speed.vxMetersPerSecond - previousSpeed.vxMetersPerSecond) / dt; + this.ayMetersPerSecondSquared = (speed.vyMetersPerSecond - previousSpeed.vyMetersPerSecond) / dt; + this.omegaRadiansPerSecondSquared = (speed.omegaRadiansPerSecond - previousSpeed.omegaRadiansPerSecond) / dt; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java b/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java new file mode 100644 index 0000000..54b8e22 --- /dev/null +++ b/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java @@ -0,0 +1,258 @@ +package frc.robot.utils; + +import java.util.function.Function; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.interpolation.InterpolatingTreeMap; +import edu.wpi.first.math.kinematics.ChassisSpeeds; + +/** + * Provides static methods to calculate the effective target position to aim for + * when shooting on the fly. + */ +public class ShootOnTheFlyCalculator { + /** + * Calculates the time it will take for a projectile to reach a target given the + * robot's pose and the target's pose, and a function describing the + * projectile's velocity. This allows you to have a shooter that may shoot a + * projectile at varying speeds given varying distances from the targe. + * + * @see #calculateEffectiveTargetLocation(Pose2d, Pose3d, ChassisSpeeds, + * ChassisAccelerations, Function, double, double) + * + * @param robotPose the current pose of the robot + * @param targetPose the 3D pose of the target. this should + * be the center of the target, if that + * makes sense (2024 game), but could also + * be offset if desired. this may also be + * deeper into the target area if required + * (2020 game). this should take into + * account any necessary field reflections + * before being passed. + * @param xyDistanceToProjectileVelocity a function that takes in the + * xy-distance from the robot to the goal, + * and returns the velocity of the shot + * projectile in m/s. + * @return the time it will take for the projectile to reach the target + */ + public static double getTimeToShoot(Pose2d robotPose, Pose3d targetPose, + Function xyDistanceToProjectileVelocity) { + Transform3d diff = new Pose3d(robotPose).minus(targetPose); + double xyDistance = new Translation2d(diff.getX(), diff.getY()).getNorm(); + double distance = diff.getTranslation().getNorm(); + double projectileVelocity = xyDistanceToProjectileVelocity.apply(xyDistance); + double time = distance / projectileVelocity; + return time; + } + + public static double getTimeToShoot( + Pose3d shooterPose, + Pose3d targetPose, + double launchSpeed, + double launchPitchRad) { + Translation3d s = shooterPose.getTranslation(); + Translation3d t = targetPose.getTranslation(); + + double dx = t.getX() - s.getX(); + double dy = t.getY() - s.getY(); + + double horizontalDist = Math.hypot(dx, dy); + double vHoriz = launchSpeed * Math.cos(launchPitchRad); + + if (vHoriz <= 1e-6) { + throw new IllegalArgumentException("Horizontal velocity too small"); + } + + return horizontalDist / vHoriz; + } + + /** + * Calculates the effective position of the target given the position, velocity, + * and acceleration of the robot's chassis. Does not account for air resistance, + * though this is very often unnecessary. + * + *

+ * + * When shooting a projectile while moving, the projectile inherits the + * translational velocity of the chassis. Shooting on the fly can be + * accomplished by targeting a "virtual" goal if you are moving, which acts to + * negate the forces applied on the projectile due to the movement of the + * chassis. + * + *

+ * + * An iterative approach (see {@code goalPositionIterations}) is required + * because the time taken for the projectile to travel to the target will change + * given a different target location. To account for this, we re-simulate the + * projectile's travel with a new shot time derived from the new virtual goal + * position several times. + * + * + *

+ * + * When solving this problem mathematically, the acceleration of the chassis + * does not matter in the final velocities of the projectile (it will not + * inherit the acceleration of the chassis). The + * {@code accelerationCompensationFactor} is necessary due to other errors: + * + * (1) the time taken to move the projectile through a shooter is non-zero, so + * (2) if the chassis is accelerating, the velocity of the chassis by the time + * the projectile leaves the robot will have changed. + * + * To account for this, we multiply the acceleration at the time of the shot + * command by a specific value and add it to the velocity at the time of + * the shot. This value is based on the time delta between + * commanding a shot and the shot actually leaving the shooter, meaning that the + * effective velocity generated is the velocity as the projectile leaves the + * shooter. This is extremely complicated to determine theoretically, so if you + * find acceleration to be causing shot inaccuracies, find a value that provides + * adequate compensation (should be around [0,2]). + * + *

+ * + * The easiest way to create the {@code xyDistanceToProjectileVelocity} lambda + * function is as follows: + * + * If the speed of your shooter is always constant, simply create a lambda + * expression that always returns the same value. + * + * If the speed of your shooter is controlled using an + * {@link InterpolatingTreeMap} based on distance from the goal, simply get the + * appropriate shooter speed from that map, and multiply it by some constant + * that describes how fast the projectile moves given a shooter speed. This can + * be calculated experimentally by pointing a camera at the shooter and + * calculating the speed of the projectile based on the distance travelled in n + * frames. If you find the relationship between shooter speed and projectile + * speed is not constant, you can create a second {@link InterpolatingTreeMap}, + * or define it as an equation. + * + * @param robotPose the current pose of the robot + * @param targetPose the 3D pose of the target. this should + * be the center of the target, if that + * makes sense (2024 game), but could also + * be offset if desired. this may also be + * deeper into the target area if required + * (2020 game). this should take into + * account any necessary field reflections + * before being passed. + * @param fieldRelRobotVelocity the field-relative velocity of the + * robot's chassis + * @param fieldRelRobotAcceleration the field-relative acceleration of the + * robot's chassis + * @param xyDistanceToProjectileVelocity a function that takes in the + * xy-distance from the robot to the goal, + * and returns the velocity of the shot + * projectile in m/s. + * @param goalPositionIterations the number of iterations to use when + * iteratively solving for the pose of the + * target. a higher number of iterations + * will increase the accuracy of the + * result, but will also reduce + * performance. + * @param accelerationCompensationFactor the value to multiply the acceleration + * @return + */ + public static Pose3d calculateEffectiveTargetLocation( + Pose2d robotPose, Pose3d targetPose, + ChassisSpeeds fieldRelRobotVelocity, + ChassisAccelerations fieldRelRobotAcceleration, + Function xyDistanceToProjectileVelocity, + double goalPositionIterations, + double accelerationCompensationFactor) { + + double shotTime = getTimeToShoot(robotPose, targetPose, xyDistanceToProjectileVelocity); + + Pose3d correctedTargetPose = new Pose3d(); + for (int i = 0; i < goalPositionIterations; i++) { + double virtualGoalX = targetPose.getX() + - shotTime * (fieldRelRobotVelocity.vxMetersPerSecond + + fieldRelRobotAcceleration.axMetersPerSecondSquared + * accelerationCompensationFactor); + double virtualGoalY = targetPose.getY() + - shotTime * (fieldRelRobotVelocity.vyMetersPerSecond + + fieldRelRobotAcceleration.ayMetersPerSecondSquared + * accelerationCompensationFactor); + + correctedTargetPose = new Pose3d(virtualGoalX, virtualGoalY, targetPose.getZ(), + targetPose.getRotation()); + + double newShotTime = getTimeToShoot(robotPose, correctedTargetPose, xyDistanceToProjectileVelocity); + + shotTime = newShotTime; + if (Math.abs(newShotTime - shotTime) <= 0.010) { + break; + } + } + + return correctedTargetPose; + } + + public record InterceptSolution( + Pose3d effectiveTargetPose, + double launchPitchRad, + double launchSpeed, + double flightTime, + double requiredYaw) { + } + + public static InterceptSolution solveShootOnTheFly( + Pose3d shooterPose, + Pose3d targetPose, + ChassisSpeeds fieldRelRobotVelocity, + ChassisAccelerations fieldRelRobotAcceleration, + double targetSpeedRps, + int maxIterations, + double timeTolerance) { + + ShotSolution sol = BallPhysics.solveBallisticWithSpeed( + shooterPose, + targetPose, + targetSpeedRps); + + double t = sol.flightTimeSeconds(); + Pose3d effectiveTarget = targetPose; + + for (int i = 0; i < maxIterations; i++) { + + double dx = fieldRelRobotVelocity.vxMetersPerSecond * t; + // + 0.5 * fieldRelRobotAcceleration.axMetersPerSecondSquared * t * t; + + double dy = fieldRelRobotVelocity.vyMetersPerSecond * t; + // + 0.5 * fieldRelRobotAcceleration.ayMetersPerSecondSquared * t * t; + + effectiveTarget = new Pose3d( + targetPose.getX() - dx, + targetPose.getY() - dy, + targetPose.getZ(), + targetPose.getRotation()); + + ShotSolution newSol = BallPhysics.solveBallisticWithSpeed( + shooterPose, + effectiveTarget, + targetSpeedRps); + + if (Math.abs(newSol.flightTimeSeconds() - t) < timeTolerance) { + return new InterceptSolution( + effectiveTarget, + newSol.launchPitchRad(), + newSol.launchSpeed(), + newSol.flightTimeSeconds(), + 0); + } + + sol = newSol; + t = newSol.flightTimeSeconds(); + } + + return new InterceptSolution( + effectiveTarget, + sol.launchPitchRad(), + sol.launchSpeed(), + sol.flightTimeSeconds(), + 0); + } +} \ No newline at end of file From e7e6b82523ea4ecac63be75f853e691c773c7125 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 16:56:09 -0800 Subject: [PATCH 13/40] lowering current limits until max notices --- .../frc/robot/subsystems/indexer/LindexerSubsystem.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java index 0d648aa..3a07540 100644 --- a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java @@ -120,12 +120,10 @@ public static TalonFXConfiguration getIndexerConfigs() { config.Slot0.kP = 0; config.Slot0.kD = 0; - config.CurrentLimits.StatorCurrentLimit = 80.0; + config.CurrentLimits.StatorCurrentLimit = 60.0; config.CurrentLimits.StatorCurrentLimitEnable = true; - config.CurrentLimits.SupplyCurrentLimit = 60.0; + config.CurrentLimits.SupplyCurrentLimit = 40.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; - config.CurrentLimits.SupplyCurrentLowerLimit = 40.0; - config.CurrentLimits.SupplyCurrentLowerTime = 0.25; return config; } From 7bbcd5e94fb55cc6d3bbef5e49b185d985348c91 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 21:06:25 -0800 Subject: [PATCH 14/40] add rumble for having piece (not tested) --- src/main/java/frc/robot/Robot.java | 8 ++++++-- src/main/java/frc/robot/subsystems/indexer/Indexer.java | 2 ++ .../frc/robot/subsystems/indexer/LindexerSubsystem.java | 5 +++++ .../frc/robot/subsystems/indexer/SpindexerSubsystem.java | 6 ++++++ 4 files changed, 19 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9d497ae..f1e82ef 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -349,7 +349,7 @@ public Robot() { * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) .times(-1))); - addControllerBindings(); + addControllerBindings(indexer); // Auto things autos = new Autos(swerve); @@ -410,7 +410,7 @@ private static double modifyJoystick(double val) { return MathUtil.applyDeadband(Math.abs(Math.pow(val, 2)) * Math.signum(val), 0.02); } - private void addControllerBindings() { + private void addControllerBindings(Indexer indexer) { // heading reset driver .leftStick() @@ -438,6 +438,10 @@ private void addControllerBindings() { * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); // TODO add binding for climb + new Trigger(() -> indexer.firstBeambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.1)); + + new Trigger(() -> indexer.isFull()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5)); + // ---zeroing stuff--- // create triggers for joystick disconnect alerts diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java index 6bd3118..032584b 100644 --- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -26,4 +26,6 @@ public interface Indexer { /** Not running (set to 0) */ public Command rest(); + + public boolean firstBeambreak(); } diff --git a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java index 3a07540..1fc24c4 100644 --- a/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/LindexerSubsystem.java @@ -173,4 +173,9 @@ public Command runRollerSysId() { indexRollerSysid.dynamic(Direction.kForward), indexRollerSysid.dynamic(Direction.kReverse)); } + + /** for controller rumble */ + public boolean firstBeambreak() { + return firstCANRangeInputs.isDetected; + } } diff --git a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java index 4346925..17728da 100644 --- a/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/indexer/SpindexerSubsystem.java @@ -58,4 +58,10 @@ public Command rest() { // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'rest'"); } + + @Override + public boolean firstBeambreak() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'firstBeambreak'"); + } } From 9ed106b495a6cf94330b0aed73cc96e1ce2906d1 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 23 Jan 2026 22:54:53 -0800 Subject: [PATCH 15/40] i don't know what i'm doing --- src/main/java/frc/robot/Robot.java | 67 +++-- .../frc/robot/subsystems/shooter/Shooter.java | 7 +- .../subsystems/shooter/ShooterSubsystem.java | 34 ++- .../subsystems/swerve/SwerveSubsystem.java | 35 ++- .../frc/robot/utils/ChassisAccelerations.java | 48 ---- .../robot/utils/ShootOnTheFlyCalculator.java | 258 ------------------ .../java/frc/robot/utils/autoaim/AutoAim.java | 20 +- .../utils/autoaim/InterpolatingShotTree.java | 21 +- .../rusthoundsSOTM/ChassisAccelerations.java | 47 ++++ .../ShootOnTheFlyCalculator.java | 170 ++++++++++++ 10 files changed, 340 insertions(+), 367 deletions(-) delete mode 100644 src/main/java/frc/robot/utils/ChassisAccelerations.java delete mode 100644 src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java create mode 100644 src/main/java/frc/robot/utils/rusthoundsSOTM/ChassisAccelerations.java create mode 100644 src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d442a6a..8f19a76 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -9,7 +9,6 @@ import com.ctre.phoenix6.sim.TalonFXSimState.MotorType; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.Alert; @@ -76,23 +75,24 @@ public enum RobotEdition { } public static final RobotMode ROBOT_MODE = Robot.isReal() ? RobotMode.REAL : RobotMode.SIM; - // public static final RobotEdition ROBOT_EDITION = RobotEdition.COMP; - public static final RobotEdition ROBOT_EDITION; - - // TODO get rio serial numbers - static { - switch (RobotController.getSerialNumber()) { - case "1": - ROBOT_EDITION = RobotEdition.ALPHA; - break; - case "2": - ROBOT_EDITION = RobotEdition.COMP; - break; - default: - // defaulting to comp is probably safer? - ROBOT_EDITION = RobotEdition.COMP; - } - } + public static final RobotEdition ROBOT_EDITION = RobotEdition.ALPHA; + + // public static final RobotEdition ROBOT_EDITION; + + // // TODO get rio serial numbers + // static { + // switch (RobotController.getSerialNumber()) { + // case "1": + // ROBOT_EDITION = RobotEdition.ALPHA; + // break; + // case "2": + // ROBOT_EDITION = RobotEdition.COMP; + // break; + // default: + // // defaulting to comp is probably safer? + // ROBOT_EDITION = RobotEdition.COMP; + // } + // } /** * This is for when we're testing shot and extension numbers and should be FALSE once bring up is @@ -337,16 +337,25 @@ public Robot() { driver.setDefaultCommand(driver.rumbleCmd(0.0, 0.0)); operator.setDefaultCommand(operator.rumbleCmd(0.0, 0.0)); swerve.setDefaultCommand( - swerve.driveOpenLoopFieldRelative( + // swerve.driveOpenLoopFieldRelative( + // () -> + // new ChassisSpeeds( + // modifyJoystick(driver.getLeftY()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + // modifyJoystick(driver.getLeftX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + // modifyJoystick(driver.getRightX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) + // .times(-1))); + swerve.faceHubSOTM( + () -> + modifyJoystick(driver.getLeftY()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() + * -1, () -> - new ChassisSpeeds( - modifyJoystick(driver.getLeftY()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - modifyJoystick(driver.getLeftX()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - modifyJoystick(driver.getRightX()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) - .times(-1))); + modifyJoystick(driver.getLeftX()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() + * -1)); addControllerBindings(shooter); @@ -409,7 +418,7 @@ private static double modifyJoystick(double val) { return MathUtil.applyDeadband(Math.abs(Math.pow(val, 2)) * Math.signum(val), 0.02); } - //passing in the shooter is kind of chopped but like it's fine + // passing in the shooter is kind of chopped but like it's fine private void addControllerBindings(Shooter shooter) { // heading reset driver @@ -425,7 +434,7 @@ private void addControllerBindings(Shooter shooter) { ? Rotation2d.kZero : Rotation2d.k180deg))); - //autoaim (alpha) + // autoaim (alpha) driver .leftBumper() .whileTrue( diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 48bf01a..62f82a6 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -41,6 +41,9 @@ public interface Shooter { /** Shoots based on dashboard numbers. For testing only */ public Command testShoot(); - /** Runs the hood backwards until it hits its hard stop and the current spikes, then resets encoder position. */ - public Command runCurrentZeroing(); + /** + * Runs the hood backwards until it hits its hard stop and the current spikes, then resets encoder + * position. + */ + public Command runCurrentZeroing(); } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java index 25da4f9..2400f09 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java @@ -10,6 +10,7 @@ import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -21,6 +22,9 @@ import frc.robot.utils.LoggedTunableNumber; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData; +import frc.robot.utils.rusthoundsSOTM.ChassisAccelerations; +import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator; +import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator.InterceptSolution; import java.util.function.Supplier; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -30,7 +34,7 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter { public static double HOOD_GEAR_RATIO = 24.230769; public static Rotation2d HOOD_MAX_ROTATION = Rotation2d.fromDegrees(40); public static Rotation2d HOOD_MIN_ROTATION = Rotation2d.fromDegrees(2); - public static double CURRENT_ZERO_THRESHOLD = 30.0; //TODO tune + public static double CURRENT_ZERO_THRESHOLD = 30.0; // TODO tune public static double FLYWHEEL_GEAR_RATIO = 28.0 / 24.0; @@ -63,7 +67,7 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter { private LoggedTunableNumber testDegrees = new LoggedTunableNumber("Shooter/Test Degrees", 10.0); private LoggedTunableNumber testVelocity = new LoggedTunableNumber("Shooter/Test Velocity", 30.0); - private LinearFilter currentFilter = LinearFilter.movingAverage(10); + private LinearFilter currentFilter = LinearFilter.movingAverage(10); @AutoLogOutput(key = "Shooter/Hood/Current Filter Value") private double currentFilterValue = 0.0; @@ -94,6 +98,24 @@ public Command shoot(Supplier robotPoseSupplier) { }); } + public Command shootOTM( + Supplier robotPoseSupplier, + ChassisSpeeds fieldRelRobotVelocity, + ChassisAccelerations fieldRelRobotAcceleration) { + return this.run( + () -> { + InterceptSolution sol = + ShootOnTheFlyCalculator.solveShootOnTheFly( + robotPoseSupplier.get(), + fieldRelRobotVelocity, + fieldRelRobotAcceleration, + 5, + 0.01); + hoodIO.setHoodPosition(sol.shotData().hoodAngle()); + flywheelIO.setMotionProfiledFlywheelVelocity(sol.shotData().flywheelVelocityRotPerSec()); + }); + } + @Override public Command feed(Supplier robotPoseSupplier, Supplier feedTarget) { return this.run( @@ -198,11 +220,7 @@ public Command zeroHood() { public Command runCurrentZeroing() { return this.run(() -> hoodIO.setHoodVoltage(-3.0)) .until( - new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD) - .debounce(0.25)) - .andThen( - Commands.parallel( - Commands.print("Hood Zeroed"), - zeroHood())); + new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD).debounce(0.25)) + .andThen(Commands.parallel(Commands.print("Hood Zeroed"), zeroHood())); } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 654b2ed..155551b 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -50,8 +50,9 @@ import frc.robot.subsystems.swerve.odometry.PhoenixOdometryThread.SignalType; import frc.robot.utils.FieldUtils; import frc.robot.utils.Tracer; -import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.AutoAlign; +import frc.robot.utils.rusthoundsSOTM.ChassisAccelerations; +import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator; import java.util.Arrays; import java.util.List; import java.util.Map; @@ -136,6 +137,8 @@ public class SwerveSubsystem extends SubsystemBase { private final SwerveDriveSimulation swerveSimulation = new SwerveDriveSimulation(driveTrainSimConfig, new Pose2d(3, 3, Rotation2d.kZero)); + private ChassisSpeeds prevFieldRelVelocities; + public SwerveSubsystem(CANBus canbus) { if (Robot.ROBOT_MODE == RobotMode.SIM) { // Add simulated modules @@ -273,6 +276,8 @@ public void periodic() { Tracer.trace("Update vision", this::updateVision); Logger.recordOutput("Current Hub Pose", FieldUtils.getCurrentHubPose()); + + prevFieldRelVelocities = getVelocityFieldRelative(); }); } @@ -606,8 +611,30 @@ public Command faceHub(DoubleSupplier xVel, DoubleSupplier yVel) { yVel); } + // public Command faceHubSOTM(DoubleSupplier xVel, DoubleSupplier yVel) { + // return driveWithHeadingSnap(() -> AutoAim.getSOTMYaw(getPose(), getVelocityFieldRelative()), + // xVel, yVel); + // } public Command faceHubSOTM(DoubleSupplier xVel, DoubleSupplier yVel) { - return driveWithHeadingSnap(() -> AutoAim.getSOTMYaw(getPose(), getVelocityFieldRelative()), xVel, yVel); + return driveWithHeadingSnap( + () -> { + Translation2d robotHubVec = + ShootOnTheFlyCalculator.calculateEffectiveTargetLocation( + () -> getPose(), + () -> getVelocityFieldRelative(), + () -> getChassisAccelerations(), + 5, + 0.01) + .getTranslation() + .minus(getPose().getTranslation()); + Rotation2d rot = + Rotation2d.fromRadians(Math.atan2(robotHubVec.getY(), robotHubVec.getX())) + .plus(Rotation2d.kCW_90deg); + Logger.recordOutput("Autoaim/Target Rotation", rot); + return rot; + }, + xVel, + yVel); } public boolean isInAutoAimTolerance(Pose2d target) { @@ -679,6 +706,10 @@ public ChassisSpeeds getVelocityFieldRelative() { return ChassisSpeeds.fromRobotRelativeSpeeds(getVelocityRobotRelative(), getRotation()); } + public ChassisAccelerations getChassisAccelerations() { + return new ChassisAccelerations(getVelocityFieldRelative(), prevFieldRelVelocities, 0.020); + } + public boolean isNotMoving() { return MathUtil.isNear( 0, diff --git a/src/main/java/frc/robot/utils/ChassisAccelerations.java b/src/main/java/frc/robot/utils/ChassisAccelerations.java deleted file mode 100644 index 68bc616..0000000 --- a/src/main/java/frc/robot/utils/ChassisAccelerations.java +++ /dev/null @@ -1,48 +0,0 @@ -package frc.robot.utils; - -import edu.wpi.first.math.kinematics.ChassisSpeeds; - -/** - * Represents the complete acceleration data of a chassis. Counterpart to - * {@link ChassisSpeeds}. Used when acceleration data is needed for some - * computation (in 2024, shooting on the move). - */ -public class ChassisAccelerations { - public double axMetersPerSecondSquared; - public double ayMetersPerSecondSquared; - public double omegaRadiansPerSecondSquared; - - /** - * Creates a {@link ChassisAccelerations} object based on given acceleration - * data. - * - * @param axMetersPerSecondSquared the acceleration in the x direction, in - * m/s^2 - * @param ayMetersPerSecondSquared the acceleration in the y direction, in - * m/s^2 - * @param omegaRadiansPerSecondSquared the rotational acceleration of the - * chassis (CCW+), in rad/s^2 - */ - public ChassisAccelerations(double axMetersPerSecondSquared, double ayMetersPerSecondSquared, - double omegaRadiansPerSecondSquared) { - this.axMetersPerSecondSquared = axMetersPerSecondSquared; - this.ayMetersPerSecondSquared = ayMetersPerSecondSquared; - this.omegaRadiansPerSecondSquared = omegaRadiansPerSecondSquared; - } - - /** - * Creates a {@link ChassisAccelerations} object based on the current - * {@link ChassisSpeeds}, the {@link ChassisSpeeds} from the previous iteration, - * and the time between iterations. - * - * @param speed the current speed of the chassis - * @param previousSpeed the previous speed of the chassis - * @param dt the time elapsed between measurements (your loop time), - * in seconds - */ - public ChassisAccelerations(ChassisSpeeds speed, ChassisSpeeds previousSpeed, double dt) { - this.axMetersPerSecondSquared = (speed.vxMetersPerSecond - previousSpeed.vxMetersPerSecond) / dt; - this.ayMetersPerSecondSquared = (speed.vyMetersPerSecond - previousSpeed.vyMetersPerSecond) / dt; - this.omegaRadiansPerSecondSquared = (speed.omegaRadiansPerSecond - previousSpeed.omegaRadiansPerSecond) / dt; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java b/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java deleted file mode 100644 index 54b8e22..0000000 --- a/src/main/java/frc/robot/utils/ShootOnTheFlyCalculator.java +++ /dev/null @@ -1,258 +0,0 @@ -package frc.robot.utils; - -import java.util.function.Function; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.interpolation.InterpolatingTreeMap; -import edu.wpi.first.math.kinematics.ChassisSpeeds; - -/** - * Provides static methods to calculate the effective target position to aim for - * when shooting on the fly. - */ -public class ShootOnTheFlyCalculator { - /** - * Calculates the time it will take for a projectile to reach a target given the - * robot's pose and the target's pose, and a function describing the - * projectile's velocity. This allows you to have a shooter that may shoot a - * projectile at varying speeds given varying distances from the targe. - * - * @see #calculateEffectiveTargetLocation(Pose2d, Pose3d, ChassisSpeeds, - * ChassisAccelerations, Function, double, double) - * - * @param robotPose the current pose of the robot - * @param targetPose the 3D pose of the target. this should - * be the center of the target, if that - * makes sense (2024 game), but could also - * be offset if desired. this may also be - * deeper into the target area if required - * (2020 game). this should take into - * account any necessary field reflections - * before being passed. - * @param xyDistanceToProjectileVelocity a function that takes in the - * xy-distance from the robot to the goal, - * and returns the velocity of the shot - * projectile in m/s. - * @return the time it will take for the projectile to reach the target - */ - public static double getTimeToShoot(Pose2d robotPose, Pose3d targetPose, - Function xyDistanceToProjectileVelocity) { - Transform3d diff = new Pose3d(robotPose).minus(targetPose); - double xyDistance = new Translation2d(diff.getX(), diff.getY()).getNorm(); - double distance = diff.getTranslation().getNorm(); - double projectileVelocity = xyDistanceToProjectileVelocity.apply(xyDistance); - double time = distance / projectileVelocity; - return time; - } - - public static double getTimeToShoot( - Pose3d shooterPose, - Pose3d targetPose, - double launchSpeed, - double launchPitchRad) { - Translation3d s = shooterPose.getTranslation(); - Translation3d t = targetPose.getTranslation(); - - double dx = t.getX() - s.getX(); - double dy = t.getY() - s.getY(); - - double horizontalDist = Math.hypot(dx, dy); - double vHoriz = launchSpeed * Math.cos(launchPitchRad); - - if (vHoriz <= 1e-6) { - throw new IllegalArgumentException("Horizontal velocity too small"); - } - - return horizontalDist / vHoriz; - } - - /** - * Calculates the effective position of the target given the position, velocity, - * and acceleration of the robot's chassis. Does not account for air resistance, - * though this is very often unnecessary. - * - *

- * - * When shooting a projectile while moving, the projectile inherits the - * translational velocity of the chassis. Shooting on the fly can be - * accomplished by targeting a "virtual" goal if you are moving, which acts to - * negate the forces applied on the projectile due to the movement of the - * chassis. - * - *

- * - * An iterative approach (see {@code goalPositionIterations}) is required - * because the time taken for the projectile to travel to the target will change - * given a different target location. To account for this, we re-simulate the - * projectile's travel with a new shot time derived from the new virtual goal - * position several times. - * - * - *

- * - * When solving this problem mathematically, the acceleration of the chassis - * does not matter in the final velocities of the projectile (it will not - * inherit the acceleration of the chassis). The - * {@code accelerationCompensationFactor} is necessary due to other errors: - * - * (1) the time taken to move the projectile through a shooter is non-zero, so - * (2) if the chassis is accelerating, the velocity of the chassis by the time - * the projectile leaves the robot will have changed. - * - * To account for this, we multiply the acceleration at the time of the shot - * command by a specific value and add it to the velocity at the time of - * the shot. This value is based on the time delta between - * commanding a shot and the shot actually leaving the shooter, meaning that the - * effective velocity generated is the velocity as the projectile leaves the - * shooter. This is extremely complicated to determine theoretically, so if you - * find acceleration to be causing shot inaccuracies, find a value that provides - * adequate compensation (should be around [0,2]). - * - *

- * - * The easiest way to create the {@code xyDistanceToProjectileVelocity} lambda - * function is as follows: - * - * If the speed of your shooter is always constant, simply create a lambda - * expression that always returns the same value. - * - * If the speed of your shooter is controlled using an - * {@link InterpolatingTreeMap} based on distance from the goal, simply get the - * appropriate shooter speed from that map, and multiply it by some constant - * that describes how fast the projectile moves given a shooter speed. This can - * be calculated experimentally by pointing a camera at the shooter and - * calculating the speed of the projectile based on the distance travelled in n - * frames. If you find the relationship between shooter speed and projectile - * speed is not constant, you can create a second {@link InterpolatingTreeMap}, - * or define it as an equation. - * - * @param robotPose the current pose of the robot - * @param targetPose the 3D pose of the target. this should - * be the center of the target, if that - * makes sense (2024 game), but could also - * be offset if desired. this may also be - * deeper into the target area if required - * (2020 game). this should take into - * account any necessary field reflections - * before being passed. - * @param fieldRelRobotVelocity the field-relative velocity of the - * robot's chassis - * @param fieldRelRobotAcceleration the field-relative acceleration of the - * robot's chassis - * @param xyDistanceToProjectileVelocity a function that takes in the - * xy-distance from the robot to the goal, - * and returns the velocity of the shot - * projectile in m/s. - * @param goalPositionIterations the number of iterations to use when - * iteratively solving for the pose of the - * target. a higher number of iterations - * will increase the accuracy of the - * result, but will also reduce - * performance. - * @param accelerationCompensationFactor the value to multiply the acceleration - * @return - */ - public static Pose3d calculateEffectiveTargetLocation( - Pose2d robotPose, Pose3d targetPose, - ChassisSpeeds fieldRelRobotVelocity, - ChassisAccelerations fieldRelRobotAcceleration, - Function xyDistanceToProjectileVelocity, - double goalPositionIterations, - double accelerationCompensationFactor) { - - double shotTime = getTimeToShoot(robotPose, targetPose, xyDistanceToProjectileVelocity); - - Pose3d correctedTargetPose = new Pose3d(); - for (int i = 0; i < goalPositionIterations; i++) { - double virtualGoalX = targetPose.getX() - - shotTime * (fieldRelRobotVelocity.vxMetersPerSecond - + fieldRelRobotAcceleration.axMetersPerSecondSquared - * accelerationCompensationFactor); - double virtualGoalY = targetPose.getY() - - shotTime * (fieldRelRobotVelocity.vyMetersPerSecond - + fieldRelRobotAcceleration.ayMetersPerSecondSquared - * accelerationCompensationFactor); - - correctedTargetPose = new Pose3d(virtualGoalX, virtualGoalY, targetPose.getZ(), - targetPose.getRotation()); - - double newShotTime = getTimeToShoot(robotPose, correctedTargetPose, xyDistanceToProjectileVelocity); - - shotTime = newShotTime; - if (Math.abs(newShotTime - shotTime) <= 0.010) { - break; - } - } - - return correctedTargetPose; - } - - public record InterceptSolution( - Pose3d effectiveTargetPose, - double launchPitchRad, - double launchSpeed, - double flightTime, - double requiredYaw) { - } - - public static InterceptSolution solveShootOnTheFly( - Pose3d shooterPose, - Pose3d targetPose, - ChassisSpeeds fieldRelRobotVelocity, - ChassisAccelerations fieldRelRobotAcceleration, - double targetSpeedRps, - int maxIterations, - double timeTolerance) { - - ShotSolution sol = BallPhysics.solveBallisticWithSpeed( - shooterPose, - targetPose, - targetSpeedRps); - - double t = sol.flightTimeSeconds(); - Pose3d effectiveTarget = targetPose; - - for (int i = 0; i < maxIterations; i++) { - - double dx = fieldRelRobotVelocity.vxMetersPerSecond * t; - // + 0.5 * fieldRelRobotAcceleration.axMetersPerSecondSquared * t * t; - - double dy = fieldRelRobotVelocity.vyMetersPerSecond * t; - // + 0.5 * fieldRelRobotAcceleration.ayMetersPerSecondSquared * t * t; - - effectiveTarget = new Pose3d( - targetPose.getX() - dx, - targetPose.getY() - dy, - targetPose.getZ(), - targetPose.getRotation()); - - ShotSolution newSol = BallPhysics.solveBallisticWithSpeed( - shooterPose, - effectiveTarget, - targetSpeedRps); - - if (Math.abs(newSol.flightTimeSeconds() - t) < timeTolerance) { - return new InterceptSolution( - effectiveTarget, - newSol.launchPitchRad(), - newSol.launchSpeed(), - newSol.flightTimeSeconds(), - 0); - } - - sol = newSol; - t = newSol.flightTimeSeconds(); - } - - return new InterceptSolution( - effectiveTarget, - sol.launchPitchRad(), - sol.launchSpeed(), - sol.flightTimeSeconds(), - 0); - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 412dfab..bc4d7c7 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -1,11 +1,7 @@ package frc.robot.utils.autoaim; -import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; import frc.robot.utils.FieldUtils; @@ -19,25 +15,25 @@ public class AutoAim { static { // For hub shot tree HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12), - new ShotData(Rotation2d.fromDegrees(6), 30)); + new ShotData(Rotation2d.fromDegrees(6), 30, 0.5)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12), - new ShotData(Rotation2d.fromDegrees(10.5), 30)); + new ShotData(Rotation2d.fromDegrees(10.5), 30, 0.55)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12), - new ShotData(Rotation2d.fromDegrees(14.5), 30)); + new ShotData(Rotation2d.fromDegrees(14.5), 30, 0.6)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12), - new ShotData(Rotation2d.fromDegrees(18), 30)); + new ShotData(Rotation2d.fromDegrees(18), 30, 0.65)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12), - new ShotData(Rotation2d.fromDegrees(21.5), 30)); + new ShotData(Rotation2d.fromDegrees(21.5), 30, 0.7)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12), - new ShotData(Rotation2d.fromDegrees(24.5), 30)); + new ShotData(Rotation2d.fromDegrees(24.5), 30, 0.75)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12), - new ShotData(Rotation2d.fromDegrees(28), 30)); + new ShotData(Rotation2d.fromDegrees(28), 30, 0.8)); } // Ig we'll see if we need more than 1 feed shot tree @@ -46,7 +42,7 @@ public class AutoAim { static { // For feed shot tree // TODO: POPULATE FEED_SHOT_TREE.put( - 1.0, new ShotData(Rotation2d.kCW_90deg, 10)); // Placeholder to prevent crashes + 1.0, new ShotData(Rotation2d.kCW_90deg, 10, 0)); // Placeholder to prevent crashes } // TODO: SOTM diff --git a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java index 51f0650..ca5658f 100644 --- a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java +++ b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java @@ -2,15 +2,12 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; -import frc.robot.utils.FieldUtils; - -import java.lang.reflect.Field; import java.util.TreeMap; public class InterpolatingShotTree { - public record ShotData(Rotation2d hoodAngle, double flywheelVelocityRotPerSec) {} + public record ShotData( + Rotation2d hoodAngle, double flywheelVelocityRotPerSec, double timeOfFlightSecs) {} private final TreeMap map = new TreeMap<>(); @@ -94,7 +91,11 @@ private ShotData interpolate(ShotData startValue, ShotData endValue, double t) { MathUtil.interpolate( startValue.hoodAngle().getRadians(), endValue.hoodAngle().getRadians(), t)), MathUtil.interpolate( - startValue.flywheelVelocityRotPerSec(), endValue.flywheelVelocityRotPerSec(), t)); + startValue.flywheelVelocityRotPerSec(), endValue.flywheelVelocityRotPerSec(), t), + MathUtil.interpolate( + startValue.timeOfFlightSecs(), + endValue.timeOfFlightSecs(), + t)); // TODO fix time of flight } /** @@ -118,7 +119,11 @@ private double inverseInterpolate(Double up, Double query, Double down) { return queryToLower / upperToLower; } - public ShotData calculateShot(Pose2d pose) { - return get(AutoAim.distanceToHub(pose)); + public ShotData calculateShot(Pose2d pose) { + return get(AutoAim.distanceToHub(pose)); + } + + public ShotData calculateShot(Pose2d robotPose, Pose2d targetPose) { + return get(robotPose.getTranslation().getDistance(targetPose.getTranslation())); } } diff --git a/src/main/java/frc/robot/utils/rusthoundsSOTM/ChassisAccelerations.java b/src/main/java/frc/robot/utils/rusthoundsSOTM/ChassisAccelerations.java new file mode 100644 index 0000000..0b1d620 --- /dev/null +++ b/src/main/java/frc/robot/utils/rusthoundsSOTM/ChassisAccelerations.java @@ -0,0 +1,47 @@ +package frc.robot.utils.rusthoundsSOTM; + +import edu.wpi.first.math.kinematics.ChassisSpeeds; + +/** + * Represents the complete acceleration data of a chassis. Counterpart to {@link ChassisSpeeds}. + * Used when acceleration data is needed for some computation (in 2024, shooting on the move). + */ +public class ChassisAccelerations { + public double axMetersPerSecondSquared; + public double ayMetersPerSecondSquared; + public double omegaRadiansPerSecondSquared; + + /** + * Creates a {@link ChassisAccelerations} object based on given acceleration data. + * + * @param axMetersPerSecondSquared the acceleration in the x direction, in m/s^2 + * @param ayMetersPerSecondSquared the acceleration in the y direction, in m/s^2 + * @param omegaRadiansPerSecondSquared the rotational acceleration of the chassis (CCW+), in + * rad/s^2 + */ + public ChassisAccelerations( + double axMetersPerSecondSquared, + double ayMetersPerSecondSquared, + double omegaRadiansPerSecondSquared) { + this.axMetersPerSecondSquared = axMetersPerSecondSquared; + this.ayMetersPerSecondSquared = ayMetersPerSecondSquared; + this.omegaRadiansPerSecondSquared = omegaRadiansPerSecondSquared; + } + + /** + * Creates a {@link ChassisAccelerations} object based on the current {@link ChassisSpeeds}, the + * {@link ChassisSpeeds} from the previous iteration, and the time between iterations. + * + * @param speed the current speed of the chassis + * @param previousSpeed the previous speed of the chassis + * @param dt the time elapsed between measurements (your loop time), in seconds + */ + public ChassisAccelerations(ChassisSpeeds speed, ChassisSpeeds previousSpeed, double dt) { + this.axMetersPerSecondSquared = + (speed.vxMetersPerSecond - previousSpeed.vxMetersPerSecond) / dt; + this.ayMetersPerSecondSquared = + (speed.vyMetersPerSecond - previousSpeed.vyMetersPerSecond) / dt; + this.omegaRadiansPerSecondSquared = + (speed.omegaRadiansPerSecond - previousSpeed.omegaRadiansPerSecond) / dt; + } +} diff --git a/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java new file mode 100644 index 0000000..1965ae9 --- /dev/null +++ b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java @@ -0,0 +1,170 @@ +package frc.robot.utils.rusthoundsSOTM; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.interpolation.InterpolatingTreeMap; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import frc.robot.utils.FieldUtils; +import frc.robot.utils.autoaim.AutoAim; +import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData; +import java.util.function.Supplier; +import org.littletonrobotics.junction.Logger; + +/** + * Provides static methods to calculate the effective target position to aim for when shooting on + * the fly. + */ +public class ShootOnTheFlyCalculator { + /** + * Calculates the effective position of the target given the position, velocity, and acceleration + * of the robot's chassis. Does not account for air resistance, though this is very often + * unnecessary. + * + *

When shooting a projectile while moving, the projectile inherits the translational velocity + * of the chassis. Shooting on the fly can be accomplished by targeting a "virtual" goal if you + * are moving, which acts to negate the forces applied on the projectile due to the movement of + * the chassis. + * + *

An iterative approach (see {@code goalPositionIterations}) is required because the time + * taken for the projectile to travel to the target will change given a different target location. + * To account for this, we re-simulate the projectile's travel with a new shot time derived from + * the new virtual goal position several times. + * + *

When solving this problem mathematically, the acceleration of the chassis does not matter in + * the final velocities of the projectile (it will not inherit the acceleration of the chassis). + * The {@code accelerationCompensationFactor} is necessary due to other errors: + * + *

(1) the time taken to move the projectile through a shooter is non-zero, so (2) if the + * chassis is accelerating, the velocity of the chassis by the time the projectile leaves the + * robot will have changed. + * + *

To account for this, we multiply the acceleration at the time of the shot command by + * a specific value and add it to the velocity at the time of the shot. This value is based on the + * time delta between commanding a shot and the shot actually leaving the shooter, meaning that + * the effective velocity generated is the velocity as the projectile leaves the shooter. This is + * extremely complicated to determine theoretically, so if you find acceleration to be causing + * shot inaccuracies, find a value that provides adequate compensation (should be around [0,2]). + * + *

The easiest way to create the {@code xyDistanceToProjectileVelocity} lambda function is as + * follows: + * + *

If the speed of your shooter is always constant, simply create a lambda expression that + * always returns the same value. + * + *

If the speed of your shooter is controlled using an {@link InterpolatingTreeMap} based on + * distance from the goal, simply get the appropriate shooter speed from that map, and multiply it + * by some constant that describes how fast the projectile moves given a shooter speed. This can + * be calculated experimentally by pointing a camera at the shooter and calculating the speed of + * the projectile based on the distance travelled in n frames. If you find the relationship + * between shooter speed and projectile speed is not constant, you can create a second {@link + * InterpolatingTreeMap}, or define it as an equation. + * + * @param robotPose the current pose of the robot + * @param targetPose the 3D pose of the target. this should be the center of the target, if that + * makes sense (2024 game), but could also be offset if desired. this may also be deeper into + * the target area if required (2020 game). this should take into account any necessary field + * reflections before being passed. + * @param fieldRelRobotVelocity the field-relative velocity of the robot's chassis + * @param fieldRelRobotAcceleration the field-relative acceleration of the robot's chassis + * @param xyDistanceToProjectileVelocity a function that takes in the xy-distance from the robot + * to the goal, and returns the velocity of the shot projectile in m/s. + * @param goalPositionIterations the number of iterations to use when iteratively solving for the + * pose of the target. a higher number of iterations will increase the accuracy of the result, + * but will also reduce performance. + * @param accelerationCompensationFactor the value to multiply the acceleration + * @return + */ + // i 2d ified everything but that scares me a bit + public static Pose2d calculateEffectiveTargetLocation( + Supplier robotPose, + Supplier fieldRelRobotVelocity, + Supplier fieldRelRobotAcceleration, + double goalPositionIterations, + double accelerationCompensationFactor) { + + double shotTime = AutoAim.HUB_SHOT_TREE.calculateShot(robotPose.get()).timeOfFlightSecs(); + + Pose2d correctedTargetPose = new Pose2d(); + for (int i = 0; i < goalPositionIterations; i++) { + double virtualGoalX = + FieldUtils.getCurrentHubPose().getX() + - shotTime + * (fieldRelRobotVelocity.get().vxMetersPerSecond + + fieldRelRobotAcceleration.get().axMetersPerSecondSquared + * accelerationCompensationFactor); + Logger.recordOutput("Autoaim/virtual x", virtualGoalX); + double virtualGoalY = + FieldUtils.getCurrentHubPose().getY() + - shotTime + * (fieldRelRobotVelocity.get().vyMetersPerSecond + + fieldRelRobotAcceleration.get().ayMetersPerSecondSquared + * accelerationCompensationFactor); + Logger.recordOutput("Autoaim/virtual y", virtualGoalY); + + correctedTargetPose = + new Pose2d(virtualGoalX, virtualGoalY, FieldUtils.getCurrentHubPose().getRotation()); + // i don't think rotation even matters here but + + double newShotTime = + AutoAim.HUB_SHOT_TREE + .calculateShot(robotPose.get(), correctedTargetPose) + .timeOfFlightSecs(); + + // shotTime = newShotTime; + // if (Math.abs(newShotTime - shotTime) <= 0.010) { + // break; + // } + } + Logger.recordOutput("Autoaim/Virtual Target", correctedTargetPose); + Logger.recordOutput( + "Autoaim/shot", + new Pose2d( + robotPose.get().getTranslation().plus(new Translation2d(0, 10)), + robotPose.get().getRotation())); + return correctedTargetPose; + } + + public record InterceptSolution(Pose2d effectiveTargetPose, ShotData shotData) {} + + public static InterceptSolution solveShootOnTheFly( + Pose2d shooterPose, + ChassisSpeeds fieldRelRobotVelocity, + ChassisAccelerations fieldRelRobotAcceleration, + int maxIterations, + double timeTolerance) { + ShotData sol = AutoAim.HUB_SHOT_TREE.calculateShot(shooterPose); + + double t = sol.timeOfFlightSecs(); + Pose2d effectiveTarget = FieldUtils.getCurrentHubPose(); + + for (int i = 0; i < maxIterations; i++) { + + double dx = fieldRelRobotVelocity.vxMetersPerSecond * t; + // + 0.5 * fieldRelRobotAcceleration.axMetersPerSecondSquared * t * t; + + double dy = fieldRelRobotVelocity.vyMetersPerSecond * t; + // + 0.5 * fieldRelRobotAcceleration.ayMetersPerSecondSquared * t * t; + + effectiveTarget = + new Pose2d( + FieldUtils.getCurrentHubPose().getX() - dx, + FieldUtils.getCurrentHubPose().getY() - dy, + FieldUtils.getCurrentHubPose().getRotation()); + + // ShotSolution newSol = BallPhysics.solveBallisticWithSpeed( + // shooterPose, + // effectiveTarget, + // targetSpeedRps); + ShotData newSol = AutoAim.HUB_SHOT_TREE.calculateShot(shooterPose, effectiveTarget); + + if (Math.abs(newSol.timeOfFlightSecs() - t) < timeTolerance) { + return new InterceptSolution(effectiveTarget, newSol); + } + + sol = newSol; + t = newSol.timeOfFlightSecs(); + } + + return new InterceptSolution(effectiveTarget, sol); + } +} From 5d16c8f99ffc225338fa3f168776473a3fb6a641 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 24 Jan 2026 09:36:16 -0800 Subject: [PATCH 16/40] add autos to auto chooser --- src/main/java/frc/robot/Robot.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 036f351..82c123b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -374,7 +374,10 @@ private void addAutos() { System.out.println("------- Regenerating Autos"); System.out.println( "Regenerating Autos on " + DriverStation.getAlliance().map((a) -> a.toString())); - + autoChooser.addOption("Depot Feed Climb", autos.getDepotFeedClimbAuto()); + autoChooser.addOption("Depot Score Climb", autos.getDepotScoreClimbAuto()); + autoChooser.addOption("Outpost Feed Climb", autos.getOutpostFeedClimbAuto()); + autoChooser.addOption("Outpost Score Climb", autos.getOutpostScoreClimbAuto()); // Sysid Autos autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); autoChooser.addOption("Index Roller Sysid", indexer.runRollerSysId()); From 0aaa949059518fb0de78c84b7adb3fa141609c35 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 24 Jan 2026 12:51:49 -0800 Subject: [PATCH 17/40] team 8033 is proud to present the idiotmatic --- src/main/java/frc/robot/Robot.java | 48 +++++++++++-------- src/main/java/frc/robot/Superstructure.java | 4 +- .../frc/robot/subsystems/shooter/Shooter.java | 4 ++ .../subsystems/shooter/ShooterSubsystem.java | 12 ++--- .../subsystems/shooter/TurretSubsystem.java | 8 ++++ .../subsystems/swerve/SwerveSubsystem.java | 9 +++- .../java/frc/robot/utils/autoaim/AutoAim.java | 14 +++--- .../ShootOnTheFlyCalculator.java | 30 ++++++------ 8 files changed, 77 insertions(+), 52 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 74abf1e..37dc0ff 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -9,6 +9,7 @@ import com.ctre.phoenix6.sim.TalonFXSimState.MotorType; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.Alert; @@ -337,23 +338,25 @@ public Robot() { driver.setDefaultCommand(driver.rumbleCmd(0.0, 0.0)); operator.setDefaultCommand(operator.rumbleCmd(0.0, 0.0)); swerve.setDefaultCommand( - // new ChassisSpeeds( - // modifyJoystick(-1 * driver.getLeftX()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - // modifyJoystick(driver.getLeftY()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - // modifyJoystick(driver.getRightX()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) - // .times(-1))); - swerve.faceHubSOTM( + swerve.driveOpenLoopFieldRelative( () -> - modifyJoystick(driver.getLeftY()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() - * -1, - () -> - modifyJoystick(driver.getLeftX()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() - * -1)); + new ChassisSpeeds( + modifyJoystick(-1 * driver.getLeftX()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + modifyJoystick(driver.getLeftY()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + modifyJoystick(driver.getRightX()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) + .times(-1))); + // swerve.faceHubSOTM( + // () -> + // modifyJoystick(driver.getLeftY()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() + // * -1, + // () -> + // modifyJoystick(driver.getLeftX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() + // * -1)); addControllerBindings(indexer, shooter); @@ -435,17 +438,24 @@ private void addControllerBindings(Indexer indexer, Shooter shooter) { driver .leftBumper() .whileTrue( + // swerve.faceHubSOTM( + // () -> + // modifyJoystick(driver.getLeftY()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + // () -> + // modifyJoystick(driver.getLeftX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); swerve.faceHubSOTM( () -> - modifyJoystick(driver.getLeftY()) + modifyJoystick(driver.getLeftX()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), () -> - modifyJoystick(driver.getLeftX()) + modifyJoystick(-1 * driver.getLeftY()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); // TODO add binding for climb // current zero shooter hood - driver.a().onTrue(shooter.runCurrentZeroing()); + driver.b().onTrue(shooter.runCurrentZeroing()); new Trigger(() -> indexer.firstBeambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.1)); diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index e0c9438..2042a0a 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -233,7 +233,7 @@ private void addCommands() { SuperState.SPIN_UP_SCORE, intake.rest(), indexer.rest(), /*shooter.shoot(swerve::getPose)*/ - shooter.testShoot()); + shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); bindCommands( SuperState.SPIN_UP_FEED, @@ -246,7 +246,7 @@ private void addCommands() { SuperState.SCORE, intake.rest(), indexer.kick(), /*shooter.shoot(swerve::getPose)*/ - shooter.testShoot()); + shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); bindCommands(SuperState.SCORE_FLOW, intake.intake(), indexer.kick(), shooter.testShoot()); diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 62f82a6..8095f43 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.shooter; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import java.util.function.Supplier; @@ -46,4 +47,7 @@ public interface Shooter { * position. */ public Command runCurrentZeroing(); + + public Command shootOTM( + Supplier robotPoseSupplier, Supplier fieldRelRobotVelocity); } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java index 2400f09..a036026 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java @@ -22,7 +22,6 @@ import frc.robot.utils.LoggedTunableNumber; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData; -import frc.robot.utils.rusthoundsSOTM.ChassisAccelerations; import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator; import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator.InterceptSolution; import java.util.function.Supplier; @@ -98,19 +97,14 @@ public Command shoot(Supplier robotPoseSupplier) { }); } + @Override public Command shootOTM( - Supplier robotPoseSupplier, - ChassisSpeeds fieldRelRobotVelocity, - ChassisAccelerations fieldRelRobotAcceleration) { + Supplier robotPoseSupplier, Supplier fieldRelRobotVelocity) { return this.run( () -> { InterceptSolution sol = ShootOnTheFlyCalculator.solveShootOnTheFly( - robotPoseSupplier.get(), - fieldRelRobotVelocity, - fieldRelRobotAcceleration, - 5, - 0.01); + robotPoseSupplier.get(), fieldRelRobotVelocity.get(), 10, 0.01); hoodIO.setHoodPosition(sol.shotData().hoodAngle()); flywheelIO.setMotionProfiledFlywheelVelocity(sol.shotData().flywheelVelocityRotPerSec()); }); diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 224af4d..27ea4d0 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.shooter; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import java.util.function.Supplier; @@ -72,4 +73,11 @@ public Command runCurrentZeroing() { // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'runCurrentZeroing'"); } + + @Override + public Command shootOTM( + Supplier robotPoseSupplier, Supplier fieldRelRobotVelocity) { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'shootOTM'"); + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 155551b..cb3ceeb 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -278,6 +278,13 @@ public void periodic() { Logger.recordOutput("Current Hub Pose", FieldUtils.getCurrentHubPose()); prevFieldRelVelocities = getVelocityFieldRelative(); + Logger.recordOutput( + "Chassis Accelerations/X", this.getChassisAccelerations().axMetersPerSecondSquared); + Logger.recordOutput( + "Chassis Accelerations/Y", this.getChassisAccelerations().ayMetersPerSecondSquared); + Logger.recordOutput( + "Chassis Accelerations/Omega", + this.getChassisAccelerations().omegaRadiansPerSecondSquared); }); } @@ -622,7 +629,7 @@ public Command faceHubSOTM(DoubleSupplier xVel, DoubleSupplier yVel) { ShootOnTheFlyCalculator.calculateEffectiveTargetLocation( () -> getPose(), () -> getVelocityFieldRelative(), - () -> getChassisAccelerations(), + // () -> getChassisAccelerations(), 5, 0.01) .getTranslation() diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index bc4d7c7..365b3bf 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -15,25 +15,25 @@ public class AutoAim { static { // For hub shot tree HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12), - new ShotData(Rotation2d.fromDegrees(6), 30, 0.5)); + new ShotData(Rotation2d.fromDegrees(6), 30, 1.55)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12), - new ShotData(Rotation2d.fromDegrees(10.5), 30, 0.55)); + new ShotData(Rotation2d.fromDegrees(10.5), 30, 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12), - new ShotData(Rotation2d.fromDegrees(14.5), 30, 0.6)); + new ShotData(Rotation2d.fromDegrees(14.5), 30, 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12), - new ShotData(Rotation2d.fromDegrees(18), 30, 0.65)); + new ShotData(Rotation2d.fromDegrees(18), 30, 1.52)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12), - new ShotData(Rotation2d.fromDegrees(21.5), 30, 0.7)); + new ShotData(Rotation2d.fromDegrees(21.5), 30, 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12), - new ShotData(Rotation2d.fromDegrees(24.5), 30, 0.75)); + new ShotData(Rotation2d.fromDegrees(24.5), 30, 1.35)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12), - new ShotData(Rotation2d.fromDegrees(28), 30, 0.8)); + new ShotData(Rotation2d.fromDegrees(28), 30, 1.36)); } // Ig we'll see if we need more than 1 feed shot tree diff --git a/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java index 1965ae9..8074f32 100644 --- a/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java +++ b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java @@ -1,5 +1,6 @@ package frc.robot.utils.rusthoundsSOTM; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.interpolation.InterpolatingTreeMap; @@ -78,7 +79,7 @@ public class ShootOnTheFlyCalculator { public static Pose2d calculateEffectiveTargetLocation( Supplier robotPose, Supplier fieldRelRobotVelocity, - Supplier fieldRelRobotAcceleration, + // Supplier fieldRelRobotAcceleration, double goalPositionIterations, double accelerationCompensationFactor) { @@ -88,21 +89,23 @@ public static Pose2d calculateEffectiveTargetLocation( for (int i = 0; i < goalPositionIterations; i++) { double virtualGoalX = FieldUtils.getCurrentHubPose().getX() - - shotTime - * (fieldRelRobotVelocity.get().vxMetersPerSecond - + fieldRelRobotAcceleration.get().axMetersPerSecondSquared - * accelerationCompensationFactor); + + shotTime + * MathUtil.applyDeadband( + Math.abs(Math.pow(fieldRelRobotVelocity.get().vxMetersPerSecond, 2)) + * Math.signum(fieldRelRobotVelocity.get().vxMetersPerSecond), + 0.1); Logger.recordOutput("Autoaim/virtual x", virtualGoalX); double virtualGoalY = FieldUtils.getCurrentHubPose().getY() - shotTime - * (fieldRelRobotVelocity.get().vyMetersPerSecond - + fieldRelRobotAcceleration.get().ayMetersPerSecondSquared - * accelerationCompensationFactor); + * MathUtil.applyDeadband( + Math.abs(Math.pow(fieldRelRobotVelocity.get().vyMetersPerSecond, 2)) + * Math.signum(fieldRelRobotVelocity.get().vyMetersPerSecond), + 0.1); Logger.recordOutput("Autoaim/virtual y", virtualGoalY); correctedTargetPose = - new Pose2d(virtualGoalX, virtualGoalY, FieldUtils.getCurrentHubPose().getRotation()); + new Pose2d(virtualGoalY, virtualGoalX, FieldUtils.getCurrentHubPose().getRotation()); // i don't think rotation even matters here but double newShotTime = @@ -110,10 +113,10 @@ public static Pose2d calculateEffectiveTargetLocation( .calculateShot(robotPose.get(), correctedTargetPose) .timeOfFlightSecs(); - // shotTime = newShotTime; - // if (Math.abs(newShotTime - shotTime) <= 0.010) { - // break; - // } + shotTime = newShotTime; + if (Math.abs(newShotTime - shotTime) <= 0.010) { + break; + } } Logger.recordOutput("Autoaim/Virtual Target", correctedTargetPose); Logger.recordOutput( @@ -129,7 +132,6 @@ public record InterceptSolution(Pose2d effectiveTargetPose, ShotData shotData) { public static InterceptSolution solveShootOnTheFly( Pose2d shooterPose, ChassisSpeeds fieldRelRobotVelocity, - ChassisAccelerations fieldRelRobotAcceleration, int maxIterations, double timeTolerance) { ShotData sol = AutoAim.HUB_SHOT_TREE.calculateShot(shooterPose); From d48897b20cb3acd2895766a935e7726a36c15463 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 24 Jan 2026 12:52:51 -0800 Subject: [PATCH 18/40] well i guess this works --- .../robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java index 8074f32..4089c9e 100644 --- a/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java +++ b/src/main/java/frc/robot/utils/rusthoundsSOTM/ShootOnTheFlyCalculator.java @@ -88,7 +88,7 @@ public static Pose2d calculateEffectiveTargetLocation( Pose2d correctedTargetPose = new Pose2d(); for (int i = 0; i < goalPositionIterations; i++) { double virtualGoalX = - FieldUtils.getCurrentHubPose().getX() + FieldUtils.getCurrentHubPose().getY() + shotTime * MathUtil.applyDeadband( Math.abs(Math.pow(fieldRelRobotVelocity.get().vxMetersPerSecond, 2)) @@ -96,7 +96,7 @@ public static Pose2d calculateEffectiveTargetLocation( 0.1); Logger.recordOutput("Autoaim/virtual x", virtualGoalX); double virtualGoalY = - FieldUtils.getCurrentHubPose().getY() + FieldUtils.getCurrentHubPose().getX() - shotTime * MathUtil.applyDeadband( Math.abs(Math.pow(fieldRelRobotVelocity.get().vyMetersPerSecond, 2)) From 2bea1a782a41692870dbce31261e0b3aa3871265 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 24 Jan 2026 16:59:09 -0800 Subject: [PATCH 19/40] added close up shot --- src/main/java/frc/robot/Superstructure.java | 2 ++ src/main/java/frc/robot/utils/autoaim/AutoAim.java | 2 ++ 2 files changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 2042a0a..6168aa3 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -234,6 +234,7 @@ private void addCommands() { intake.rest(), indexer.rest(), /*shooter.shoot(swerve::getPose)*/ shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); + // shooter.testShoot()); bindCommands( SuperState.SPIN_UP_FEED, @@ -247,6 +248,7 @@ private void addCommands() { intake.rest(), indexer.kick(), /*shooter.shoot(swerve::getPose)*/ shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); + // shooter.testShoot()); bindCommands(SuperState.SCORE_FLOW, intake.intake(), indexer.kick(), shooter.testShoot()); diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 365b3bf..098207f 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -13,6 +13,8 @@ public class AutoAim { public static final InterpolatingShotTree HUB_SHOT_TREE = new InterpolatingShotTree(); static { // For hub shot tree + HUB_SHOT_TREE.put( + Units.inchesToMeters(24 + 17), new ShotData(Rotation2d.fromDegrees(8), 27.5, 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12), new ShotData(Rotation2d.fromDegrees(6), 30, 1.55)); From 74ee54c2ab926ff3f9ee5834223adb9d8fdad435 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 24 Jan 2026 20:27:44 -0800 Subject: [PATCH 20/40] add ground velocity?? --- .../java/frc/robot/utils/autoaim/AutoAim.java | 29 +++++++++---------- .../utils/autoaim/InterpolatingShotTree.java | 8 +++-- 2 files changed, 19 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 098207f..b117d29 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -14,28 +14,28 @@ public class AutoAim { static { // For hub shot tree HUB_SHOT_TREE.put( - Units.inchesToMeters(24 + 17), new ShotData(Rotation2d.fromDegrees(8), 27.5, 1.46)); + Units.inchesToMeters(24 + 17), new ShotData(Rotation2d.fromDegrees(8), 27.5, 1.46, Units.inchesToMeters(24 + 17) / 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12), - new ShotData(Rotation2d.fromDegrees(6), 30, 1.55)); + new ShotData(Rotation2d.fromDegrees(6), 30, 1.55, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12) / 1.55)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12), - new ShotData(Rotation2d.fromDegrees(10.5), 30, 1.54)); + new ShotData(Rotation2d.fromDegrees(10.5), 30, 1.54, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12) / 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12), - new ShotData(Rotation2d.fromDegrees(14.5), 30, 1.54)); + new ShotData(Rotation2d.fromDegrees(14.5), 30, 1.54, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12) / 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12), - new ShotData(Rotation2d.fromDegrees(18), 30, 1.52)); + new ShotData(Rotation2d.fromDegrees(18), 30, 1.52, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12) / 1.52)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12), - new ShotData(Rotation2d.fromDegrees(21.5), 30, 1.46)); + new ShotData(Rotation2d.fromDegrees(21.5), 30, 1.46, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12) / 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12), - new ShotData(Rotation2d.fromDegrees(24.5), 30, 1.35)); + new ShotData(Rotation2d.fromDegrees(24.5), 30, 1.35, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12) / 1.35)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12), - new ShotData(Rotation2d.fromDegrees(28), 30, 1.36)); + new ShotData(Rotation2d.fromDegrees(28), 30, 1.36, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12) / 1.36)); } // Ig we'll see if we need more than 1 feed shot tree @@ -44,7 +44,7 @@ public class AutoAim { static { // For feed shot tree // TODO: POPULATE FEED_SHOT_TREE.put( - 1.0, new ShotData(Rotation2d.kCW_90deg, 10, 0)); // Placeholder to prevent crashes + 1.0, new ShotData(Rotation2d.kCW_90deg, 10, 0, 0)); // Placeholder to prevent crashes } // TODO: SOTM @@ -60,15 +60,12 @@ public static Rotation2d getSOTMYaw(Pose2d robot, ChassisSpeeds fieldRelativeSpe // if we want the ball to go straight towards the goal, // the V_ball-robot vector needs to cancel out with the V_robot-ground vector to "offset" the // velocity it already has - // the ball exits the shooter with velocity v at an angle theta (just assume it's the correct - // velocity and angle) - // the magnitude of the V_ball-ground vector (or |V_ball-ground|) is v * cos (theta) - double fuelHorizVelocity = - HUB_SHOT_TREE.calculateShot(robot).flywheelVelocityRotPerSec() - * HUB_SHOT_TREE.calculateShot(robot).hoodAngle().getCos(); + //this is the desired final ground velocity of the ball + double v_ballGround = + HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); // let phi be the azimuth // phi = arcsin(-V_robot-ground / |V_ball-ground|) - double phi = Math.asin((-1) * fieldRelativeSpeeds.vyMetersPerSecond / fuelHorizVelocity); + double phi = Math.asin((-1) * fieldRelativeSpeeds.vyMetersPerSecond / v_ballGround); return Rotation2d.fromRadians(phi); } } diff --git a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java index ca5658f..3af2748 100644 --- a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java +++ b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java @@ -7,7 +7,7 @@ public class InterpolatingShotTree { public record ShotData( - Rotation2d hoodAngle, double flywheelVelocityRotPerSec, double timeOfFlightSecs) {} + Rotation2d hoodAngle, double flywheelVelocityRotPerSec, double timeOfFlightSecs, double groundVelocity) {} private final TreeMap map = new TreeMap<>(); @@ -95,7 +95,11 @@ private ShotData interpolate(ShotData startValue, ShotData endValue, double t) { MathUtil.interpolate( startValue.timeOfFlightSecs(), endValue.timeOfFlightSecs(), - t)); // TODO fix time of flight + t), + MathUtil.interpolate( + startValue.groundVelocity(), + endValue.groundVelocity(), + t)); } /** From afa83ca8cdf9291e187eeb1e34d6e0d9fd2651a6 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 24 Jan 2026 23:36:10 -0800 Subject: [PATCH 21/40] try vector based sotm instead but idk --- src/main/java/frc/robot/Robot.java | 7 +- .../subsystems/swerve/SwerveSubsystem.java | 31 ++-- .../java/frc/robot/utils/autoaim/AutoAim.java | 165 ++++++++++++++++-- .../utils/autoaim/InterpolatingShotTree.java | 15 +- 4 files changed, 173 insertions(+), 45 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 37dc0ff..db9f770 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -350,11 +350,10 @@ public Robot() { .times(-1))); // swerve.faceHubSOTM( // () -> - // modifyJoystick(driver.getLeftY()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() - // * -1, - // () -> // modifyJoystick(driver.getLeftX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + // () -> + // modifyJoystick(driver.getLeftY()) // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed() // * -1)); diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index cb3ceeb..7bb01eb 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -50,9 +50,9 @@ import frc.robot.subsystems.swerve.odometry.PhoenixOdometryThread.SignalType; import frc.robot.utils.FieldUtils; import frc.robot.utils.Tracer; +import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.AutoAlign; import frc.robot.utils.rusthoundsSOTM.ChassisAccelerations; -import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator; import java.util.Arrays; import java.util.List; import java.util.Map; @@ -625,20 +625,21 @@ public Command faceHub(DoubleSupplier xVel, DoubleSupplier yVel) { public Command faceHubSOTM(DoubleSupplier xVel, DoubleSupplier yVel) { return driveWithHeadingSnap( () -> { - Translation2d robotHubVec = - ShootOnTheFlyCalculator.calculateEffectiveTargetLocation( - () -> getPose(), - () -> getVelocityFieldRelative(), - // () -> getChassisAccelerations(), - 5, - 0.01) - .getTranslation() - .minus(getPose().getTranslation()); - Rotation2d rot = - Rotation2d.fromRadians(Math.atan2(robotHubVec.getY(), robotHubVec.getX())) - .plus(Rotation2d.kCW_90deg); - Logger.recordOutput("Autoaim/Target Rotation", rot); - return rot; + // Translation2d robotHubVec = + // ShootOnTheFlyCalculator.calculateEffectiveTargetLocation( + // () -> getPose(), + // () -> getVelocityFieldRelative(), + // // () -> getChassisAccelerations(), + // 5, + // 0.01) + // .getTranslation() + // .minus(getPose().getTranslation()); + // Rotation2d rot = + // Rotation2d.fromRadians(Math.atan2(robotHubVec.getY(), robotHubVec.getX())) + // .plus(Rotation2d.kCW_90deg); + // Logger.recordOutput("Autoaim/Target Rotation", rot); + // return rot; + return AutoAim.getSOTMYawfr(getPose(), getVelocityFieldRelative()); }, xVel, yVel); diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index b117d29..aaef93f 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -2,6 +2,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; import frc.robot.utils.FieldUtils; @@ -14,28 +16,57 @@ public class AutoAim { static { // For hub shot tree HUB_SHOT_TREE.put( - Units.inchesToMeters(24 + 17), new ShotData(Rotation2d.fromDegrees(8), 27.5, 1.46, Units.inchesToMeters(24 + 17) / 1.46)); + Units.inchesToMeters(24 + 17), + new ShotData(Rotation2d.fromDegrees(8), 27.5, 1.46, Units.inchesToMeters(24 + 17) / 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12), - new ShotData(Rotation2d.fromDegrees(6), 30, 1.55, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12) / 1.55)); + new ShotData( + Rotation2d.fromDegrees(6), + 30, + 1.55, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12) / 1.55)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12), - new ShotData(Rotation2d.fromDegrees(10.5), 30, 1.54, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12) / 1.54)); + new ShotData( + Rotation2d.fromDegrees(10.5), + 30, + 1.54, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12) / 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12), - new ShotData(Rotation2d.fromDegrees(14.5), 30, 1.54, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12) / 1.54)); + new ShotData( + Rotation2d.fromDegrees(14.5), + 30, + 1.54, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12) / 1.54)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12), - new ShotData(Rotation2d.fromDegrees(18), 30, 1.52, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12) / 1.52)); + new ShotData( + Rotation2d.fromDegrees(18), + 30, + 1.52, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12) / 1.52)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12), - new ShotData(Rotation2d.fromDegrees(21.5), 30, 1.46, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12) / 1.46)); + new ShotData( + Rotation2d.fromDegrees(21.5), + 30, + 1.46, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12) / 1.46)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12), - new ShotData(Rotation2d.fromDegrees(24.5), 30, 1.35, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12) / 1.35)); + new ShotData( + Rotation2d.fromDegrees(24.5), + 30, + 1.35, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12) / 1.35)); HUB_SHOT_TREE.put( Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12), - new ShotData(Rotation2d.fromDegrees(28), 30, 1.36, Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12) / 1.36)); + new ShotData( + Rotation2d.fromDegrees(28), + 30, + 1.36, + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12) / 1.36)); } // Ig we'll see if we need more than 1 feed shot tree @@ -56,16 +87,116 @@ public static double distanceToHub(Pose2d pose) { } public static Rotation2d getSOTMYaw(Pose2d robot, ChassisSpeeds fieldRelativeSpeeds) { - // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) - // if we want the ball to go straight towards the goal, - // the V_ball-robot vector needs to cancel out with the V_robot-ground vector to "offset" the - // velocity it already has - //this is the desired final ground velocity of the ball - double v_ballGround = - HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); + // // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) + // // if we want the ball to go straight towards the goal, + // // the V_ball-robot vector needs to cancel out with the V_robot-ground vector to "offset" the + // // velocity it already has + // //this is the desired final ground velocity of the ball + // double v_ballGround = + // HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); + // // let phi be the azimuth + // // phi = arcsin(-V_robot-ground / |V_ball-ground|) + // double phi = Math.asin((-1) * fieldRelativeSpeeds.vyMetersPerSecond / v_ballGround); + // return Rotation2d.fromRadians(phi); + + // the ball exits the shooter with velocity v at an angle theta (just assume it's the correct + // velocity and angle) + // the magnitude of the V_ball-ground vector (or |V_ball-ground|) is v * cos (theta) + double v_BallGround = HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); + + double v_RobotGround = fieldRelativeSpeeds.vyMetersPerSecond; // sob + // use law of cosines to find needed velocity of the ball relative to the ground + // let the current angle between the robot and hub be alpha + // the following is from the static autoaim + Translation2d robotHubVec = FieldUtils.getCurrentHubTranslation().minus(robot.getTranslation()); + // return FieldUtils.getCurrentHubPose().minus(getPose()).getRotation(); + // Logger.recordOutput("robot hub vec", robotHubVec); + // atan2 takes y as the first arg (i think bc θ = atan(y/x) but idk) + Rotation2d alpha = + Rotation2d.k180deg.minus( + Rotation2d.fromRadians(Math.atan2(robotHubVec.getY(), robotHubVec.getX()))); + double v_BallRobot = + Math.sqrt( + Math.pow(v_RobotGround, 2) + + Math.pow(v_BallGround, 2) + - 2 * v_RobotGround * v_BallGround * alpha.getCos()); + + // use law of sines to find heading + // let phi be the desired angle + // V_ball-robot / alpha = V_ball_ground / phi + // so phi = alpha * v_ball-ground / v_ball-robot + + double phi = alpha.getRadians() * v_BallGround / v_BallRobot; // let phi be the azimuth // phi = arcsin(-V_robot-ground / |V_ball-ground|) - double phi = Math.asin((-1) * fieldRelativeSpeeds.vyMetersPerSecond / v_ballGround); - return Rotation2d.fromRadians(phi); + // double phi = Math.acos((-1) * fieldRelativeSpeeds.vyMetersPerSecond / v_BallGround); + Logger.recordOutput( + "sotm target??", robot.transformBy(new Transform2d(0, 5, new Rotation2d()))); + + // Logger.recordOutput( + // "autoaim target", + // new Pose3d( + // new Translation3d( + // swerveSimulation + // .getSimulatedDriveTrainPose() + // .getTranslation()) + // .plus(new Translation3d(0, 0, 1)), + // new Rotation3d( + // AutoAim.getSOTMHeading( + // getPose(), getVelocityFieldRelative())))); + if (v_RobotGround < 0.05) return alpha; + else { + return robot.getRotation().plus(Rotation2d.fromRadians(phi)).plus(Rotation2d.kCW_90deg); + } + } + + // public static Rotation2d getSOTMPitch(Pose2d robot, ChassisSpeeds fieldRelativeSpeeds) { + // //simple case in which you are moving straight backwards from the goal + // //you know your current distance from the goal + // //that means you know the ball's ground velocity if you were to launch it right then + // double v_BallGround = HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); + // //you know your current velocity + // double v_RobotGround = fieldRelativeSpeeds.vxMetersPerSecond; + // double desiredV_BallGround = v_BallGround - v_RobotGround; + // ShotData shot = HUB_SHOT_TREE.get(null) + + // } + // brooooo + public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { + // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) + Translation2d V_RobotGround = + new Translation2d( + fieldChassisSpeeds.vxMetersPerSecond, fieldChassisSpeeds.vyMetersPerSecond); + Translation2d robotToHub = FieldUtils.getCurrentHubTranslation().minus(robot.getTranslation()); + double ballGroundVelocity = AutoAim.HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); + double v_x = robotToHub.getX() * ballGroundVelocity * robotToHub.getAngle().getCos(); + double v_y = + robotToHub.getY() + * ballGroundVelocity + * robotToHub.getAngle().getSin() + * Math.signum(robotToHub.getY()); + Logger.recordOutput("angle", robotToHub.getAngle()); + Translation2d V_BallGround = new Translation2d(v_x, v_y); + Translation2d V_BallRobot = V_BallGround.minus(V_RobotGround); + + Rotation2d rot = V_BallRobot.getAngle(); + if (V_RobotGround.getNorm() < 0.15) { + + // return FieldUtils.getCurrentHubPose().minus(getPose()).getRotation(); + // Logger.recordOutput("robot hub vec", robotHubVec); + // atan2 takes y as the first arg (i think bc θ = atan(y/x) but idk) + rot = Rotation2d.fromRadians(Math.atan2(robotToHub.getY(), robotToHub.getX())); + } + Pose2d pose = new Pose2d(robot.getTranslation(), rot); + Logger.recordOutput("what this bastard is supposed to be doing", pose); + Logger.recordOutput( + "Autoaim/Target viz", pose.transformBy(new Transform2d(10, 0, new Rotation2d()))); + Logger.recordOutput("hi we are still alive", Logger.getTimestamp()); + // new Pose2d(V_BallGround.times(-1), rot)); + return rot; } + + // public static Rotation2d getSOTMPitchfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { + + // } } diff --git a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java index 3af2748..ff035b1 100644 --- a/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java +++ b/src/main/java/frc/robot/utils/autoaim/InterpolatingShotTree.java @@ -7,7 +7,10 @@ public class InterpolatingShotTree { public record ShotData( - Rotation2d hoodAngle, double flywheelVelocityRotPerSec, double timeOfFlightSecs, double groundVelocity) {} + Rotation2d hoodAngle, + double flywheelVelocityRotPerSec, + double timeOfFlightSecs, + double groundVelocity) {} private final TreeMap map = new TreeMap<>(); @@ -92,14 +95,8 @@ private ShotData interpolate(ShotData startValue, ShotData endValue, double t) { startValue.hoodAngle().getRadians(), endValue.hoodAngle().getRadians(), t)), MathUtil.interpolate( startValue.flywheelVelocityRotPerSec(), endValue.flywheelVelocityRotPerSec(), t), - MathUtil.interpolate( - startValue.timeOfFlightSecs(), - endValue.timeOfFlightSecs(), - t), - MathUtil.interpolate( - startValue.groundVelocity(), - endValue.groundVelocity(), - t)); + MathUtil.interpolate(startValue.timeOfFlightSecs(), endValue.timeOfFlightSecs(), t), + MathUtil.interpolate(startValue.groundVelocity(), endValue.groundVelocity(), t)); } /** From 8ba7f00760a2d75146db3aefdfd09bb0b8c254ee Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 25 Jan 2026 14:04:56 -0800 Subject: [PATCH 22/40] use alphabot not compbot --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index aa46a22..c334bbb 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -90,7 +90,7 @@ public enum RobotEdition { break; default: // defaulting to comp is probably safer? - ROBOT_EDITION = RobotEdition.COMP; + ROBOT_EDITION = RobotEdition.ALPHA; } } From a540d726163588ba267572d1231041b70796c83f Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 25 Jan 2026 15:52:40 -0800 Subject: [PATCH 23/40] make autos actually run --- src/main/java/frc/robot/Autos.java | 18 +++++++++++++----- src/main/java/frc/robot/Robot.java | 4 +++- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 8fb6b7f..dc9e051 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -143,6 +143,9 @@ public Command leaveAuto() { autoCommand.andThen( Commands.print("Running path: " + path.toString()).andThen(runPath(path, routine))); } + + routine.active().whileTrue(autoCommand); + return routine.cmd(); } @@ -251,16 +254,15 @@ public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; // Will always need to reset odo at the start of a routine - Command autoCommand = - paths[0] - .getTrajectory(routine) - .resetOdometry() - .andThen(shootPreload()); // shoot preload then do the paths + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); + // shoot preload then do the paths for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); } + routine.active().whileTrue(autoCommand); + return routine.cmd(); } @@ -273,6 +275,8 @@ public Command getOutpostScoreClimbAuto() { autoCommand = autoCommand.andThen(runPath(p, routine)); } + routine.active().whileTrue(autoCommand); + return routine.cmd(); } @@ -285,6 +289,8 @@ public Command getDepotFeedClimbAuto() { autoCommand = autoCommand.andThen(runPath(p, routine)); } + routine.active().whileTrue(autoCommand); + return routine.cmd(); } @@ -297,6 +303,8 @@ public Command getOutpostFeedClimbAuto() { autoCommand = autoCommand.andThen(runPath(p, routine)); } + routine.active().whileTrue(autoCommand); + return routine.cmd(); } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 75f6232..4505c1d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -559,7 +559,9 @@ public void simulationInit() { public void simulationPeriodic() {} @Override - public void disabledInit() {} + public void disabledInit() { + addAutos(); + } @Override public void disabledPeriodic() {} From cec53afd7e67074dc85c154bc3aeba9247cf70e4 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 26 Jan 2026 22:49:17 -0800 Subject: [PATCH 24/40] commits with both direction and magnitude OH YEAH --- src/main/java/frc/robot/Robot.java | 4 +- src/main/java/frc/robot/Superstructure.java | 21 +++++ .../frc/robot/subsystems/shooter/HoodIO.java | 5 +- .../frc/robot/subsystems/shooter/Shooter.java | 3 + .../subsystems/shooter/ShooterSubsystem.java | 62 +++++--------- .../subsystems/shooter/TurretSubsystem.java | 7 ++ .../java/frc/robot/utils/autoaim/AutoAim.java | 81 ++++++++++++++++--- 7 files changed, 123 insertions(+), 60 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index db9f770..06b66f1 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -341,10 +341,10 @@ public Robot() { swerve.driveOpenLoopFieldRelative( () -> new ChassisSpeeds( - modifyJoystick(-1 * driver.getLeftX()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), modifyJoystick(driver.getLeftY()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + modifyJoystick(driver.getLeftX()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), modifyJoystick(driver.getRightX()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxAngularSpeed()) .times(-1))); diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 6168aa3..6fc4fae 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -4,6 +4,10 @@ package frc.robot; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Timer; @@ -16,6 +20,7 @@ import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.utils.CommandXboxControllerSubsystem; import frc.robot.utils.FieldUtils.FeedTargets; +import frc.robot.utils.autoaim.AutoAim; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -272,6 +277,22 @@ private void addCommands() { public void periodic() { Logger.recordOutput("Superstructure/Superstructure State", state); Logger.recordOutput("Superstructure/State Timer", stateTimer.get()); + + // this really should be in robot.java but i cooked myself with the robot selecting thing + Logger.recordOutput( + "shooter sotm viz", + new Pose3d(swerve.getPose()) + .transformBy( + new Transform3d( + new Translation3d(0, 0, 0.5), + new Rotation3d( + 0, + ((Math.PI / 2) + - AutoAim.getSOTMPitchfr( + swerve.getPose(), swerve.getVelocityFieldRelative()) + .getRadians()) + * -1, + 0)))); } /** diff --git a/src/main/java/frc/robot/subsystems/shooter/HoodIO.java b/src/main/java/frc/robot/subsystems/shooter/HoodIO.java index 3c38920..6073062 100644 --- a/src/main/java/frc/robot/subsystems/shooter/HoodIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/HoodIO.java @@ -47,6 +47,7 @@ public static class HoodIOInputs { private final StatusSignal hoodStatorCurrent; private final StatusSignal hoodSupplyCurrent; private final StatusSignal hoodTemp; + private VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); private PositionVoltage positionVoltage = new PositionVoltage(0.0).withEnableFOC(true); private VelocityVoltage velocityVoltage = new VelocityVoltage(0.0).withEnableFOC(true); @@ -82,10 +83,6 @@ public static TalonFXConfiguration getHoodConfiguration() { config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - config.MotorOutput.NeutralMode = NeutralModeValue.Brake; - - config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - config.Feedback.SensorToMechanismRatio = ShooterSubsystem.HOOD_GEAR_RATIO; config.Slot0.GravityType = GravityTypeValue.Arm_Cosine; diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 8095f43..de62453 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.shooter; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import java.util.function.Supplier; @@ -50,4 +51,6 @@ public interface Shooter { public Command shootOTM( Supplier robotPoseSupplier, Supplier fieldRelRobotVelocity); + + public Rotation2d getHoodSetpoint(); } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java index a036026..03c17b7 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java @@ -17,13 +17,10 @@ import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; -import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism; import frc.robot.utils.LoggedTunableNumber; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData; -import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator; -import frc.robot.utils.rusthoundsSOTM.ShootOnTheFlyCalculator.InterceptSolution; import java.util.function.Supplier; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -68,6 +65,9 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter { private LinearFilter currentFilter = LinearFilter.movingAverage(10); + @AutoLogOutput(key = "Shooter/Hood/Setpoint") + public Rotation2d hoodSetpoint = Rotation2d.kZero; + @AutoLogOutput(key = "Shooter/Hood/Current Filter Value") private double currentFilterValue = 0.0; @@ -92,6 +92,7 @@ public Command shoot(Supplier robotPoseSupplier) { () -> { ShotData shotData = AutoAim.HUB_SHOT_TREE.get(AutoAim.distanceToHub(robotPoseSupplier.get())); + hoodSetpoint = shotData.hoodAngle(); hoodIO.setHoodPosition(shotData.hoodAngle()); flywheelIO.setMotionProfiledFlywheelVelocity(shotData.flywheelVelocityRotPerSec()); }); @@ -102,11 +103,16 @@ public Command shootOTM( Supplier robotPoseSupplier, Supplier fieldRelRobotVelocity) { return this.run( () -> { - InterceptSolution sol = - ShootOnTheFlyCalculator.solveShootOnTheFly( - robotPoseSupplier.get(), fieldRelRobotVelocity.get(), 10, 0.01); - hoodIO.setHoodPosition(sol.shotData().hoodAngle()); - flywheelIO.setMotionProfiledFlywheelVelocity(sol.shotData().flywheelVelocityRotPerSec()); + // InterceptSolution sol = + // ShootOnTheFlyCalculator.solveShootOnTheFly( + // robotPoseSupplier.get(), fieldRelRobotVelocity.get(), 10, 0.01); + // hoodIO.setHoodPosition(sol.shotData().hoodAngle()); + // flywheelIO.setMotionProfiledFlywheelVelocity(sol.shotData().flywheelVelocityRotPerSec()); + Rotation2d rot = + AutoAim.getSOTMPitchfr(robotPoseSupplier.get(), fieldRelRobotVelocity.get()); + hoodSetpoint = rot; + hoodIO.setHoodPosition(rot); + flywheelIO.setMotionProfiledFlywheelVelocity(30); }); } @@ -154,42 +160,6 @@ public void periodic() { currentFilterValue = currentFilter.calculate(hoodInputs.hoodStatorCurrentAmps); } - public Command runHoodSysid() { - return Commands.sequence( - hoodSysid - .quasistatic(Direction.kForward) - .until( - () -> - hoodInputs.hoodPositionRotations.getDegrees() - > (HOOD_MAX_ROTATION.getDegrees() - 5)), // Stop before endstop - hoodSysid - .quasistatic(Direction.kReverse) - .until( - () -> - hoodInputs.hoodPositionRotations.getDegrees() - < (HOOD_MIN_ROTATION.getDegrees() + 5)), - hoodSysid - .dynamic(Direction.kForward) - .until( - () -> - hoodInputs.hoodPositionRotations.getDegrees() - > (HOOD_MAX_ROTATION.getDegrees() - 5)), - hoodSysid - .dynamic(Direction.kReverse) - .until( - () -> - hoodInputs.hoodPositionRotations.getDegrees() - < (HOOD_MIN_ROTATION.getDegrees() + 5))); - } - - public Command runFlywheelSysid() { - return Commands.sequence( - flywheelSysid.quasistatic(Direction.kForward), - flywheelSysid.quasistatic(Direction.kReverse), - flywheelSysid.dynamic(Direction.kForward), - flywheelSysid.dynamic(Direction.kReverse)); - } - @Override @AutoLogOutput(key = "Shooter/At Vel Setpoint") public boolean atFlywheelVelocitySetpoint() { @@ -217,4 +187,8 @@ public Command runCurrentZeroing() { new Trigger(() -> Math.abs(currentFilterValue) > CURRENT_ZERO_THRESHOLD).debounce(0.25)) .andThen(Commands.parallel(Commands.print("Hood Zeroed"), zeroHood())); } + + public Rotation2d getHoodSetpoint() { + return hoodSetpoint; + } } diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java index 27ea4d0..78c5d1d 100644 --- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.shooter; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -80,4 +81,10 @@ public Command shootOTM( // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'shootOTM'"); } + + @Override + public Rotation2d getHoodSetpoint() { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'getHoodSetpoint'"); + } } diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index aaef93f..291b587 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -4,6 +4,9 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.interpolation.InterpolatingTreeMap; +import edu.wpi.first.math.interpolation.InverseInterpolator; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; import frc.robot.utils.FieldUtils; @@ -12,6 +15,8 @@ public class AutoAim { + public static double LATENCY_COMPENSATION_SECS = 0.03; // TODO tune latency comp + public static final InterpolatingShotTree HUB_SHOT_TREE = new InterpolatingShotTree(); static { // For hub shot tree @@ -69,6 +74,29 @@ public class AutoAim { Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12) / 1.36)); } + // im sorry kevin + + private static final InterpolatingTreeMap velocityHoodAngleMap = + new InterpolatingTreeMap<>(InverseInterpolator.forDouble(), Rotation2d::interpolate); + + static { + velocityHoodAngleMap.put(Units.inchesToMeters(24 + 17) / 1.46, Rotation2d.fromDegrees(8)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12) / 1.55, Rotation2d.fromDegrees(6)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12) / 1.54, Rotation2d.fromDegrees(10.5)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12) / 1.54, Rotation2d.fromDegrees(14.5)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12) / 1.52, Rotation2d.fromDegrees(18)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12) / 1.46, Rotation2d.fromDegrees(21.5)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12) / 1.35, Rotation2d.fromDegrees(24.5)); + velocityHoodAngleMap.put( + Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12) / 1.36, Rotation2d.fromDegrees(28)); + } + // Ig we'll see if we need more than 1 feed shot tree public static final InterpolatingShotTree FEED_SHOT_TREE = new InterpolatingShotTree(); @@ -162,11 +190,8 @@ public static Rotation2d getSOTMYaw(Pose2d robot, ChassisSpeeds fieldRelativeSpe // } // brooooo - public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { - // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) - Translation2d V_RobotGround = - new Translation2d( - fieldChassisSpeeds.vxMetersPerSecond, fieldChassisSpeeds.vyMetersPerSecond); + + public static Translation2d getBallGroundVector(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { Translation2d robotToHub = FieldUtils.getCurrentHubTranslation().minus(robot.getTranslation()); double ballGroundVelocity = AutoAim.HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); double v_x = robotToHub.getX() * ballGroundVelocity * robotToHub.getAngle().getCos(); @@ -177,6 +202,28 @@ public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSp * Math.signum(robotToHub.getY()); Logger.recordOutput("angle", robotToHub.getAngle()); Translation2d V_BallGround = new Translation2d(v_x, v_y); + return V_BallGround; + } + + public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { + ChassisSpeeds robotRelativeSpeeds = + ChassisSpeeds.fromFieldRelativeSpeeds(fieldChassisSpeeds, robot.getRotation()); + // calculate latency compensated pose + Pose2d compensatedPose = + robot.exp( + new Twist2d( + robotRelativeSpeeds.vxMetersPerSecond * LATENCY_COMPENSATION_SECS, + robotRelativeSpeeds.vyMetersPerSecond * LATENCY_COMPENSATION_SECS, + robotRelativeSpeeds.omegaRadiansPerSecond * LATENCY_COMPENSATION_SECS)); + + // note that this is a position vector not velocity + Translation2d robotToHub = + FieldUtils.getCurrentHubTranslation().minus(compensatedPose.getTranslation()); + // V_ball-ground = V_ball-robot + V_robot-ground (relative motion) + Translation2d V_RobotGround = + new Translation2d( + fieldChassisSpeeds.vxMetersPerSecond, fieldChassisSpeeds.vyMetersPerSecond); + Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose, fieldChassisSpeeds); Translation2d V_BallRobot = V_BallGround.minus(V_RobotGround); Rotation2d rot = V_BallRobot.getAngle(); @@ -187,16 +234,30 @@ public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSp // atan2 takes y as the first arg (i think bc θ = atan(y/x) but idk) rot = Rotation2d.fromRadians(Math.atan2(robotToHub.getY(), robotToHub.getX())); } - Pose2d pose = new Pose2d(robot.getTranslation(), rot); - Logger.recordOutput("what this bastard is supposed to be doing", pose); + Pose2d poseSetpoint = new Pose2d(robot.getTranslation(), rot); + Logger.recordOutput("what this bastard is supposed to be doing", poseSetpoint); Logger.recordOutput( - "Autoaim/Target viz", pose.transformBy(new Transform2d(10, 0, new Rotation2d()))); + "Autoaim/Target viz", poseSetpoint.transformBy(new Transform2d(10, 0, new Rotation2d()))); Logger.recordOutput("hi we are still alive", Logger.getTimestamp()); // new Pose2d(V_BallGround.times(-1), rot)); return rot; } - // public static Rotation2d getSOTMPitchfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { + public static Rotation2d getSOTMPitchfr(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { - // } + ChassisSpeeds robotRelativeSpeeds = + ChassisSpeeds.fromFieldRelativeSpeeds(fieldChassisSpeeds, robot.getRotation()); + // calculate latency compensated pose + Pose2d compensatedPose = + robot.exp( + new Twist2d( + robotRelativeSpeeds.vxMetersPerSecond * LATENCY_COMPENSATION_SECS, + robotRelativeSpeeds.vyMetersPerSecond * LATENCY_COMPENSATION_SECS, + robotRelativeSpeeds.omegaRadiansPerSecond * LATENCY_COMPENSATION_SECS)); + + Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose, fieldChassisSpeeds); + double groundVelocity = V_BallGround.getNorm(); + Rotation2d hoodAngle = velocityHoodAngleMap.get(groundVelocity); + return hoodAngle; + } } From 327a4496f5f227cd03a535f0071dcc7dd50196e5 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 16:42:14 -0800 Subject: [PATCH 25/40] fix front right position --- src/main/java/frc/robot/Robot.java | 2 +- .../subsystems/swerve/SwerveSubsystem.java | 29 +++++++++---------- .../constants/AlphaSwerveConstants.java | 4 +-- 3 files changed, 17 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 06b66f1..62c5955 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -427,7 +427,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter) { Commands.runOnce( () -> swerve.setYaw( - DriverStation.getAlliance().equals(Alliance.Blue) + DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Blue) // ? Rotation2d.kCW_90deg // : Rotation2d.kCCW_90deg))); ? Rotation2d.kZero diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 7bb01eb..bf427f0 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -370,23 +370,22 @@ private void updateVision() { cameraPoses[i] = cameras[i].getPose(); } // only do all this logging stuff if we're not irl for performance - if (Robot.ROBOT_MODE != RobotMode.REAL) { - Logger.recordOutput("Vision/Camera Poses", cameraPoses); - Pose3d[] arr = new Pose3d[cameras.length]; - for (int k = 0; k < cameras.length; k++) { - // honetsly not sure if this distinction is the way to go but - if (Robot.ROBOT_MODE == RobotMode.SIM) - // If we're in sim, use the maplesim pose to calculate vision - arr[k] = - new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()) - .transformBy(cameras[k].getCameraConstants().robotToCamera()); - else { - // if we're in replay, use whatever the pose was - arr[k] = getPose3d().transformBy(cameras[k].getCameraConstants().robotToCamera()); - } + + Logger.recordOutput("Vision/Camera Poses", cameraPoses); + Pose3d[] arr = new Pose3d[cameras.length]; + for (int k = 0; k < cameras.length; k++) { + // honetsly not sure if this distinction is the way to go but + if (Robot.ROBOT_MODE == RobotMode.SIM) + // If we're in sim, use the maplesim pose to calculate vision + arr[k] = + new Pose3d(swerveSimulation.getSimulatedDriveTrainPose()) + .transformBy(cameras[k].getCameraConstants().robotToCamera()); + else { + // if we're in replay, use whatever the pose was + arr[k] = getPose3d().transformBy(cameras[k].getCameraConstants().robotToCamera()); } - Logger.recordOutput("Vision/Camera Poses on Robot", arr); } + Logger.recordOutput("Vision/Camera Poses on Robot", arr); } /** diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java index 78470e3..2310174 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java @@ -64,13 +64,13 @@ public CameraConstants[] getCameraConstants() { "Front_Right", new Transform3d( new Translation3d( - Units.inchesToMeters(-9.859), + Units.inchesToMeters(9.859), Units.inchesToMeters(-9.665), Units.inchesToMeters(8.844)), new Rotation3d( Units.degreesToRadians(0.0), Units.degreesToRadians(-90 + 61.875), // -61.875 - 45 + 90), - Units.degreesToRadians(63.835 + 180))), + Units.degreesToRadians(63.835 - 90))), FRONT_RIGHT_CAMERA_MATRIX, FRONT_RIGHT_DIST_COEFFS); final CameraConstants frontLeftCamConstants = From 7dedefd710375b19c1f1d09b5823beeee90b18ff Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 16:46:09 -0800 Subject: [PATCH 26/40] fix front left --- .../subsystems/swerve/constants/AlphaSwerveConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java index 2310174..be27854 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java @@ -79,12 +79,12 @@ public CameraConstants[] getCameraConstants() { new Transform3d( new Translation3d( Units.inchesToMeters(9.859), - Units.inchesToMeters(-9.665), + Units.inchesToMeters(9.665), Units.inchesToMeters(8.844)), new Rotation3d( Units.degreesToRadians(0.0), Units.degreesToRadians(-90 + 61.875), // -61.875 - 45 + 90), - Units.degreesToRadians(-63.835))), + Units.degreesToRadians(90 - 63.835))), FRONT_LEFT_CAMERA_MATRIX, FRONT_LEFT_DIST_COEFFS); From 63e589220ca922bf4f41765cd71923088e1442c6 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 16:49:18 -0800 Subject: [PATCH 27/40] fix br --- .../subsystems/swerve/constants/AlphaSwerveConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java index be27854..40def25 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java @@ -94,12 +94,12 @@ public CameraConstants[] getCameraConstants() { new Transform3d( new Translation3d( Units.inchesToMeters(-9.859), - Units.inchesToMeters(9.665), + Units.inchesToMeters(-9.665), Units.inchesToMeters(8.844)), new Rotation3d( Units.degreesToRadians(0.0), Units.degreesToRadians(-90 + 61.875), // -61.875 - 45 + 90), - Units.degreesToRadians(-63.835 + 180))), + Units.degreesToRadians(-63.835 - 90))), BACK_RIGHT_CAMERA_MATRIX, BACK_RIGHT_DIST_COEFFS); final CameraConstants backLeftCamConstants = From 3892bcbd6f2e26c7e15448e9b140832d53ea4ec1 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 16:51:29 -0800 Subject: [PATCH 28/40] bl --- .../subsystems/swerve/constants/AlphaSwerveConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java index 40def25..98e3be3 100644 --- a/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/constants/AlphaSwerveConstants.java @@ -107,13 +107,13 @@ public CameraConstants[] getCameraConstants() { "Back_Left", new Transform3d( new Translation3d( - Units.inchesToMeters(9.859), + Units.inchesToMeters(-9.859), Units.inchesToMeters(9.665), Units.inchesToMeters(8.844)), new Rotation3d( Units.degreesToRadians(0.0), Units.degreesToRadians(-90 + 61.875), // -61.875 - 45 + 90), - Units.degreesToRadians(63.835))), + Units.degreesToRadians(63.835 + 90))), BACK_LEFT_CAMERA_MATRIX, BACK_LEFT_DIST_COEFFS); From efaffaebee35c0d3f728eec0ea52585166732bcc Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 17:53:30 -0800 Subject: [PATCH 29/40] stop multiplying by distance for some reason --- src/main/java/frc/robot/Robot.java | 6 ++++-- .../java/frc/robot/utils/autoaim/AutoAim.java | 18 +++++++++--------- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 62c5955..57b10a3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -446,10 +446,12 @@ private void addControllerBindings(Indexer indexer, Shooter shooter) { // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); swerve.faceHubSOTM( () -> - modifyJoystick(driver.getLeftX()) + -1 + * modifyJoystick(driver.getLeftY()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), () -> - modifyJoystick(-1 * driver.getLeftY()) + -1 + * modifyJoystick(driver.getLeftX()) * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); // TODO add binding for climb diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 291b587..a91becf 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -15,7 +15,7 @@ public class AutoAim { - public static double LATENCY_COMPENSATION_SECS = 0.03; // TODO tune latency comp + public static double LATENCY_COMPENSATION_SECS = 0.02; // TODO tune latency comp public static final InterpolatingShotTree HUB_SHOT_TREE = new InterpolatingShotTree(); @@ -191,15 +191,12 @@ public static Rotation2d getSOTMYaw(Pose2d robot, ChassisSpeeds fieldRelativeSpe // } // brooooo - public static Translation2d getBallGroundVector(Pose2d robot, ChassisSpeeds fieldChassisSpeeds) { + public static Translation2d getBallGroundVector(Pose2d robot) { Translation2d robotToHub = FieldUtils.getCurrentHubTranslation().minus(robot.getTranslation()); double ballGroundVelocity = AutoAim.HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); - double v_x = robotToHub.getX() * ballGroundVelocity * robotToHub.getAngle().getCos(); + double v_x = ballGroundVelocity * robotToHub.getAngle().getCos(); double v_y = - robotToHub.getY() - * ballGroundVelocity - * robotToHub.getAngle().getSin() - * Math.signum(robotToHub.getY()); + ballGroundVelocity * robotToHub.getAngle().getSin() * Math.signum(robotToHub.getY()); Logger.recordOutput("angle", robotToHub.getAngle()); Translation2d V_BallGround = new Translation2d(v_x, v_y); return V_BallGround; @@ -223,7 +220,7 @@ public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSp Translation2d V_RobotGround = new Translation2d( fieldChassisSpeeds.vxMetersPerSecond, fieldChassisSpeeds.vyMetersPerSecond); - Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose, fieldChassisSpeeds); + Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose); Translation2d V_BallRobot = V_BallGround.minus(V_RobotGround); Rotation2d rot = V_BallRobot.getAngle(); @@ -234,6 +231,8 @@ public static Rotation2d getSOTMYawfr(Pose2d robot, ChassisSpeeds fieldChassisSp // atan2 takes y as the first arg (i think bc θ = atan(y/x) but idk) rot = Rotation2d.fromRadians(Math.atan2(robotToHub.getY(), robotToHub.getX())); } + rot = rot.rotateBy(Rotation2d.k180deg); + Pose2d poseSetpoint = new Pose2d(robot.getTranslation(), rot); Logger.recordOutput("what this bastard is supposed to be doing", poseSetpoint); Logger.recordOutput( @@ -255,8 +254,9 @@ public static Rotation2d getSOTMPitchfr(Pose2d robot, ChassisSpeeds fieldChassis robotRelativeSpeeds.vyMetersPerSecond * LATENCY_COMPENSATION_SECS, robotRelativeSpeeds.omegaRadiansPerSecond * LATENCY_COMPENSATION_SECS)); - Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose, fieldChassisSpeeds); + Translation2d V_BallGround = AutoAim.getBallGroundVector(compensatedPose); double groundVelocity = V_BallGround.getNorm(); + Logger.recordOutput("Autoaim/Ground vel", groundVelocity); Rotation2d hoodAngle = velocityHoodAngleMap.get(groundVelocity); return hoodAngle; } From c0b307b556f45ce8595cd5b917a7463f4355bfcd Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 18:07:22 -0800 Subject: [PATCH 30/40] adjust latency comp --- src/main/java/frc/robot/utils/autoaim/AutoAim.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index a91becf..18df3ea 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -15,7 +15,7 @@ public class AutoAim { - public static double LATENCY_COMPENSATION_SECS = 0.02; // TODO tune latency comp + public static double LATENCY_COMPENSATION_SECS = 1; // TODO tune latency comp public static final InterpolatingShotTree HUB_SHOT_TREE = new InterpolatingShotTree(); From f18be9ab4aa07dd41cab9e79aa7cdde1e4c167c8 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 18:38:05 -0800 Subject: [PATCH 31/40] Make zero stop --- src/main/java/frc/robot/Robot.java | 3 ++- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 57b10a3..672de77 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -337,6 +337,7 @@ public Robot() { // Set default commands driver.setDefaultCommand(driver.rumbleCmd(0.0, 0.0)); operator.setDefaultCommand(operator.rumbleCmd(0.0, 0.0)); + shooter.setDefaultCommand(shooter.rest()); swerve.setDefaultCommand( swerve.driveOpenLoopFieldRelative( () -> @@ -456,7 +457,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter) { // TODO add binding for climb // current zero shooter hood - driver.b().onTrue(shooter.runCurrentZeroing()); + driver.b().whileTrue(shooter.runCurrentZeroing()); new Trigger(() -> indexer.firstBeambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.1)); diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index de62453..7773d07 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -8,10 +8,11 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; import java.util.function.Supplier; /** Add your docs here. */ -public interface Shooter { +public interface Shooter extends Subsystem { /** * Sets hood angle and flywheel velocity based on distance from hub from the shot map + current From 074290ae80c0efe84d6582338a18bb1fae513065 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 18:57:05 -0800 Subject: [PATCH 32/40] YOOOO IT WORKS (increased max accel, got rid of signum, tuned latency comp --- .../java/frc/robot/utils/autoaim/AutoAim.java | 4 ++-- .../frc/robot/utils/autoaim/AutoAlign.java | 23 ++++++------------- 2 files changed, 9 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 18df3ea..47838cf 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -15,7 +15,7 @@ public class AutoAim { - public static double LATENCY_COMPENSATION_SECS = 1; // TODO tune latency comp + public static double LATENCY_COMPENSATION_SECS = 0.6; // TODO tune latency comp public static final InterpolatingShotTree HUB_SHOT_TREE = new InterpolatingShotTree(); @@ -196,7 +196,7 @@ public static Translation2d getBallGroundVector(Pose2d robot) { double ballGroundVelocity = AutoAim.HUB_SHOT_TREE.calculateShot(robot).groundVelocity(); double v_x = ballGroundVelocity * robotToHub.getAngle().getCos(); double v_y = - ballGroundVelocity * robotToHub.getAngle().getSin() * Math.signum(robotToHub.getY()); + ballGroundVelocity * robotToHub.getAngle().getSin(); // * Math.signum(robotToHub.getY()); Logger.recordOutput("angle", robotToHub.getAngle()); Translation2d V_BallGround = new Translation2d(v_x, v_y); return V_BallGround; diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java index 851acbb..eaaf254 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java @@ -11,10 +11,10 @@ import org.littletonrobotics.junction.Logger; public class AutoAlign { - static final double MAX_ANGULAR_SPEED = 10.0; - static final double MAX_ANGULAR_ACCELERATION = 10.0; - static final double MAX_TRANSLATIONAL_SPEED = 3.0; - static final double MAX_TRANSLATIONAL_ACCELERATION = 4.0; + static final double MAX_ANGULAR_SPEED = 15.614; + static final double MAX_ANGULAR_ACCELERATION = 47.613; + static final double MAX_TRANSLATIONAL_SPEED = 5.678; + static final double MAX_TRANSLATIONAL_ACCELERATION = 14.715; public static final Constraints DEFAULT_TRANSLATIONAL_CONSTRAINTS = new Constraints(MAX_TRANSLATIONAL_SPEED, MAX_TRANSLATIONAL_ACCELERATION); public static final Constraints DEFAULT_ANGULAR_CONSTRAINTS = @@ -29,20 +29,11 @@ public class AutoAlign { // Velocity controllers static final ProfiledPIDController VX_CONTROLLER = - new ProfiledPIDController( - 10.0, - 0.01, - 0.02, - new Constraints(MAX_TRANSLATIONAL_SPEED, MAX_TRANSLATIONAL_ACCELERATION)); + new ProfiledPIDController(10.0, 0.01, 0.02, DEFAULT_TRANSLATIONAL_CONSTRAINTS); static final ProfiledPIDController VY_CONTROLLER = - new ProfiledPIDController( - 10.0, - 0.01, - 0.02, - new Constraints(MAX_TRANSLATIONAL_SPEED, MAX_TRANSLATIONAL_ACCELERATION)); + new ProfiledPIDController(10.0, 0.01, 0.02, DEFAULT_TRANSLATIONAL_CONSTRAINTS); static final ProfiledPIDController HEADING_CONTROLLER = - new ProfiledPIDController( - 6.0, 0.0, 0.0, new Constraints(MAX_ANGULAR_SPEED, MAX_ANGULAR_ACCELERATION)); + new ProfiledPIDController(6.0, 0.0, 0.0, DEFAULT_ANGULAR_CONSTRAINTS); static { HEADING_CONTROLLER.enableContinuousInput(-Math.PI, Math.PI); From b5638a3741c3f2517b44f9b6af4b24b9396e8cda Mon Sep 17 00:00:00 2001 From: vivi-o Date: Tue, 27 Jan 2026 19:02:28 -0800 Subject: [PATCH 33/40] robot config in choreo and updated choreo trajs --- src/main/deploy/choreo/DtoFL.traj | 201 ++++++---------------- src/main/deploy/choreo/FLMtoPL.traj | 153 +++++----------- src/main/deploy/choreo/FLtoFLM.traj | 59 +++---- src/main/deploy/choreo/FLtoPL.traj | 154 +++++------------ src/main/deploy/choreo/FRMtoPR.traj | 173 +++++-------------- src/main/deploy/choreo/FRtoFRM.traj | 116 +++---------- src/main/deploy/choreo/FRtoPR.traj | 154 +++++------------ src/main/deploy/choreo/OtoFR.traj | 179 ++++++------------- src/main/deploy/choreo/PLtoCL.traj | 77 ++++----- src/main/deploy/choreo/PLtoCM.traj | 79 ++++----- src/main/deploy/choreo/PLtoD.traj | 65 +++---- src/main/deploy/choreo/PLtoFL.traj | 166 ++++-------------- src/main/deploy/choreo/PRtoCM.traj | 75 ++++---- src/main/deploy/choreo/PRtoCR.traj | 76 ++++---- src/main/deploy/choreo/PRtoFR.traj | 157 ++++++----------- src/main/deploy/choreo/PRtoO.traj | 66 +++---- src/main/deploy/choreo/rebuiltChoreo.chor | 52 +++--- src/main/java/frc/robot/Autos.java | 2 +- src/main/java/frc/robot/Robot.java | 4 +- 19 files changed, 617 insertions(+), 1391 deletions(-) diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj index 4ca2f60..2a2c91a 100644 --- a/src/main/deploy/choreo/DtoFL.traj +++ b/src/main/deploy/choreo/DtoFL.traj @@ -3,11 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.598788022994995, "y":7.017364501953125, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":4.455245018005371, "y":7.414467811584473, "heading":-1.5458023132011167, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.023802280426025, "y":7.464105606079102, "heading":-2.1641466961467395, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.582432270050049, "y":6.997509479522705, "heading":-1.5042280921760645, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.831789255142212, "y":7.0157318115234375, "heading":-1.7506501900476916, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.722850799560547, "y":7.383526802062988, "heading":-1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,11 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.598788022994995 m", "val":2.598788022994995}, "y":{"exp":"7.017364501953125 m", "val":7.017364501953125}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"4.455245018005371 m", "val":4.455245018005371}, "y":{"exp":"7.414467811584473 m", "val":7.414467811584473}, "heading":{"exp":"-1.5458023132011167 rad", "val":-1.5458023132011167}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.023802280426025 m", "val":6.023802280426025}, "y":{"exp":"7.464105606079102 m", "val":7.464105606079102}, "heading":{"exp":"-2.1641466961467395 rad", "val":-2.1641466961467395}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"7.582432270050049 m", "val":7.582432270050049}, "y":{"exp":"6.997509479522705 m", "val":6.997509479522705}, "heading":{"exp":"-1.5042280921760645 rad", "val":-1.5042280921760645}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.831789255142212 m", "val":2.831789255142212}, "y":{"exp":"7.0157318115234375 m", "val":7.0157318115234375}, "heading":{"exp":"-1.7506501900476916 rad", "val":-1.7506501900476916}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.722850799560547 m", "val":4.722850799560547}, "y":{"exp":"7.383526802062988 m", "val":7.383526802062988}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -35,156 +31,61 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + "x":-0.2571369, + "y":0.2571369 }, - "mass":65.39238106842257, - "inertia":6.590492861012039, + "mass":51.91273956176, + "inertia":5.834321946299203, "gearing":5.902777777777778, - "radius":0.0508, - "vmax":523.5987755982989, - "tmax":0.9, + "radius":0.050165, + "vmax":668.1120376634293, + "tmax":54.79744136460554, "cof":1.5, "bumper":{ - "front":0.46609, - "side":0.46609, - "back":0.46609 + "front":0.42037, + "side":0.42037, + "back":0.42037 }, - "differentialTrackWidth":0.5588 + "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.76857,1.20601,1.55528,2.04589,2.73535], + "waypoints":[0.0,0.56711,0.92055,1.7256], "samples":[ - {"t":0.0, "x":1.30785, "y":5.92098, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.75524, "ay":4.37439, "alpha":7.94477, "fx":[102.43327,70.98175,13.11124,59.03764], "fy":[20.27731,76.65071,103.60455,85.51927]}, - {"t":0.02562, "x":1.30909, "y":5.92242, "heading":3.14159, "vx":0.09621, "vy":0.11207, "omega":0.20354, "ax":3.79571, "ay":4.3599, "alpha":7.84786, "fx":[102.32488,71.13844,14.05993,60.68706], "fy":[20.78179,76.4981,103.47276,84.35179]}, - {"t":0.05124, "x":1.3128, "y":5.92672, "heading":-3.13638, "vx":0.19345, "vy":0.22376, "omega":0.40459, "ax":3.84716, "ay":4.33874, "alpha":7.73186, "fx":[102.16584,71.14679,14.93448,63.32786], "fy":[21.51452,76.48239,103.3417,82.38199]}, - {"t":0.07686, "x":1.31902, "y":5.93387, "heading":-3.12601, "vx":0.29201, "vy":0.33492, "omega":0.60267, "ax":3.90641, "ay":4.31126, "alpha":7.60854, "fx":[101.95373,71.01703,15.76331,66.71561], "fy":[22.4628,76.59408,103.20874,79.65786]}, - {"t":0.10248, "x":1.32778, "y":5.94387, "heading":-3.11057, "vx":0.39209, "vy":0.44537, "omega":0.7976, "ax":3.97011, "ay":4.27798, "alpha":7.4909, "fx":[101.68533,70.76086,16.58154,70.58698], "fy":[23.61277,76.82102,103.06911,76.24443]}, - {"t":0.1281, "x":1.33913, "y":5.95668, 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@@ -15,9 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.651943683624268 m", "val":6.651943683624268}, "y":{"exp":"7.046875476837158 m", "val":7.046875476837158}, "heading":{"exp":"3.1193731823607354 rad", "val":3.1193731823607354}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.405607223510742 m", "val":4.405607223510742}, "y":{"exp":"7.404540061950684 m", "val":7.404540061950684}, "heading":{"exp":"-3.1325835196488248 rad", "val":-3.1325835196488248}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.244582653045654 m", "val":6.244582653045654}, "y":{"exp":"6.968235969543457 m", "val":6.968235969543457}, "heading":{"exp":"-2.1353657720924413 rad", "val":-2.1353657720924413}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -31,118 +29,57 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + 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"omega":-0.78438, "ax":13.62171, "ay":-0.08991, "alpha":13.34333, "fx":[185.03802,184.39331,170.72237,166.98642], "fy":[-46.00496,48.51593,84.67516,-91.85336]}, + {"t":1.55635, "x":2.81463, "y":7.33064, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FLtoFLM.traj b/src/main/deploy/choreo/FLtoFLM.traj index e8d2a95..bcc4e55 100644 --- a/src/main/deploy/choreo/FLtoFLM.traj +++ b/src/main/deploy/choreo/FLtoFLM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -27,50 +27,37 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + "x":-0.2571369, + "y":0.2571369 }, - "mass":65.39238106842257, - "inertia":6.590492861012039, + "mass":51.91273956176, + "inertia":5.834321946299203, "gearing":5.902777777777778, - "radius":0.0508, - "vmax":523.5987755982989, - "tmax":0.9, + "radius":0.050165, + "vmax":668.1120376634293, + "tmax":54.79744136460554, "cof":1.5, "bumper":{ - "front":0.46609, - "side":0.46609, - "back":0.46609 + "front":0.42037, + "side":0.42037, + "back":0.42037 }, - "differentialTrackWidth":0.5588 + "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.30312], + "waypoints":[0.0,0.24021], "samples":[ - {"t":0.0, 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"fy":[1.83287,1.83287,1.83287,1.83287]}, + {"t":0.24021, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":0.0, "vy":-5.66666, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FLtoPL.traj b/src/main/deploy/choreo/FLtoPL.traj index e3018eb..e3b15ff 100644 --- a/src/main/deploy/choreo/FLtoPL.traj +++ b/src/main/deploy/choreo/FLtoPL.traj @@ -3,10 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.832204341888428, "y":6.944677352905273, "heading":-2.7468192176587496, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.584303855895996, "y":7.394612789154053, "heading":-3.002496222181971, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.09497594833374, "y":7.245408535003662, "heading":-3.0072710662867244, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.811951637268066, "y":5.913557529449463, "heading":-1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,10 +14,9 @@ }, "params":{ 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a/src/main/deploy/choreo/FRMtoPR.traj b/src/main/deploy/choreo/FRMtoPR.traj index 2a83122..3b67d23 100644 --- a/src/main/deploy/choreo/FRMtoPR.traj +++ b/src/main/deploy/choreo/FRMtoPR.traj @@ -3,10 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.188870906829834, "y":1.6466065645217896, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.173748970031738, "y":0.8035948872566223, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.3034772872924805, "y":0.6539731621742249, "heading":3.1254649650416493, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, 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"alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[-1.31695,-1.31695,-1.31695,-1.31695]}, + {"t":0.23625, "x":7.82037, "y":3.55698, "heading":1.5708, "vx":0.0, "vy":5.66838, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FRtoPR.traj b/src/main/deploy/choreo/FRtoPR.traj index d342919..0090054 100644 --- a/src/main/deploy/choreo/FRtoPR.traj +++ b/src/main/deploy/choreo/FRtoPR.traj @@ -3,10 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.877583026885986, "y":0.9488903284072876, "heading":2.31396636130458, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":4.852348327636719, "y":0.673642635345459, "heading":3.0566907872831894, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.7788686752319336, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.3132147789001465, "y":0.7176774740219116, "heading":2.35619458784479, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.7788686752319336, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,10 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.877583026885986 m", "val":6.877583026885986}, "y":{"exp":"0.9488903284072876 m", "val":0.9488903284072876}, "heading":{"exp":"2.3139663613045798 rad", "val":2.31396636130458}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"4.852348327636719 m", "val":4.852348327636719}, "y":{"exp":"0.673642635345459 m", "val":0.673642635345459}, "heading":{"exp":"3.0566907872831894 rad", "val":3.0566907872831894}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.7788686752319336 m", "val":2.7788686752319336}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.3132147789001465 m", "val":5.3132147789001465}, "y":{"exp":"0.7176774740219116 m", "val":0.7176774740219116}, "heading":{"exp":"2.35619458784479 rad", "val":2.35619458784479}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.7788686752319336 m", "val":2.7788686752319336}, "y":{"exp":"0.7205682992935181 m", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -31,118 +29,54 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + "x":-0.2571369, + "y":0.2571369 }, - "mass":65.39238106842257, - "inertia":6.590492861012039, + "mass":51.91273956176, + "inertia":5.834321946299203, "gearing":5.902777777777778, - "radius":0.0508, - "vmax":523.5987755982989, - "tmax":0.9, + "radius":0.050165, + "vmax":668.1120376634293, + "tmax":54.79744136460554, "cof":1.5, "bumper":{ - "front":0.46609, - "side":0.46609, - "back":0.46609 + "front":0.42037, + "side":0.42037, + "back":0.42037 }, - "differentialTrackWidth":0.5588 + "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.75563,1.26332,2.07731], + 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a/src/main/deploy/choreo/PLtoCL.traj +++ b/src/main/deploy/choreo/PLtoCL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7636412382125854, "y":4.111053943634033, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.7636412382125854}, "y":{"exp":"CL.y", "val":4.111053943634033}, "heading":{"exp":"CL.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -27,61 +27,44 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + "x":-0.2571369, + "y":0.2571369 }, - "mass":65.39238106842257, - "inertia":6.590492861012039, + "mass":51.91273956176, + 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"vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PLtoCM.traj b/src/main/deploy/choreo/PLtoCM.traj index fdc8e8f..235a6aa 100644 --- a/src/main/deploy/choreo/PLtoCM.traj +++ b/src/main/deploy/choreo/PLtoCM.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -27,62 +27,45 @@ "trajectory":{ 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"fy":[182.54145,182.54145,182.54145,182.54145]}, + {"t":0.82055, "x":1.85528, "y":4.1171, "heading":3.14159, "vx":-0.94032, "vy":-3.14981, "omega":0.0, "ax":4.20099, "ay":14.07211, "alpha":0.0, "fx":[54.5212,54.5212,54.5212,54.5212], "fy":[182.63038,182.63038,182.63038,182.63038]}, + {"t":0.89515, "x":1.79683, "y":3.92129, "heading":3.14159, "vx":-0.62695, "vy":-2.1001, "omega":0.0, "ax":4.20201, "ay":14.07552, "alpha":0.0, "fx":[54.53444,54.53444,54.53444,54.53444], "fy":[182.67472,182.67472,182.67472,182.67472]}, + {"t":0.96974, "x":1.76175, "y":3.8038, "heading":3.14159, "vx":-0.3135, "vy":-1.05012, "omega":0.0, "ax":4.20262, "ay":14.07757, "alpha":0.0, "fx":[54.54236,54.54236,54.54236,54.54236], "fy":[182.70128,182.70128,182.70128,182.70128]}, + {"t":1.04434, "x":1.75006, "y":3.76463, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PLtoD.traj b/src/main/deploy/choreo/PLtoD.traj index c591891..d567cb9 100644 --- a/src/main/deploy/choreo/PLtoD.traj +++ b/src/main/deploy/choreo/PLtoD.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -27,54 +27,39 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - "y":0.295275 + "x":0.2571369, + "y":0.2571369 }, "backLeft":{ - "x":-0.301625, - "y":0.295275 + "x":-0.2571369, + "y":0.2571369 }, - 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"fixHeading":false, "overrideIntervals":false}, + {"x":4.768779754638672, "y":7.293199062347412, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,11 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.8359286785125732 m", "val":2.8359286785125732}, "y":{"exp":"7.330637454986572 m", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.050827503204346 m", "val":5.050827503204346}, "y":{"exp":"7.35483455657959 m", "val":7.35483455657959}, "heading":{"exp":"-3.036103059535642 rad", "val":-3.036103059535642}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.340709686279297 m", "val":6.340709686279297}, "y":{"exp":"7.330147743225098 m", "val":7.330147743225098}, "heading":{"exp":"-2.2636755759815452 rad", "val":-2.2636755759815452}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.679965496063232 m", "val":7.679965496063232}, "y":{"exp":"7.021563529968262 m", "val":7.021563529968262}, "heading":{"exp":"-1.859383237979311 rad", "val":-1.859383237979311}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.768779754638672 m", "val":4.768779754638672}, "y":{"exp":"7.293199062347412 m", "val":7.293199062347412}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -33,134 +29,48 @@ "trajectory":{ "config":{ "frontLeft":{ - 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"enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -27,60 +27,43 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.301625, - 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b/src/main/deploy/choreo/PRtoCR.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.7568485736846924, "y":3.397829055786133, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7531986236572266, "y":3.3997113704681396, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"CR.x", "val":1.7568485736846924}, "y":{"exp":"CR.y", "val":3.397829055786133}, "heading":{"exp":"CR.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, "heading":{"exp":"CR.heading", 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{"x":4.906352519989014, "y":0.7131996750831604, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.877583026885986, "y":0.8417583107948303, "heading":1.8513131643132943, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.822232723236084, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.686361789703369, "y":0.7599146366119385, "heading":2.7049654595639603, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.484054565429688, "y":0.823498547077179, "heading":2.0880836744929168, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,10 +15,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.906352519989014 m", "val":4.906352519989014}, "y":{"exp":"0.7131996750831604 m", "val":0.7131996750831604}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, 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"val":0.7599146366119385}, "heading":{"exp":"2.7049654595639603 rad", "val":2.7049654595639603}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.4840545654296875 m", "val":7.484054565429688}, "y":{"exp":"0.823498547077179 m", "val":0.823498547077179}, "heading":{"exp":"2.0880836744929168 rad", "val":2.0880836744929168}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -31,115 +31,58 @@ "trajectory":{ "config":{ "frontLeft":{ - 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- "tmax":0.9, + "radius":0.050165, + "vmax":668.1120376634293, + "tmax":54.79744136460554, "cof":1.5, "bumper":{ - "front":0.46609, - "side":0.46609, - "back":0.46609 + "front":0.42037, + "side":0.42037, + "back":0.42037 }, - "differentialTrackWidth":0.5588 + "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.16139], + "waypoints":[0.0,0.76582], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.39137, "ay":-0.00209, "alpha":0.0, "fx":[-104.48671,-104.48671,-104.48671,-104.48671], "fy":[-0.03422,-0.03422,-0.03422,-0.03422]}, - {"t":0.04839, "x":2.7611, "y":0.72057, "heading":3.14159, "vx":-0.30929, "vy":-0.0001, "omega":0.0, "ax":-6.39084, "ay":-0.00209, "alpha":0.0, "fx":[-104.47813,-104.47813,-104.47813,-104.47813], "fy":[-0.03421,-0.03421,-0.03421,-0.03421]}, - {"t":0.09678, "x":2.73866, "y":0.72056, "heading":3.14159, "vx":-0.61855, "vy":-0.0002, "omega":0.0, "ax":-6.39021, "ay":-0.00209, 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"fx":[-104.38842,-104.38842,-104.38842,-104.38842], "fy":[-0.03418,-0.03418,-0.03418,-0.03418]}, - {"t":0.33874, "x":2.40198, "y":0.72045, "heading":3.14159, "vx":-2.16418, "vy":-0.00071, "omega":0.0, "ax":-6.3828, "ay":-0.00209, "alpha":0.0, "fx":[-104.34658,-104.34658,-104.34658,-104.34658], "fy":[-0.03417,-0.03417,-0.03417,-0.03417]}, - {"t":0.38713, "x":2.28978, "y":0.72041, "heading":3.14159, "vx":-2.47305, "vy":-0.00081, "omega":0.0, "ax":-6.37878, "ay":-0.00209, "alpha":0.0, "fx":[-104.28084,-104.28084,-104.28084,-104.28084], "fy":[-0.03415,-0.03415,-0.03415,-0.03415]}, - {"t":0.43552, "x":2.16264, "y":0.72037, "heading":3.14159, "vx":-2.78173, "vy":-0.00091, "omega":0.0, "ax":-6.37154, "ay":-0.00209, "alpha":0.0, "fx":[-104.16258,-104.16258,-104.16258,-104.16258], "fy":[-0.03411,-0.03411,-0.03411,-0.03411]}, - {"t":0.48391, "x":2.02056, "y":0.72032, "heading":3.14159, "vx":-3.09006, "vy":-0.00101, "omega":0.0, "ax":-6.35469, "ay":-0.00208, "alpha":0.0, "fx":[-103.88711,-103.88711,-103.88711,-103.88711], "fy":[-0.03402,-0.03402,-0.03402,-0.03402]}, - {"t":0.5323, "x":1.86359, "y":0.72027, "heading":3.14159, "vx":-3.39757, "vy":-0.00111, "omega":0.0, "ax":-6.27107, "ay":-0.00205, "alpha":0.0, "fx":[-102.52008,-102.52008,-102.52008,-102.52008], "fy":[-0.03357,-0.03357,-0.03357,-0.03357]}, - {"t":0.58069, "x":1.69184, "y":0.72022, "heading":3.14159, "vx":-3.70103, "vy":-0.00121, "omega":0.0, "ax":6.27107, "ay":0.00205, "alpha":0.0, "fx":[102.52008,102.52008,102.52008,102.52008], "fy":[0.03357,0.03357,0.03357,0.03357]}, - {"t":0.62908, "x":1.52008, "y":0.72016, "heading":3.14159, "vx":-3.39757, "vy":-0.00111, "omega":0.0, "ax":6.35469, "ay":0.00208, "alpha":0.0, "fx":[103.88711,103.88711,103.88711,103.88711], "fy":[0.03402,0.03402,0.03402,0.03402]}, - {"t":0.67748, "x":1.36311, "y":0.72011, "heading":3.14159, "vx":-3.09006, "vy":-0.00101, "omega":0.0, "ax":6.37154, "ay":0.00209, "alpha":0.0, "fx":[104.16258,104.16258,104.16258,104.16258], "fy":[0.03411,0.03411,0.03411,0.03411]}, - {"t":0.72587, "x":1.22104, "y":0.72006, "heading":3.14159, "vx":-2.78173, "vy":-0.00091, "omega":0.0, "ax":6.37878, "ay":0.00209, "alpha":0.0, "fx":[104.28084,104.28084,104.28084,104.28084], "fy":[0.03415,0.03415,0.03415,0.03415]}, - {"t":0.77426, "x":1.0939, "y":0.72002, "heading":3.14159, "vx":-2.47305, "vy":-0.00081, "omega":0.0, "ax":6.3828, "ay":0.00209, "alpha":0.0, "fx":[104.34658,104.34658,104.34658,104.34658], "fy":[0.03417,0.03417,0.03417,0.03417]}, - {"t":0.82265, "x":0.9817, "y":0.71998, "heading":3.14159, "vx":-2.16418, "vy":-0.00071, "omega":0.0, "ax":6.38536, "ay":0.00209, "alpha":0.0, "fx":[104.38842,104.38842,104.38842,104.38842], "fy":[0.03418,0.03418,0.03418,0.03418]}, - {"t":0.87104, "x":0.88445, "y":0.71995, "heading":3.14159, "vx":-1.85519, "vy":-0.00061, "omega":0.0, "ax":6.38713, "ay":0.00209, "alpha":0.0, "fx":[104.4174,104.4174,104.4174,104.4174], "fy":[0.03419,0.03419,0.03419,0.03419]}, - {"t":0.91943, "x":0.80215, "y":0.71992, "heading":3.14159, "vx":-1.54611, "vy":-0.00051, "omega":0.0, "ax":6.38843, "ay":0.00209, "alpha":0.0, "fx":[104.43865,104.43865,104.43865,104.43865], "fy":[0.0342,0.0342,0.0342,0.0342]}, - {"t":0.96782, "x":0.73481, "y":0.7199, "heading":3.14159, "vx":-1.23697, "vy":-0.00041, "omega":0.0, "ax":6.38942, "ay":0.00209, "alpha":0.0, "fx":[104.45491,104.45491,104.45491,104.45491], "fy":[0.0342,0.0342,0.0342,0.0342]}, - {"t":1.01621, "x":0.68244, "y":0.71989, "heading":3.14159, "vx":-0.92777, "vy":-0.0003, "omega":0.0, "ax":6.39021, "ay":0.00209, "alpha":0.0, "fx":[104.46774,104.46774,104.46774,104.46774], "fy":[0.03421,0.03421,0.03421,0.03421]}, - {"t":1.0646, "x":0.64502, "y":0.71987, "heading":3.14159, "vx":-0.61855, "vy":-0.0002, "omega":0.0, "ax":6.39084, "ay":0.00209, "alpha":0.0, "fx":[104.47813,104.47813,104.47813,104.47813], "fy":[0.03421,0.03421,0.03421,0.03421]}, - {"t":1.113, "x":0.62257, "y":0.71987, "heading":3.14159, "vx":-0.30929, "vy":-0.0001, "omega":0.0, "ax":6.39137, "ay":0.00209, "alpha":0.0, "fx":[104.48671,104.48671,104.48671,104.48671], "fy":[0.03422,0.03422,0.03422,0.03422]}, - {"t":1.16139, "x":0.61509, "y":0.71986, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-14.69298, "ay":-0.00481, "alpha":0.0, "fx":[-190.6882,-190.6882,-190.6882,-190.6882], "fy":[-0.06244,-0.06244,-0.06244,-0.06244]}, + {"t":0.09573, "x":2.70127, "y":0.72055, "heading":3.14159, "vx":-1.40652, "vy":-0.00046, "omega":0.0, "ax":-14.69015, "ay":-0.00481, "alpha":0.0, "fx":[-190.65145,-190.65145,-190.65145,-190.65145], "fy":[-0.06243,-0.06243,-0.06243,-0.06243]}, + {"t":0.19146, "x":2.49931, "y":0.72048, "heading":3.14159, "vx":-2.81278, "vy":-0.00092, "omega":0.0, "ax":-14.68349, "ay":-0.00481, "alpha":0.0, "fx":[-190.56506,-190.56506,-190.56506,-190.56506], "fy":[-0.0624,-0.0624,-0.0624,-0.0624]}, + {"t":0.28718, "x":2.16278, "y":0.72037, "heading":3.14159, "vx":-4.21839, "vy":-0.00138, "omega":0.0, "ax":-14.64918, "ay":-0.0048, "alpha":0.0, "fx":[-190.1198,-190.1198,-190.1198,-190.1198], "fy":[-0.06226,-0.06226,-0.06226,-0.06226]}, + {"t":0.38291, "x":1.69184, "y":0.72022, "heading":3.14159, "vx":-5.62072, "vy":-0.00184, "omega":0.0, "ax":14.64918, "ay":0.0048, "alpha":0.0, "fx":[190.1198,190.1198,190.1198,190.1198], "fy":[0.06226,0.06226,0.06226,0.06226]}, + {"t":0.47864, "x":1.2209, "y":0.72006, "heading":3.14159, "vx":-4.21839, "vy":-0.00138, "omega":0.0, "ax":14.68349, "ay":0.00481, "alpha":0.0, "fx":[190.56506,190.56506,190.56506,190.56506], "fy":[0.0624,0.0624,0.0624,0.0624]}, + {"t":0.57437, "x":0.88436, "y":0.71995, "heading":3.14159, "vx":-2.81278, "vy":-0.00092, "omega":0.0, "ax":14.69015, "ay":0.00481, "alpha":0.0, "fx":[190.65145,190.65145,190.65145,190.65145], "fy":[0.06243,0.06243,0.06243,0.06243]}, + {"t":0.67009, "x":0.68241, "y":0.71989, "heading":3.14159, "vx":-1.40652, "vy":-0.00046, "omega":0.0, "ax":14.69298, "ay":0.00481, "alpha":0.0, "fx":[190.6882,190.6882,190.6882,190.6882], "fy":[0.06244,0.06244,0.06244,0.06244]}, + {"t":0.76582, "x":0.61509, "y":0.71986, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 58a8a34..602750c 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -179,47 +179,47 @@ "config":{ "frontLeft":{ "x":{ - "exp":"23.75 / 2 in", - "val":0.301625 + "exp":"20.247 / 2 in", + "val":0.2571369 }, "y":{ - "exp":"23.25 / 2 in", - "val":0.295275 + "exp":"20.247 / 2 in", + "val":0.2571369 } }, "backLeft":{ "x":{ - "exp":"-23.75 / 2 in", - "val":-0.301625 + "exp":"-20.247 / 2 in", + "val":-0.2571369 }, "y":{ - "exp":"23.25 / 2 in", - "val":0.295275 + "exp":"20.247 / 2 in", + "val":0.2571369 } }, "mass":{ - "exp":"144.1655226 lb", - "val":65.39238106842257 + "exp":"114.448 lb", + "val":51.91273956176 }, "inertia":{ - "exp":"22520.847 in ^ 2 lb", - "val":6.590492861012039 + "exp":"19936.881 in ^ 2 lb", + "val":5.834321946299203 }, "gearing":{ "exp":"(50 / 16) * (17 / 27) * (45 / 15)", "val":5.902777777777778 }, "radius":{ - "exp":"2 in", - "val":0.0508 + "exp":"1.975 in", + "val":0.050165 }, "vmax":{ - "exp":"5000 RPM", - "val":523.5987755982989 + "exp":"6380 RPM", + "val":668.1120376634293 }, "tmax":{ - "exp":"0.9 N * m", - "val":0.9 + "exp":"257 / 4.69 N * m", + "val":54.79744136460554 }, "cof":{ "exp":"1.5", @@ -227,21 +227,21 @@ }, "bumper":{ "front":{ - "exp":"36.7 / 2 in", - "val":0.46609 + "exp":"33.1 / 2 in", + "val":0.42037 }, "side":{ - "exp":"36.7 / 2 in", - "val":0.46609 + "exp":"33.1 / 2 in", + "val":0.42037 }, "back":{ - "exp":"36.7 / 2 in", - "val":0.46609 + "exp":"33.1 / 2 in", + "val":0.42037 } }, "differentialTrackWidth":{ - "exp":"22 in", - "val":0.5588 + "exp":"21.367 in", + "val":0.5427218 } }, "generationFeatures":[], diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index dc9e051..b68452a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -296,7 +296,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PRtoO, Path.OtoFR, Path.FRtoFRM, Path.FRMtoPR, Path.PRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4505c1d..75f6232 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -559,9 +559,7 @@ public void simulationInit() { public void simulationPeriodic() {} @Override - public void disabledInit() { - addAutos(); - } + public void disabledInit() {} @Override public void disabledPeriodic() {} From e70c9eb215678e83b6bc5a68ddd80a05d673eb9c Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 27 Jan 2026 23:10:57 -0800 Subject: [PATCH 34/40] tune heading pid --- src/main/java/frc/robot/Robot.java | 46 +++++++++++-------- .../frc/robot/utils/autoaim/AutoAlign.java | 2 +- 2 files changed, 27 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 672de77..42bd881 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -28,6 +28,7 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Superstructure.SuperState; import frc.robot.components.rollers.RollerIO; import frc.robot.components.rollers.RollerIOSim; import frc.robot.subsystems.climber.ClimberSubsystem; @@ -160,7 +161,7 @@ public enum RobotEdition { // Assign non-superstructure triggers @AutoLogOutput(key = "Superstructure/Autoaim Request") - private Trigger autoAimReq = driver.rightBumper().or(driver.leftBumper()); + private Trigger autoAimReq; // Auto stuff private final Autos autos; @@ -267,6 +268,13 @@ public Robot() { // now that we've assigned the correct subsystems based on robot edition, we can pass them into // the superstructure superstructure = new Superstructure(swerve, indexer, intake, shooter, driver, operator); + autoAimReq = + driver + .leftBumper() + .or( + () -> + Superstructure.getState() == SuperState.SPIN_UP_SCORE + || Superstructure.getState() == SuperState.SCORE); // if this is alpha, we won't have assigned a climber yet // this creates a placeholder "no-operation" climber that will just not do anything, but is not // null (and we need it to be not null) @@ -435,25 +443,23 @@ private void addControllerBindings(Indexer indexer, Shooter shooter) { : Rotation2d.k180deg))); // autoaim (alpha) - driver - .leftBumper() - .whileTrue( - // swerve.faceHubSOTM( - // () -> - // modifyJoystick(driver.getLeftY()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - // () -> - // modifyJoystick(driver.getLeftX()) - // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); - swerve.faceHubSOTM( - () -> - -1 - * modifyJoystick(driver.getLeftY()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), - () -> - -1 - * modifyJoystick(driver.getLeftX()) - * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); + autoAimReq.whileTrue( + // swerve.faceHubSOTM( + // () -> + // modifyJoystick(driver.getLeftY()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + // () -> + // modifyJoystick(driver.getLeftX()) + // * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); + swerve.faceHubSOTM( + () -> + -1 + * modifyJoystick(driver.getLeftY()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(), + () -> + -1 + * modifyJoystick(driver.getLeftX()) + * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); // TODO add binding for climb // current zero shooter hood diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java index eaaf254..2b6bfac 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAlign.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAlign.java @@ -33,7 +33,7 @@ public class AutoAlign { static final ProfiledPIDController VY_CONTROLLER = new ProfiledPIDController(10.0, 0.01, 0.02, DEFAULT_TRANSLATIONAL_CONSTRAINTS); static final ProfiledPIDController HEADING_CONTROLLER = - new ProfiledPIDController(6.0, 0.0, 0.0, DEFAULT_ANGULAR_CONSTRAINTS); + new ProfiledPIDController(5.0, 0.0, 0.0, DEFAULT_ANGULAR_CONSTRAINTS); static { HEADING_CONTROLLER.enableContinuousInput(-Math.PI, Math.PI); From 790aa14cd3c2a85c30fcf3ec3a9e3c7f1fa880fd Mon Sep 17 00:00:00 2001 From: vivi-o Date: Wed, 28 Jan 2026 17:34:35 -0800 Subject: [PATCH 35/40] add test auto --- src/main/deploy/choreo/test.traj | 67 ++++++++++++++++++++++++++++++ src/main/java/frc/robot/Autos.java | 15 +++++++ src/main/java/frc/robot/Robot.java | 1 + 3 files changed, 83 insertions(+) create mode 100644 src/main/deploy/choreo/test.traj diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj new file mode 100644 index 0000000..709049b --- /dev/null +++ b/src/main/deploy/choreo/test.traj @@ -0,0 +1,67 @@ +{ + "name":"test", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.3121402263641357, "y":6.211315155029297, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.421619415283203, "y":3.869032859802246, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"2.3121402263641357 m", "val":2.3121402263641357}, "y":{"exp":"6.211315155029297 m", "val":6.211315155029297}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.421619415283203 m", "val":2.421619415283203}, "y":{"exp":"3.869032859802246 m", "val":3.869032859802246}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2571369, + "y":0.2571369 + }, + "backLeft":{ + "x":-0.2571369, + "y":0.2571369 + }, + "mass":51.91273956176, + "inertia":5.834321946299203, + "gearing":5.902777777777778, + "radius":0.050165, + "vmax":668.1120376634293, + "tmax":54.79744136460554, + "cof":1.5, + "bumper":{ + "front":0.42037, + "side":0.42037, + "back":0.42037 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.80408], + "samples":[ + {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.68599, "ay":-14.67667, "alpha":0.0, "fx":[8.90295,8.90295,8.90295,8.90295], "fy":[-190.4765,-190.4765,-190.4765,-190.4765]}, + {"t":0.08934, "x":2.31488, "y":6.15274, "heading":0.0, "vx":0.06129, "vy":-1.31124, "omega":0.0, "ax":0.68588, "ay":-14.67423, "alpha":0.0, "fx":[8.90147,8.90147,8.90147,8.90147], "fy":[-190.44485,-190.44485,-190.44485,-190.44485]}, + {"t":0.17868, "x":2.32309, "y":5.97703, "heading":0.0, "vx":0.12257, "vy":-2.62227, "omega":0.0, "ax":0.68565, "ay":-14.66935, "alpha":0.0, "fx":[8.8985,8.8985,8.8985,8.8985], "fy":[-190.38148,-190.38148,-190.38148,-190.38148]}, + {"t":0.26803, "x":2.33678, "y":5.6842, "heading":0.0, "vx":0.18382, "vy":-3.93286, "omega":0.0, "ax":0.68497, "ay":-14.65467, "alpha":0.0, "fx":[8.8896,8.8896,8.8896,8.8896], "fy":[-190.19102,-190.19102,-190.19102,-190.19102]}, + {"t":0.35737, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.24502, "vy":-5.24214, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.44671, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.24502, "vy":-5.24214, "omega":0.0, "ax":-0.68496, "ay":14.65467, "alpha":0.0, "fx":[-8.8896,-8.8896,-8.8896,-8.8896], "fy":[190.19102,190.19102,190.19102,190.19102]}, + {"t":0.53605, "x":2.39698, "y":4.39615, "heading":0.0, "vx":0.18382, "vy":-3.93286, "omega":0.0, "ax":-0.68565, "ay":14.66935, "alpha":0.0, "fx":[-8.8985,-8.8985,-8.8985,-8.8985], "fy":[190.38148,190.38148,190.38148,190.38148]}, + {"t":0.62539, "x":2.41067, "y":4.10332, "heading":0.0, "vx":0.12257, "vy":-2.62227, "omega":0.0, "ax":-0.68588, "ay":14.67423, "alpha":0.0, "fx":[-8.90147,-8.90147,-8.90147,-8.90147], "fy":[190.44485,190.44485,190.44485,190.44485]}, + {"t":0.71474, "x":2.41888, "y":3.92761, "heading":0.0, "vx":0.06129, "vy":-1.31124, "omega":0.0, "ax":-0.68599, "ay":14.67667, "alpha":0.0, "fx":[-8.90295,-8.90295,-8.90295,-8.90295], "fy":[190.4765,190.4765,190.4765,190.4765]}, + {"t":0.80408, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index b68452a..a25675c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -250,6 +250,7 @@ public Command setAutoClimbReqFalse() { // TODO: score at the start of each auto // specific paths: // no idea what to name them + // FOCUS ON THIS TODAY!!!! public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; @@ -308,6 +309,20 @@ public Command getOutpostFeedClimbAuto() { return routine.cmd(); } + public Command getTestAuto() { + final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); + Path[] paths = {Path.PLtoD}; + Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().whileTrue(autoCommand); + + return routine.cmd(); + } + public Command waitUntilEmpty() { // TODO wait till robot empty / done scoring // return null; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 68d76dc..b004d64 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -491,6 +491,7 @@ private void addAutos() { autoChooser.addOption("Depot Score Climb", autos.getDepotScoreClimbAuto()); autoChooser.addOption("Outpost Feed Climb", autos.getOutpostFeedClimbAuto()); autoChooser.addOption("Outpost Score Climb", autos.getOutpostScoreClimbAuto()); + autoChooser.addOption("Test Auto", autos.getTestAuto()); // Sysid Autos // autoChooser.addOption("Hood Sysid", shooter.runHoodSysid()); // autoChooser.addOption("Index Roller Sysid", indexer.runRollerSysId()); From d4b30a730975902f854cf13dad8babcebb26c1b1 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Fri, 30 Jan 2026 00:39:59 -0800 Subject: [PATCH 36/40] tunning autos and trying to fix auto scoring issue not very successfull --- src/main/deploy/choreo/DtoFL.traj | 103 +++++++++++--------- src/main/deploy/choreo/FLMtoPL.traj | 81 +++++++-------- src/main/deploy/choreo/FLtoFLM.traj | 10 +- src/main/deploy/choreo/FLtoPL.traj | 54 +++++----- src/main/deploy/choreo/FRMtoPR.traj | 78 ++++++++------- src/main/deploy/choreo/FRtoFRM.traj | 6 +- src/main/deploy/choreo/FRtoPR.traj | 52 +++++----- src/main/deploy/choreo/OtoFR.traj | 84 ++++++++-------- src/main/deploy/choreo/PLtoCL.traj | 32 +++--- src/main/deploy/choreo/PLtoCM.traj | 34 +++---- src/main/deploy/choreo/PLtoD.traj | 22 ++--- src/main/deploy/choreo/PLtoFL.traj | 40 ++++---- src/main/deploy/choreo/PRtoCM.traj | 30 +++--- src/main/deploy/choreo/PRtoCR.traj | 28 +++--- src/main/deploy/choreo/PRtoFR.traj | 63 ++++++------ src/main/deploy/choreo/PRtoO.traj | 33 ++++--- src/main/deploy/choreo/rebuiltChoreo.chor | 4 +- src/main/deploy/choreo/test.traj | 24 ++--- src/main/java/frc/robot/Autos.java | 32 +++--- src/main/java/frc/robot/Robot.java | 4 +- src/main/java/frc/robot/Superstructure.java | 12 ++- 21 files changed, 433 insertions(+), 393 deletions(-) diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj index 2a2c91a..0222a9c 100644 --- a/src/main/deploy/choreo/DtoFL.traj +++ b/src/main/deploy/choreo/DtoFL.traj @@ -3,29 +3,31 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.831789255142212, "y":7.0157318115234375, "heading":-1.7506501900476916, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.722850799560547, "y":7.383526802062988, "heading":-1.5707963267948966, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6102287769317627, "y":7.159779071807861, "heading":-1.855526215296752, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.722850799560547, "y":7.383526802062988, "heading":-1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.5875115394592285, "y":6.917223930358887, "heading":-1.1441691490021848, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":false}], - "targetDt":0.05 + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":true}], + "targetDt":0.04 }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.831789255142212 m", "val":2.831789255142212}, "y":{"exp":"7.0157318115234375 m", "val":7.0157318115234375}, "heading":{"exp":"-1.7506501900476916 rad", "val":-1.7506501900476916}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.722850799560547 m", "val":4.722850799560547}, "y":{"exp":"7.383526802062988 m", "val":7.383526802062988}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6102287769317627 m", "val":2.6102287769317627}, "y":{"exp":"7.159779071807861 m", "val":7.159779071807861}, "heading":{"exp":"-1.8555262152967518 rad", "val":-1.855526215296752}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.722850799560547 m", "val":4.722850799560547}, "y":{"exp":"7.383526802062988 m", "val":7.383526802062988}, "heading":{"exp":"-1.5707963267948966 rad", "val":-1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.5875115394592285 m", "val":7.5875115394592285}, "y":{"exp":"6.917223930358887 m", "val":6.917223930358887}, "heading":{"exp":"-1.1441691490021848 rad", "val":-1.1441691490021848}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"-23.56243133544922 mm", "val":-0.02356243133544922}, "y":{"exp":"-0.10602998733520508 m", "val":-0.10602998733520508}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"-23.56243133544922 mm", "val":-0.02356243133544922}, "y":{"exp":"-0.10602998733520508 m", "val":-0.10602998733520508}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}], "targetDt":{ - "exp":"0.05 s", - "val":0.05 + "exp":"0.04 s", + "val":0.04 } }, "trajectory":{ @@ -44,7 +46,7 @@ "radius":0.050165, "vmax":668.1120376634293, "tmax":54.79744136460554, - "cof":1.5, + "cof":1.48, "bumper":{ "front":0.42037, "side":0.42037, @@ -53,39 +55,52 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.56711,0.92055,1.7256], + "waypoints":[0.0,0.71888,1.52652,2.77191,3.3183], "samples":[ - {"t":0.0, "x":1.30785, "y":5.92098, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.38703, "ay":6.73478, "alpha":18.08991, "fx":[190.64903,140.60275,20.41313,187.55427], "fy":[2.8464,128.82911,189.56507,28.38025]}, - {"t":0.06301, "x":1.32848, "y":5.93435, "heading":3.14159, "vx":0.65451, "vy":0.42437, "omega":1.13989, "ax":10.32917, "ay":7.3032, "alpha":16.87435, "fx":[190.52868,140.36451,23.64925,181.67325], "fy":[6.55351,129.0573,189.15772,54.36081]}, - {"t":0.12602, "x":1.39022, "y":5.97559, "heading":-3.06977, "vx":1.30537, "vy":0.88456, "omega":2.20318, "ax":10.29067, "ay":7.16493, "alpha":17.67747, "fx":[189.86824,135.65308,21.74586,186.94971], "fy":[16.6759,133.95051,189.32741,31.99748]}, - {"t":0.18904, "x":1.49291, "y":6.04555, "heading":-2.93094, "vx":1.95381, "vy":1.33604, "omega":3.31707, "ax":10.04019, "ay":7.32705, "alpha":18.71922, "fx":[187.47453,126.47638,18.12579,189.1371], "fy":[33.93083,142.55132,189.57911,14.30597]}, - {"t":0.25205, "x":1.63595, "y":6.14429, "heading":-2.72192, "vx":2.58647, "vy":1.79774, "omega":4.49661, "ax":9.70502, "ay":8.64336, "alpha":16.40718, "fx":[178.82498,112.78842,27.5584,184.64263], "fy":[65.03166,153.33141,188.03134,42.30629]}, - {"t":0.31506, "x":1.8182, "y":6.27472, "heading":-2.43858, "vx":3.198, "vy":2.34237, "omega":5.53046, "ax":4.89559, "ay":7.08547, "alpha":-31.99357, "fx":[-106.56638,161.1547,160.17284,39.38217], "fy":[154.02888,-69.31314,98.63176,184.47842]}, - {"t":0.37807, "x":2.02943, "y":6.43639, "heading":-2.09009, "vx":3.50648, "vy":2.78885, "omega":3.51448, "ax":6.52028, "ay":6.87565, "alpha":-28.90097, "fx":[-67.76329,175.04797,168.57526,62.6255], 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b/src/main/deploy/choreo/FLMtoPL.traj @@ -3,27 +3,29 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.244582653045654, "y":6.968235969543457, "heading":-2.1353657720924413, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.18906831741333, "y":7.195863723754883, "heading":-2.1353657720924413, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.465227127075195, "y":7.376699447631836, "heading":-2.701750548843174, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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"omega":0.66653, "ax":-10.11777, "ay":9.11543, "alpha":-11.20312, "fx":[-181.29039,-149.88632,-59.13123,-134.93302], "fy":[50.18753,113.34776,178.56397,131.10794]}, + {"t":1.38637, "x":7.81195, "y":5.91356, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/FRMtoPR.traj b/src/main/deploy/choreo/FRMtoPR.traj index 3b67d23..a7d5877 100644 --- a/src/main/deploy/choreo/FRMtoPR.traj +++ b/src/main/deploy/choreo/FRMtoPR.traj @@ -3,24 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.9198899269104, "y":0.8870825171470642, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.16318416595459, "y":0.8162139058113098, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.331293106079102, "y":0.721422553062439, "heading":2.65711481730393, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.03554674983024597, "w":16.541, "h":8.0692}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.9198899269104 m", "val":5.9198899269104}, "y":{"exp":"0.8870825171470642 m", "val":0.8870825171470642}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", "val":3.55698299407959}, "heading":{"exp":"FRM.heading", "val":1.5707963267948966}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.16318416595459 m", 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b/src/main/deploy/choreo/FRtoPR.traj @@ -42,7 +42,7 @@ "radius":0.050165, "vmax":668.1120376634293, "tmax":54.79744136460554, - "cof":1.5, + "cof":1.48, "bumper":{ "front":0.42037, "side":0.42037, @@ -51,32 +51,32 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.72387,1.38047], + "waypoints":[0.0,0.72622,1.38526], "samples":[ - {"t":0.0, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-11.61997, "ay":-7.33112, "alpha":11.89235, "fx":[-151.53156,-84.6887,-178.25704,-188.74741], "fy":[-115.74795,-170.79071,-67.12067,-26.9192]}, - {"t":0.06032, "x":7.79922, "y":2.20361, "heading":1.5708, "vx":-0.70094, "vy":-0.44223, "omega":0.71737, "ax":-11.6376, "ay":-7.41967, "alpha":11.48358, "fx":[-151.55631,-87.39329,-176.87076,-188.31952], "fy":[-115.67606,-169.38446,-70.53886,-29.57615]}, - {"t":0.12064, "x":7.73577, "y":2.16343, "heading":1.61407, "vx":-1.40295, "vy":-0.8898, "omega":1.41009, "ax":-11.65473, "ay":-7.51004, 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{"t":1.66117, "x":7.82037, "y":2.21695, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PRtoO.traj b/src/main/deploy/choreo/PRtoO.traj index 18b83a7..492612e 100644 --- a/src/main/deploy/choreo/PRtoO.traj +++ b/src/main/deploy/choreo/PRtoO.traj @@ -3,8 +3,9 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"O.x", "val":0.6150895357131958}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":4, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.7400096654891968 m", "val":1.7400096654891968}, "y":{"exp":"0.7318795323371887 m", "val":0.7318795323371887}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"O.x", "val":0.6150895357131958}, "y":{"exp":"O.y", "val":0.7198631167411804}, "heading":{"exp":"O.heading", "val":3.141592653589793}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -40,7 +42,7 @@ "radius":0.050165, "vmax":668.1120376634293, "tmax":54.79744136460554, - "cof":1.5, + "cof":1.48, "bumper":{ "front":0.42037, "side":0.42037, @@ -49,17 +51,18 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.76582], + "waypoints":[0.0,0.37675,0.77273], "samples":[ - {"t":0.0, "x":2.76859, "y":0.72057, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-14.69298, "ay":-0.00481, "alpha":0.0, "fx":[-190.6882,-190.6882,-190.6882,-190.6882], "fy":[-0.06244,-0.06244,-0.06244,-0.06244]}, - {"t":0.09573, "x":2.70127, "y":0.72055, "heading":3.14159, "vx":-1.40652, "vy":-0.00046, "omega":0.0, "ax":-14.69015, "ay":-0.00481, "alpha":0.0, "fx":[-190.65145,-190.65145,-190.65145,-190.65145], "fy":[-0.06243,-0.06243,-0.06243,-0.06243]}, - {"t":0.19146, "x":2.49931, "y":0.72048, "heading":3.14159, "vx":-2.81278, "vy":-0.00092, "omega":0.0, "ax":-14.68349, "ay":-0.00481, "alpha":0.0, 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"ay":0.2184, "alpha":0.0, "fx":[188.00205,188.00205,188.00205,188.00205], "fy":[2.83447,2.83447,2.83447,2.83447]}, + {"t":0.61434, "x":0.7969, "y":0.72265, "heading":3.14159, "vx":-2.29554, "vy":-0.03519, "omega":0.0, "ax":14.4914, "ay":0.22139, "alpha":0.0, "fx":[188.07203,188.07203,188.07203,188.07203], "fy":[2.87326,2.87326,2.87326,2.87326]}, + {"t":0.69354, "x":0.66054, "y":0.72056, "heading":3.14159, "vx":-1.14787, "vy":-0.01765, "omega":0.0, "ax":14.4941, "ay":0.22289, "alpha":0.0, "fx":[188.10708,188.10708,188.10708,188.10708], "fy":[2.89269,2.89269,2.89269,2.89269]}, + {"t":0.77273, "x":0.61509, "y":0.71986, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 602750c..404c29f 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -222,8 +222,8 @@ "val":54.79744136460554 }, "cof":{ - "exp":"1.5", - "val":1.5 + "exp":"1.48", + "val":1.48 }, "bumper":{ "front":{ diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj index 709049b..65d2a7d 100644 --- a/src/main/deploy/choreo/test.traj +++ b/src/main/deploy/choreo/test.traj @@ -40,7 +40,7 @@ "radius":0.050165, "vmax":668.1120376634293, "tmax":54.79744136460554, - "cof":1.5, + "cof":1.48, "bumper":{ "front":0.42037, "side":0.42037, @@ -49,18 +49,18 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.80408], + "waypoints":[0.0,0.80949], "samples":[ - {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.68599, "ay":-14.67667, "alpha":0.0, "fx":[8.90295,8.90295,8.90295,8.90295], "fy":[-190.4765,-190.4765,-190.4765,-190.4765]}, - {"t":0.08934, "x":2.31488, "y":6.15274, "heading":0.0, "vx":0.06129, "vy":-1.31124, "omega":0.0, "ax":0.68588, "ay":-14.67423, "alpha":0.0, "fx":[8.90147,8.90147,8.90147,8.90147], "fy":[-190.44485,-190.44485,-190.44485,-190.44485]}, - {"t":0.17868, "x":2.32309, "y":5.97703, "heading":0.0, "vx":0.12257, "vy":-2.62227, "omega":0.0, "ax":0.68565, "ay":-14.66935, "alpha":0.0, "fx":[8.8985,8.8985,8.8985,8.8985], "fy":[-190.38148,-190.38148,-190.38148,-190.38148]}, - {"t":0.26803, "x":2.33678, "y":5.6842, "heading":0.0, "vx":0.18382, "vy":-3.93286, "omega":0.0, "ax":0.68497, "ay":-14.65467, "alpha":0.0, "fx":[8.8896,8.8896,8.8896,8.8896], "fy":[-190.19102,-190.19102,-190.19102,-190.19102]}, - {"t":0.35737, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.24502, "vy":-5.24214, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.44671, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.24502, "vy":-5.24214, "omega":0.0, "ax":-0.68496, "ay":14.65467, "alpha":0.0, "fx":[-8.8896,-8.8896,-8.8896,-8.8896], "fy":[190.19102,190.19102,190.19102,190.19102]}, - {"t":0.53605, "x":2.39698, "y":4.39615, "heading":0.0, "vx":0.18382, "vy":-3.93286, "omega":0.0, "ax":-0.68565, "ay":14.66935, "alpha":0.0, "fx":[-8.8985,-8.8985,-8.8985,-8.8985], "fy":[190.38148,190.38148,190.38148,190.38148]}, - {"t":0.62539, "x":2.41067, "y":4.10332, "heading":0.0, "vx":0.12257, "vy":-2.62227, "omega":0.0, "ax":-0.68588, "ay":14.67423, "alpha":0.0, "fx":[-8.90147,-8.90147,-8.90147,-8.90147], "fy":[190.44485,190.44485,190.44485,190.44485]}, - {"t":0.71474, "x":2.41888, "y":3.92761, "heading":0.0, "vx":0.06129, "vy":-1.31124, "omega":0.0, "ax":-0.68599, "ay":14.67667, "alpha":0.0, "fx":[-8.90295,-8.90295,-8.90295,-8.90295], "fy":[190.4765,190.4765,190.4765,190.4765]}, - {"t":0.80408, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.67685, "ay":-14.48103, "alpha":0.0, "fx":[8.78427,8.78427,8.78427,8.78427], "fy":[-187.93744,-187.93744,-187.93744,-187.93744]}, + {"t":0.08994, "x":2.31488, "y":6.15274, "heading":0.0, "vx":0.06088, "vy":-1.30247, "omega":0.0, "ax":0.67674, "ay":-14.47864, "alpha":0.0, "fx":[8.78282,8.78282,8.78282,8.78282], "fy":[-187.90643,-187.90643,-187.90643,-187.90643]}, + {"t":0.17989, "x":2.32309, "y":5.97703, "heading":0.0, "vx":0.12175, "vy":-2.60473, "omega":0.0, "ax":0.67651, "ay":-14.47385, "alpha":0.0, "fx":[8.77992,8.77992,8.77992,8.77992], "fy":[-187.84435,-187.84435,-187.84435,-187.84435]}, + {"t":0.26983, "x":2.33678, "y":5.6842, "heading":0.0, "vx":0.18259, "vy":-3.90656, "omega":0.0, "ax":0.67584, "ay":-14.45948, "alpha":0.0, "fx":[8.7712,8.7712,8.7712,8.7712], "fy":[-187.65779,-187.65779,-187.65779,-187.65779]}, + {"t":0.35977, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.24338, "vy":-5.2071, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.44972, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.24338, "vy":-5.2071, "omega":0.0, "ax":-0.67584, "ay":14.45948, "alpha":0.0, "fx":[-8.7712,-8.7712,-8.7712,-8.7712], "fy":[187.65779,187.65779,187.65779,187.65779]}, + {"t":0.53966, "x":2.39698, "y":4.39615, "heading":0.0, "vx":0.18259, "vy":-3.90656, "omega":0.0, "ax":-0.67651, "ay":14.47385, "alpha":0.0, "fx":[-8.77992,-8.77992,-8.77992,-8.77992], "fy":[187.84435,187.84435,187.84435,187.84435]}, + {"t":0.6296, "x":2.41067, "y":4.10332, "heading":0.0, "vx":0.12175, "vy":-2.60473, "omega":0.0, "ax":-0.67674, "ay":14.47864, "alpha":0.0, "fx":[-8.78282,-8.78282,-8.78282,-8.78282], "fy":[187.90643,187.90643,187.90643,187.90643]}, + {"t":0.71955, "x":2.41888, "y":3.92761, "heading":0.0, "vx":0.06088, "vy":-1.30247, "omega":0.0, "ax":-0.67685, "ay":14.48103, "alpha":0.0, "fx":[-8.78427,-8.78427,-8.78427,-8.78427], "fy":[187.93744,187.93744,187.93744,187.93744]}, + {"t":0.80949, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index a25675c..33fc73f 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -190,17 +190,15 @@ public Command feedPath(Path path, AutoRoutine routine) { public Command scorePath(Path path, AutoRoutine routine) { // path align and score return Commands.sequence( - path.getTrajectory(routine) - .cmd() - .until( - routine.observe( - path.getTrajectory(routine) - .atTime( - path.getTrajectory(routine).getRawTrajectory().getTotalTime() - - (0.3)))), + path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), + // .getRawTrajectory().getTotalTime() + // - (0.3)))), setAutoScoreReqTrue(), waitUntilEmpty(), - setAutoScoreReqFalse()); + setAutoScoreReqFalse(), + Commands.print( + "score done")); //// TODO i think something in here is not quite right like not + // returning to finish other paths } // feeding and intake could prob be improved @@ -253,7 +251,7 @@ public Command setAutoClimbReqFalse() { // FOCUS ON THIS TODAY!!!! public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL}; // Will always need to reset odo at the start of a routine Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); // shoot preload then do the paths @@ -261,22 +259,28 @@ public Command getDepotScoreClimbAuto() { for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); } + // maybe a better fix but rn scoring disrupts so im jsut making it finish the entire routine + autoCommand = + autoCommand.andThen(runPath(Path.PLtoCL, routine).andThen(Commands.print("CLIMB"))); - routine.active().whileTrue(autoCommand); + routine.active().onTrue(autoCommand); return routine.cmd(); } public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)); + autoCommand = autoCommand.andThen(runPath(p, routine)).andThen(Commands.print("scorin")); } + // maybe a better fix but rn scoring disrupts so im jsut making it finish the entire routine + autoCommand = + autoCommand.andThen(runPath(Path.PRtoCR, routine).andThen(Commands.print("CLIMB"))); - routine.active().whileTrue(autoCommand); + routine.active().onTrue(autoCommand); return routine.cmd(); } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b004d64..bebacac 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -574,7 +574,9 @@ public void simulationInit() { public void simulationPeriodic() {} @Override - public void disabledInit() {} + public void disabledInit() { + addAutos(); + } @Override public void disabledPeriodic() {} diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 6fc4fae..0368ca7 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -93,6 +93,9 @@ public Trigger getTrigger() { @AutoLogOutput(key = "Superstructure/Is Empty") private Trigger isEmpty; + @AutoLogOutput(key = "Superstructure/Can Score") + private boolean canScore = canScore(); + private boolean shouldFeed = false; // @AutoLogOutput(key = "Superstructure/At Extension?") @@ -420,10 +423,11 @@ public boolean isOurShift() { } public boolean inScoringArea() { - return (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - && (swerve.getPose().getX() <= 4.6914191246032715) - || DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red - && (swerve.getPose().getX() >= 11.889562606811523)); + return true; + // (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + // && (swerve.getPose().getX() <= 4.6914191246032715) + // || DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red + // && (swerve.getPose().getX() >= 11.889562606811523)); } public boolean canScore() { From 78f8e431fc998287e7dbc42071b61e35d753f98c Mon Sep 17 00:00:00 2001 From: vivi-o Date: Fri, 30 Jan 2026 23:47:19 -0800 Subject: [PATCH 37/40] update auto paths --- src/main/deploy/choreo/FLMtoPL.traj | 195 ++++++++++++++++++++++------ src/main/deploy/choreo/FLtoPL.traj | 67 +++++----- src/main/deploy/choreo/FRtoPR.traj | 63 ++++----- src/main/deploy/choreo/PLtoFL.traj | 57 ++++---- src/main/java/frc/robot/Autos.java | 25 ++-- 5 files changed, 263 insertions(+), 144 deletions(-) diff --git a/src/main/deploy/choreo/FLMtoPL.traj b/src/main/deploy/choreo/FLMtoPL.traj index 45ecb65..d4d0b20 100644 --- a/src/main/deploy/choreo/FLMtoPL.traj +++ b/src/main/deploy/choreo/FLMtoPL.traj @@ -3,29 +3,29 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.18906831741333, "y":7.195863723754883, "heading":-2.1353657720924413, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":4.465227127075195, "y":7.376699447631836, "heading":-2.701750548843174, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.18906831741333, "y":7.195863723754883, "heading":-2.1353657720924413, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.465227127075195, "y":7.376699447631836, "heading":-2.701750548843174, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}], - "targetDt":0.053 + "targetDt":0.01 }, "params":{ "waypoints":[ - {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.18906831741333 m", "val":7.18906831741333}, "y":{"exp":"7.195863723754883 m", "val":7.195863723754883}, "heading":{"exp":"-2.1353657720924413 rad", "val":-2.1353657720924413}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"-2.701750548843174 rad", "val":-2.701750548843174}, "intervals":7, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.18906831741333 m", "val":7.18906831741333}, "y":{"exp":"7.195863723754883 m", "val":7.195863723754883}, "heading":{"exp":"-2.1353657720924413 rad", "val":-2.1353657720924413}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"-2.701750548843174 rad", "val":-2.701750548843174}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}], "targetDt":{ - "exp":"0.053 s", - "val":0.053 + "exp":"0.01 s", + "val":0.01 } }, "trajectory":{ @@ -53,38 +53,153 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.7561,1.26651,1.75792], + "waypoints":[0.0,0.75541,1.26868,1.76093], "samples":[ - {"t":0.0, "x":7.82037, "y":4.50357, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.14605, "ay":13.89347, "alpha":-6.20664, "fx":[9.65615,85.11314,61.91258,6.63828], "fy":[187.83519,167.74143,177.6576,188.01371]}, - {"t":0.06874, "x":7.8278, "y":4.53639, "heading":-1.5708, "vx":0.21625, "vy":0.95499, "omega":-0.42662, "ax":2.8559, "ay":13.98078, "alpha":-5.86594, "fx":[6.8822,78.65709,57.88144,4.83666], "fy":[187.92418,170.82819,178.9852,188.0431]}, - {"t":0.13747, "x":7.84941, "y":4.63506, "heading":-1.60012, "vx":0.41255, "vy":1.91598, "omega":-0.82983, "ax":2.37883, "ay":14.10652, "alpha":-5.3155, "fx":[1.53401,67.42498,51.91892,2.61359], "fy":[187.9939,175.50756,180.76083,188.04579]}, - {"t":0.20621, "x":7.88339, "y":4.80009, "heading":-1.65716, "vx":0.57606, "vy":2.88561, "omega":-1.1952, "ax":1.45273, "ay":14.29198, "alpha":-4.22953, "fx":[-7.18848,45.484,39.15752,-2.03806], "fy":[187.77552,182.3269,183.86094,187.97268]}, - {"t":0.27495, "x":7.92641, "y":5.03219, "heading":-1.73931, "vx":0.67592, "vy":3.86799, "omega":-1.48592, "ax":-0.99346, "ay":14.41731, "alpha":-1.44287, "fx":[-23.00639,-6.58068,-3.39453,-18.59161], "fy":[186.30094,187.58906,187.71748,186.83448]}, - {"t":0.34368, "x":7.97053, "y":5.33212, "heading":-1.84145, "vx":0.60763, "vy":4.85898, "omega":-1.5851, "ax":-10.96731, "ay":7.95602, "alpha":11.53853, "fx":[-79.536,-134.0097,-179.17384,-176.62377], "fy":[169.07688,130.92992,54.32738,58.68462]}, - {"t":0.41242, "x":7.98639, "y":5.68491, "heading":-1.9504, "vx":-0.14622, "vy":5.40585, "omega":-0.79198, "ax":-14.24483, "ay":-2.31525, "alpha":-1.01029, "fx":[-184.68132,-183.51694,-185.23789,-186.05176], "fy":[-31.9185,-37.83747,-28.04077,-22.39427]}, - {"t":0.48116, "x":7.94268, "y":6.05102, "heading":-2.00484, "vx":-1.12536, "vy":5.24671, "omega":-0.86142, "ax":-12.84733, "ay":-6.17364, "alpha":-5.64241, "fx":[-170.85908,-145.63175,-166.47791,-183.97158], "fy":[-78.04859,-118.52708,-86.44837,-37.46639]}, - {"t":0.54989, "x":7.83498, "y":6.39707, "heading":-2.06405, "vx":-2.00844, "vy":4.82235, "omega":-1.24926, "ax":-11.73278, "ay":-8.11584, "alpha":-5.68442, "fx":[-160.88146,-128.73897,-143.54319,-175.91696], "fy":[-97.224,-136.92973,-121.13089,-66.03096]}, - {"t":0.61863, 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"enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,9 +14,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.347630977630615 m", "val":6.347630977630615}, "y":{"exp":"7.2292633056640625 m", "val":7.2292633056640625}, "heading":{"exp":"-1.7818893280275419 rad", "val":-1.781889328027542}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"4.768779754638672 m", "val":4.768779754638672}, "y":{"exp":"7.293199062347412 m", "val":7.293199062347412}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + 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"ax":-4.1007, "ay":-13.7058, "alpha":0.11439, "fx":[-52.38547,-53.46326,-54.05093,-52.97869], "fy":[-178.12142,-177.79205,-177.63049,-177.96192]}, + {"t":0.79142, "x":6.09498, "y":7.24541, "heading":-2.3587, "vx":5.30548, "vy":-1.99548, "omega":0.0236, "ax":-6.00961, "ay":-12.98825, "alpha":-0.04056, "fx":[-78.25907,-77.87396,-77.72806,-78.11407], "fy":[-168.443,-168.6237,-168.68474,-168.504]}, + {"t":0.85091, "x":6.39999, "y":7.1037, "heading":-2.3573, "vx":4.94794, "vy":-2.76821, "omega":0.02119, "ax":-7.63066, "ay":-11.57076, "alpha":0.03753, "fx":[-98.82712,-99.15848,-99.23678,-98.90618], "fy":[-150.29408,-150.07117,-150.04112,-150.26371]}, + {"t":0.91041, "x":6.68086, "y":6.91853, "heading":-2.35604, "vx":4.49395, "vy":-3.45661, "omega":0.02342, "ax":-8.01876, "ay":-3.90842, "alpha":13.38796, "fx":[-56.42908,-123.46091,-141.86262,-94.5233], "fy":[-77.86538,22.48026,-40.62845,-106.88309]}, + {"t":0.9699, "x":6.93403, "y":6.70596, "heading":-2.35464, "vx":4.01688, "vy":-3.68914, 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"vy":-1.62395, "omega":1.98564, "ax":-10.21006, "ay":9.09393, "alpha":-11.05265, "fx":[-176.30024,-164.74808,-62.48178,-126.50185], "fy":[65.41701,90.18378,177.31247,139.17741]}, + {"t":1.26738, "x":7.74022, "y":5.97804, "heading":-1.68946, "vx":1.20739, "vy":-1.08291, "omega":1.32807, "ax":-10.17631, "ay":9.08629, "alpha":-11.11935, "fx":[-179.41102,-157.50975,-59.90706,-131.45219], "fy":[56.45603,102.40739,178.26589,134.56508]}, + {"t":1.32687, "x":7.79405, "y":5.92969, "heading":-1.61045, "vx":0.60195, "vy":-0.54232, "omega":0.66653, "ax":-10.11777, "ay":9.11543, "alpha":-11.20312, "fx":[-181.29039,-149.88632,-59.13123,-134.93302], "fy":[50.18753,113.34776,178.56397,131.10794]}, + {"t":1.38637, "x":7.81195, "y":5.91356, "heading":-1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 33fc73f..5f761e5 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -193,12 +193,11 @@ public Command scorePath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), // .getRawTrajectory().getTotalTime() // - (0.3)))), - setAutoScoreReqTrue(), - waitUntilEmpty(), - setAutoScoreReqFalse(), + //setAutoScoreReqTrue(), + //waitUntilEmpty(), + // setAutoScoreReqFalse(), Commands.print( - "score done")); //// TODO i think something in here is not quite right like not - // returning to finish other paths + "score in auto")); } // feeding and intake could prob be improved @@ -250,8 +249,8 @@ public Command setAutoClimbReqFalse() { // no idea what to name them // FOCUS ON THIS TODAY!!!! public Command getDepotScoreClimbAuto() { - final AutoRoutine routine = factory.newRoutine("Depot Score Clim Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL}; + final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto"); + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; // Will always need to reset odo at the start of a routine Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); // shoot preload then do the paths @@ -259,9 +258,6 @@ public Command getDepotScoreClimbAuto() { for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); } - // maybe a better fix but rn scoring disrupts so im jsut making it finish the entire routine - autoCommand = - autoCommand.andThen(runPath(Path.PLtoCL, routine).andThen(Commands.print("CLIMB"))); routine.active().onTrue(autoCommand); @@ -270,15 +266,12 @@ public Command getDepotScoreClimbAuto() { public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR}; + Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { - autoCommand = autoCommand.andThen(runPath(p, routine)).andThen(Commands.print("scorin")); - } - // maybe a better fix but rn scoring disrupts so im jsut making it finish the entire routine - autoCommand = - autoCommand.andThen(runPath(Path.PRtoCR, routine).andThen(Commands.print("CLIMB"))); + autoCommand = autoCommand.andThen(runPath(p, routine)); + } routine.active().onTrue(autoCommand); From 21d4b1fdd1d0e089b63cb1b9de964b83455ea497 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 31 Jan 2026 15:53:09 -0800 Subject: [PATCH 38/40] autos tweaks --- src/main/deploy/choreo/DtoFL.traj | 226 +++++-- src/main/deploy/choreo/FLMtoPL.traj | 645 +++++++++++++++----- src/main/deploy/choreo/FLtoFLM.traj | 39 +- src/main/deploy/choreo/FLtoPL.traj | 119 +++- src/main/deploy/choreo/FRMtoPR.traj | 10 +- src/main/deploy/choreo/FRtoPR.traj | 133 ++-- src/main/deploy/choreo/OtoFR.traj | 169 +++-- src/main/deploy/choreo/PLtoCL.traj | 82 ++- src/main/deploy/choreo/PLtoCM.traj | 78 ++- src/main/deploy/choreo/PLtoD.traj | 75 ++- src/main/deploy/choreo/PLtoFL.traj | 119 +++- src/main/deploy/choreo/PRtoCM.traj | 3 +- src/main/deploy/choreo/PRtoCR.traj | 64 +- src/main/deploy/choreo/PRtoO.traj | 57 +- src/main/deploy/choreo/test.traj | 55 +- src/main/java/frc/robot/Autos.java | 13 +- src/main/java/frc/robot/Superstructure.java | 8 +- 17 files changed, 1411 insertions(+), 484 deletions(-) diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj index 0222a9c..c224119 100644 --- a/src/main/deploy/choreo/DtoFL.traj +++ b/src/main/deploy/choreo/DtoFL.traj @@ -3,28 +3,32 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":1.307854413986206, "y":5.920979976654053, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.6102287769317627, "y":7.159779071807861, "heading":-1.855526215296752, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.722850799560547, "y":7.383526802062988, "heading":-1.5707963267948966, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.5875115394592285, "y":6.917223930358887, "heading":-1.1441691490021848, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6684621572494507, "y":5.989591598510742, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.8226280212402344, "y":6.886133193969727, "heading":-1.2008906955338798, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.17843246459961, "y":7.364652156829834, "heading":-0.030292920677609064, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.560821533203125, "y":7.364652156829834, "heading":-0.006559104275229499, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.554760456085205, "y":7.0976176261901855, "heading":-1.1441691490021848, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":-0.02356243133544922, "y":-0.10602998733520508, "w":16.541, "h":8.0692}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.04 }, "params":{ "waypoints":[ - {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.6102287769317627 m", "val":2.6102287769317627}, "y":{"exp":"7.159779071807861 m", "val":7.159779071807861}, "heading":{"exp":"-1.8555262152967518 rad", "val":-1.855526215296752}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.722850799560547 m", "val":4.722850799560547}, "y":{"exp":"7.383526802062988 m", "val":7.383526802062988}, 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+++ b/src/main/deploy/choreo/FLtoFLM.traj @@ -3,22 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":5.865901947021484, "heading":-1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FL.x", "val":7.82036542892456}, "y":{"exp":"FL.y", "val":5.865901947021484}, "heading":{"exp":"FL.heading", "val":-1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -49,15 +51,28 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.24021], + "waypoints":[0.0,0.90843], "samples":[ 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a/src/main/deploy/choreo/PLtoCM.traj +++ b/src/main/deploy/choreo/PLtoCM.traj @@ -3,22 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7500560283660889, "y":3.764630317687988, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + 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"fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -49,23 +51,59 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,1.04991], + 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+ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"D.x", "val":1.307854413986206}, "y":{"exp":"D.y", "val":5.920979976654053}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.3747256994247437 m", "val":1.3747256994247437}, 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a/src/main/deploy/choreo/PRtoCM.traj +++ b/src/main/deploy/choreo/PRtoCM.traj @@ -18,7 +18,8 @@ "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 diff --git a/src/main/deploy/choreo/PRtoCR.traj b/src/main/deploy/choreo/PRtoCR.traj index 212a650..706b4ba 100644 --- a/src/main/deploy/choreo/PRtoCR.traj +++ b/src/main/deploy/choreo/PRtoCR.traj @@ -3,22 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.768587827682495, "y":0.7205682992935181, "heading":3.141592653589793, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7531986236572266, "y":3.3997113704681396, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, 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"overrideIntervals":false}, + {"x":{"exp":"2.3121402263641357 m", "val":2.3121402263641357}, "y":{"exp":"6.211315155029297 m", "val":6.211315155029297}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.421619415283203 m", "val":2.421619415283203}, "y":{"exp":"3.869032859802246 m", "val":3.869032859802246}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -49,18 +51,41 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.80949], + "waypoints":[0.0,1.6674], "samples":[ - {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.67685, "ay":-14.48103, "alpha":0.0, "fx":[8.78427,8.78427,8.78427,8.78427], "fy":[-187.93744,-187.93744,-187.93744,-187.93744]}, - {"t":0.08994, "x":2.31488, "y":6.15274, "heading":0.0, "vx":0.06088, "vy":-1.30247, "omega":0.0, "ax":0.67674, "ay":-14.47864, "alpha":0.0, "fx":[8.78282,8.78282,8.78282,8.78282], "fy":[-187.90643,-187.90643,-187.90643,-187.90643]}, - {"t":0.17989, "x":2.32309, "y":5.97703, "heading":0.0, "vx":0.12175, "vy":-2.60473, "omega":0.0, "ax":0.67651, "ay":-14.47385, "alpha":0.0, "fx":[8.77992,8.77992,8.77992,8.77992], "fy":[-187.84435,-187.84435,-187.84435,-187.84435]}, - {"t":0.26983, "x":2.33678, "y":5.6842, "heading":0.0, "vx":0.18259, "vy":-3.90656, "omega":0.0, "ax":0.67584, "ay":-14.45948, "alpha":0.0, "fx":[8.7712,8.7712,8.7712,8.7712], "fy":[-187.65779,-187.65779,-187.65779,-187.65779]}, - {"t":0.35977, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.24338, "vy":-5.2071, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.44972, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.24338, "vy":-5.2071, "omega":0.0, "ax":-0.67584, "ay":14.45948, "alpha":0.0, "fx":[-8.7712,-8.7712,-8.7712,-8.7712], "fy":[187.65779,187.65779,187.65779,187.65779]}, - {"t":0.53966, "x":2.39698, "y":4.39615, "heading":0.0, "vx":0.18259, "vy":-3.90656, "omega":0.0, "ax":-0.67651, "ay":14.47385, "alpha":0.0, "fx":[-8.77992,-8.77992,-8.77992,-8.77992], "fy":[187.84435,187.84435,187.84435,187.84435]}, - {"t":0.6296, "x":2.41067, "y":4.10332, "heading":0.0, "vx":0.12175, "vy":-2.60473, "omega":0.0, "ax":-0.67674, "ay":14.47864, "alpha":0.0, "fx":[-8.78282,-8.78282,-8.78282,-8.78282], "fy":[187.90643,187.90643,187.90643,187.90643]}, - {"t":0.71955, "x":2.41888, "y":3.92761, "heading":0.0, "vx":0.06088, "vy":-1.30247, "omega":0.0, "ax":-0.67685, "ay":14.48103, "alpha":0.0, "fx":[-8.78427,-8.78427,-8.78427,-8.78427], "fy":[187.93744,187.93744,187.93744,187.93744]}, - {"t":0.80949, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.67627, "ay":-14.46867, "alpha":0.0, "fx":[8.77677,8.77677,8.77677,8.77677], "fy":[-187.7771,-187.7771,-187.7771,-187.7771]}, + {"t":0.05211, "x":2.31306, "y":6.19167, "heading":0.0, "vx":0.03524, "vy":-0.75391, "omega":0.0, "ax":0.66752, "ay":-14.28135, "alpha":0.0, "fx":[8.66314,8.66314,8.66314,8.66314], "fy":[-185.34596,-185.34596,-185.34596,-185.34596]}, + {"t":0.10421, "x":2.3158, "y":6.133, "heading":0.0, "vx":0.07002, "vy":-1.49805, "omega":0.0, "ax":0.00003, "ay":-0.00062, "alpha":0.0, "fx":[0.00038,0.00038,0.00038,0.00038], "fy":[-0.00806,-0.00806,-0.00806,-0.00806]}, + {"t":0.15632, "x":2.31945, "y":6.05494, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.20842, "x":2.3231, "y":5.97689, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.26053, "x":2.32675, "y":5.89883, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.31264, "x":2.33039, "y":5.82077, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.36474, "x":2.33404, "y":5.74271, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.41685, "x":2.33769, "y":5.66465, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.46895, "x":2.34134, "y":5.58659, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.52106, "x":2.34499, "y":5.50853, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.57317, "x":2.34864, "y":5.43047, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.62527, "x":2.35229, "y":5.35241, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.67738, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.72949, "x":2.35958, "y":5.19629, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.78159, "x":2.36323, "y":5.11823, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.8337, "x":2.36688, "y":5.04017, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.8858, "x":2.37053, "y":4.96211, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.93791, "x":2.37418, "y":4.88406, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":0.99002, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.04212, "x":2.38147, "y":4.72794, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.09423, "x":2.38512, "y":4.64988, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.14633, "x":2.38877, "y":4.57182, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.19844, "x":2.39242, "y":4.49376, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.25055, "x":2.39607, "y":4.4157, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.30265, "x":2.39972, "y":4.33764, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.35476, "x":2.40337, "y":4.25958, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.40686, "x":2.40701, "y":4.18152, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.45897, "x":2.41066, "y":4.10346, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.51108, "x":2.41431, "y":4.0254, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":-0.00003, "ay":0.00062, "alpha":0.0, "fx":[-0.00038,-0.00038,-0.00038,-0.00038], "fy":[0.00806,0.00806,0.00806,0.00806]}, + {"t":1.56318, "x":2.41796, "y":3.94734, "heading":0.0, "vx":0.07002, "vy":-1.49805, "omega":0.0, "ax":-0.66752, "ay":14.28135, "alpha":0.0, "fx":[-8.66314,-8.66314,-8.66314,-8.66314], "fy":[185.34596,185.34596,185.34596,185.34596]}, + {"t":1.61529, "x":2.4207, "y":3.88867, "heading":0.0, "vx":0.03524, "vy":-0.75391, "omega":0.0, "ax":-0.67627, "ay":14.46867, "alpha":0.0, "fx":[-8.77677,-8.77677,-8.77677,-8.77677], "fy":[187.7771,187.7771,187.7771,187.7771]}, + {"t":1.6674, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 5f761e5..f63301c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -193,11 +193,10 @@ public Command scorePath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), // .getRawTrajectory().getTotalTime() // - (0.3)))), - //setAutoScoreReqTrue(), - //waitUntilEmpty(), - // setAutoScoreReqFalse(), - Commands.print( - "score in auto")); + setAutoScoreReqTrue(), + waitUntilEmpty(), + setAutoScoreReqFalse(), + Commands.print("score in auto")); } // feeding and intake could prob be improved @@ -271,7 +270,7 @@ public Command getOutpostScoreClimbAuto() { for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); - } + } routine.active().onTrue(autoCommand); @@ -323,6 +322,6 @@ public Command getTestAuto() { public Command waitUntilEmpty() { // TODO wait till robot empty / done scoring // return null; - return Commands.waitSeconds(0.5); + return Commands.waitSeconds(5.0); } } diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 0368ca7..1ff9ff8 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -241,8 +241,8 @@ private void addCommands() { SuperState.SPIN_UP_SCORE, intake.rest(), indexer.rest(), /*shooter.shoot(swerve::getPose)*/ - shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); - // shooter.testShoot()); + // shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); + shooter.testShoot()); bindCommands( SuperState.SPIN_UP_FEED, @@ -255,8 +255,8 @@ private void addCommands() { SuperState.SCORE, intake.rest(), indexer.kick(), /*shooter.shoot(swerve::getPose)*/ - shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); - // shooter.testShoot()); + // shooter.shootOTM(swerve::getPose, swerve::getVelocityFieldRelative)); + shooter.testShoot()); bindCommands(SuperState.SCORE_FLOW, intake.intake(), indexer.kick(), shooter.testShoot()); From 767b4ed84acdcf109838d48154653261626d4b98 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 31 Jan 2026 18:06:53 -0800 Subject: [PATCH 39/40] adjust auto trajectories, rename pos varibles, adjust auto aim req logic --- src/main/deploy/choreo/DtoFL.traj | 313 +++++++++--------- .../choreo/{FLMtoPL.traj => FLMtoSL.traj} | 4 +- .../choreo/{FLtoPL.traj => FLtoSL.traj} | 4 +- src/main/deploy/choreo/FRMtoPR.traj | 95 ------ src/main/deploy/choreo/FRMtoSR.traj | 159 +++++++++ src/main/deploy/choreo/FRtoFRM.traj | 33 +- src/main/deploy/choreo/FRtoPR.traj | 149 --------- src/main/deploy/choreo/FRtoSR.traj | 148 +++++++++ src/main/deploy/choreo/OtoFR.traj | 246 +++++++------- src/main/deploy/choreo/PLtoD.traj | 107 +++--- src/main/deploy/choreo/PLtoFL.traj | 139 -------- src/main/deploy/choreo/PRtoCM.traj | 71 ---- src/main/deploy/choreo/PRtoFR.traj | 88 ----- src/main/deploy/choreo/PRtoO.traj | 81 +++-- .../choreo/{PLtoCL.traj => SLtoCL.traj} | 4 +- .../choreo/{PLtoCM.traj => SLtoCM.traj} | 4 +- src/main/deploy/choreo/SLtoFL.traj | 150 +++++++++ src/main/deploy/choreo/SRtoCM.traj | 103 ++++++ .../choreo/{PRtoCR.traj => SRtoCR.traj} | 4 +- src/main/deploy/choreo/SRtoFR.traj | 162 +++++++++ src/main/deploy/choreo/rebuiltChoreo.chor | 38 ++- src/main/deploy/choreo/test.traj | 92 ----- src/main/java/frc/robot/Autos.java | 58 ++-- src/main/java/frc/robot/Robot.java | 13 +- 24 files changed, 1201 insertions(+), 1064 deletions(-) rename src/main/deploy/choreo/{FLMtoPL.traj => FLMtoSL.traj} (99%) rename src/main/deploy/choreo/{FLtoPL.traj => FLtoSL.traj} (98%) delete mode 100644 src/main/deploy/choreo/FRMtoPR.traj create mode 100644 src/main/deploy/choreo/FRMtoSR.traj delete mode 100644 src/main/deploy/choreo/FRtoPR.traj create mode 100644 src/main/deploy/choreo/FRtoSR.traj delete mode 100644 src/main/deploy/choreo/PLtoFL.traj delete mode 100644 src/main/deploy/choreo/PRtoCM.traj delete mode 100644 src/main/deploy/choreo/PRtoFR.traj rename src/main/deploy/choreo/{PLtoCL.traj => SLtoCL.traj} (97%) rename src/main/deploy/choreo/{PLtoCM.traj => SLtoCM.traj} (97%) create mode 100644 src/main/deploy/choreo/SLtoFL.traj create mode 100644 src/main/deploy/choreo/SRtoCM.traj rename src/main/deploy/choreo/{PRtoCR.traj => SRtoCR.traj} (98%) create mode 100644 src/main/deploy/choreo/SRtoFR.traj delete mode 100644 src/main/deploy/choreo/test.traj diff --git a/src/main/deploy/choreo/DtoFL.traj b/src/main/deploy/choreo/DtoFL.traj index c224119..f9b05bf 100644 --- a/src/main/deploy/choreo/DtoFL.traj +++ b/src/main/deploy/choreo/DtoFL.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":0.6684621572494507, "y":5.989591598510742, "heading":3.141592653589793, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.8050751090049744, "y":6.312607765197754, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.8226280212402344, "y":6.886133193969727, "heading":-1.2008906955338798, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.17843246459961, "y":7.364652156829834, "heading":-0.030292920677609064, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.560821533203125, "y":7.364652156829834, "heading":-0.006559104275229499, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, @@ -18,7 +18,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"0.7808259129524231 m", "val":0.7808259129524231}, "y":{"exp":"5.989591598510742 m", "val":5.989591598510742}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.8050751090049744 m", "val":0.8050751090049744}, "y":{"exp":"6.312607765197754 m", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8226280212402344 m", "val":1.8226280212402344}, "y":{"exp":"6.886133193969727 m", "val":6.886133193969727}, "heading":{"exp":"-1.2008906955338798 rad", "val":-1.2008906955338798}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.1784324645996094 m", "val":3.17843246459961}, "y":{"exp":"7.364652156829834 m", "val":7.364652156829834}, "heading":{"exp":"-30.292920677609064 mrad", "val":-0.030292920677609064}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.560821533203125 m", "val":4.560821533203125}, 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+1,5 @@ { - "name":"FLMtoPL", + "name":"FLMtoSL", "version":3, "snapshot":{ "waypoints":[ @@ -19,7 +19,7 @@ {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":215, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.714456081390381 m", "val":6.714456081390381}, "y":{"exp":"7.341778755187988 m", "val":7.341778755187988}, "heading":{"exp":"-3.116906638819587 rad", "val":-3.116906638819587}, "intervals":152, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.465227127075195 m", "val":4.465227127075195}, "y":{"exp":"7.376699447631836 m", "val":7.376699447631836}, "heading":{"exp":"3.127229582083786 rad", "val":3.127229582083786}, "intervals":112, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"SL.x", "val":2.814626932144165}, "y":{"exp":"SL.y", "val":7.330637454986572}, "heading":{"exp":"SL.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/FLtoPL.traj b/src/main/deploy/choreo/FLtoSL.traj similarity index 98% rename from src/main/deploy/choreo/FLtoPL.traj rename to src/main/deploy/choreo/FLtoSL.traj index df7f089..eab7918 100644 --- a/src/main/deploy/choreo/FLtoPL.traj +++ b/src/main/deploy/choreo/FLtoSL.traj @@ -1,5 +1,5 @@ { - "name":"FLtoPL", + 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"heading":{"exp":"SL.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/FRMtoPR.traj b/src/main/deploy/choreo/FRMtoPR.traj deleted file mode 100644 index 2c9da58..0000000 --- a/src/main/deploy/choreo/FRMtoPR.traj +++ /dev/null @@ -1,95 +0,0 @@ -{ - "name":"FRMtoPR", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.16318416595459, "y":0.8162139058113098, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":4.331293106079102, 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"events":[] +} diff --git a/src/main/deploy/choreo/FRtoFRM.traj b/src/main/deploy/choreo/FRtoFRM.traj index a70fc6e..3af49c9 100644 --- a/src/main/deploy/choreo/FRtoFRM.traj +++ b/src/main/deploy/choreo/FRtoFRM.traj @@ -3,22 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.82036542892456, "y":2.2169458866119385, "heading":1.5707963267948966, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.82036542892456, "y":3.55698299407959, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":5, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FR.x", "val":7.82036542892456}, "y":{"exp":"FR.y", "val":2.2169458866119385}, "heading":{"exp":"FR.heading", "val":1.5707963267948966}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"FRM.x", "val":7.82036542892456}, "y":{"exp":"FRM.y", 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.3747256994247437 m", "val":1.3747256994247437}, "y":{"exp":"5.988393783569336 m", "val":5.988393783569336}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7808259129524231 m", "val":0.7808259129524231}, "y":{"exp":"5.989591598510742 m", "val":5.989591598510742}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.7620644569396973 m", "val":3.7620644569396977}, "y":{"exp":"7.357067584991455 m", "val":7.357067584991455}, "heading":{"exp":"SL.heading", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.1236233711242676 m", "val":2.1236233711242676}, "y":{"exp":"6.343014240264893 m", "val":6.343014240264893}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"D.x", "val":0.8098713755607605}, "y":{"exp":"D.y", "val":6.312607765197754}, "heading":{"exp":"D.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, 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{"x":3.7242095470428462, "y":0.7309682965278625, "heading":3.141592690548533, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.7400096654891968, "y":0.7318795323371887, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":0.6150895357131958, "y":0.7198631167411804, "heading":3.141592653589793, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -15,7 +15,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PR.x", "val":3.7242095470428462}, "y":{"exp":"PR.y", "val":0.7309682965278625}, "heading":{"exp":"PR.heading", "val":3.141592690548533}, 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97% rename from src/main/deploy/choreo/PLtoCL.traj rename to src/main/deploy/choreo/SLtoCL.traj index a2e53f3..303097f 100644 --- a/src/main/deploy/choreo/PLtoCL.traj +++ b/src/main/deploy/choreo/SLtoCL.traj @@ -1,5 +1,5 @@ { - "name":"PLtoCL", + "name":"SLtoCL", "version":3, "snapshot":{ "waypoints":[ @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":2.814626932144165}, "y":{"exp":"PLO.y", "val":7.330637454986572}, "heading":{"exp":"PLO.heading", "val":3.141592653589793}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SL.x", "val":2.814626932144165}, "y":{"exp":"SL.y", "val":7.330637454986572}, "heading":{"exp":"SL.heading", "val":3.141592653589793}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CL.x", "val":1.7636412382125854}, "y":{"exp":"CL.y", "val":4.111053943634033}, "heading":{"exp":"CL.heading", 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"y":{"exp":"SL.y", "val":7.330637454986572}, "heading":{"exp":"SL.heading", "val":3.141592653589793}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"CM.x", "val":1.7500560283660889}, "y":{"exp":"CM.y", "val":3.764630317687988}, "heading":{"exp":"CM.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/SLtoFL.traj b/src/main/deploy/choreo/SLtoFL.traj new file mode 100644 index 0000000..fb1147a --- /dev/null +++ b/src/main/deploy/choreo/SLtoFL.traj @@ -0,0 +1,150 @@ +{ + "name":"SLtoFL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.814626932144165, "y":7.330637454986572, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, 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index 98% rename from src/main/deploy/choreo/PRtoCR.traj rename to src/main/deploy/choreo/SRtoCR.traj index 706b4ba..5b68f1c 100644 --- a/src/main/deploy/choreo/PRtoCR.traj +++ b/src/main/deploy/choreo/SRtoCR.traj @@ -1,5 +1,5 @@ { - "name":"PRtoCR", + "name":"SRtoCR", "version":3, "snapshot":{ "waypoints":[ @@ -14,7 +14,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PR.x", "val":2.768587827682495}, "y":{"exp":"PR.y", "val":0.7205682992935181}, "heading":{"exp":"PR.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SR.x", "val":2.768587827682495}, "y":{"exp":"SR.y", "val":0.7205682992935181}, "heading":{"exp":"SR.heading", "val":3.141592653589793}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.7531986236572266 m", "val":1.7531986236572266}, "y":{"exp":"3.3997113704681396 m", "val":3.3997113704681396}, 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"splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index 404c29f..58b33e4 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -64,12 +64,12 @@ }, "D":{ "x":{ - "exp":"1.307854413986206 m", - "val":1.307854413986206 + "exp":"0.8098713755607605 m", + "val":0.8098713755607605 }, "y":{ - "exp":"5.920979976654053 m", - "val":5.920979976654053 + "exp":"6.312607765197754 m", + "val":6.312607765197754 }, "heading":{ "exp":"3.141592653589793 rad", @@ -147,6 +147,34 @@ } }, "PLO":{ + "x":{ + "exp":"3.7620644569396973 m", + "val":3.7620644569396977 + }, + "y":{ + "exp":"7.357067584991455 m", + "val":7.357067584991455 + }, + "heading":{ + "exp":"0 rad", + "val":0.0 + } + }, + "PR":{ + "x":{ + "exp":"3.7242095470428467 m", + "val":3.7242095470428462 + }, + "y":{ + "exp":"0.7309682965278625 m", + "val":0.7309682965278625 + }, + "heading":{ + "exp":"3.141592690548533 rad", + "val":3.141592690548533 + } + }, + "SL":{ "x":{ "exp":"2.814626932144165 m", "val":2.814626932144165 @@ -160,7 +188,7 @@ "val":3.141592653589793 } }, - "PR":{ + "SR":{ "x":{ "exp":"2.768587827682495 m", "val":2.768587827682495 diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj deleted file mode 100644 index d280712..0000000 --- a/src/main/deploy/choreo/test.traj +++ /dev/null @@ -1,92 +0,0 @@ -{ - "name":"test", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":2.3121402263641357, "y":6.211315155029297, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.421619415283203, "y":3.869032859802246, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"2.3121402263641357 m", "val":2.3121402263641357}, "y":{"exp":"6.211315155029297 m", "val":6.211315155029297}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.421619415283203 m", "val":2.421619415283203}, "y":{"exp":"3.869032859802246 m", "val":3.869032859802246}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "config":{ - "frontLeft":{ - "x":0.2571369, - "y":0.2571369 - }, - "backLeft":{ - "x":-0.2571369, - "y":0.2571369 - }, - "mass":51.91273956176, - "inertia":5.834321946299203, - "gearing":5.902777777777778, - "radius":0.050165, - "vmax":668.1120376634293, - "tmax":54.79744136460554, - "cof":1.48, - "bumper":{ - "front":0.42037, - "side":0.42037, - "back":0.42037 - }, - "differentialTrackWidth":0.5427218 - }, - "sampleType":"Swerve", - "waypoints":[0.0,1.6674], - "samples":[ - {"t":0.0, "x":2.31214, "y":6.21132, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.67627, "ay":-14.46867, "alpha":0.0, "fx":[8.77677,8.77677,8.77677,8.77677], "fy":[-187.7771,-187.7771,-187.7771,-187.7771]}, - {"t":0.05211, "x":2.31306, "y":6.19167, "heading":0.0, "vx":0.03524, "vy":-0.75391, "omega":0.0, "ax":0.66752, "ay":-14.28135, "alpha":0.0, "fx":[8.66314,8.66314,8.66314,8.66314], "fy":[-185.34596,-185.34596,-185.34596,-185.34596]}, - {"t":0.10421, "x":2.3158, "y":6.133, "heading":0.0, "vx":0.07002, "vy":-1.49805, "omega":0.0, "ax":0.00003, "ay":-0.00062, "alpha":0.0, "fx":[0.00038,0.00038,0.00038,0.00038], "fy":[-0.00806,-0.00806,-0.00806,-0.00806]}, - {"t":0.15632, "x":2.31945, "y":6.05494, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.20842, "x":2.3231, "y":5.97689, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.26053, "x":2.32675, "y":5.89883, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.31264, "x":2.33039, "y":5.82077, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.36474, "x":2.33404, "y":5.74271, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.41685, "x":2.33769, "y":5.66465, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.46895, "x":2.34134, "y":5.58659, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.52106, "x":2.34499, "y":5.50853, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.57317, "x":2.34864, "y":5.43047, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.62527, "x":2.35229, "y":5.35241, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.67738, "x":2.35593, "y":5.27435, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.72949, "x":2.35958, "y":5.19629, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.78159, "x":2.36323, "y":5.11823, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.8337, "x":2.36688, "y":5.04017, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.8858, "x":2.37053, "y":4.96211, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.93791, "x":2.37418, "y":4.88406, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.99002, "x":2.37783, "y":4.806, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.04212, "x":2.38147, "y":4.72794, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.09423, "x":2.38512, "y":4.64988, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.14633, "x":2.38877, "y":4.57182, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.19844, "x":2.39242, "y":4.49376, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.25055, "x":2.39607, "y":4.4157, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.30265, "x":2.39972, "y":4.33764, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.35476, "x":2.40337, "y":4.25958, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.40686, "x":2.40701, "y":4.18152, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.45897, "x":2.41066, "y":4.10346, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.51108, "x":2.41431, "y":4.0254, "heading":0.0, "vx":0.07002, "vy":-1.49808, "omega":0.0, "ax":-0.00003, "ay":0.00062, "alpha":0.0, "fx":[-0.00038,-0.00038,-0.00038,-0.00038], "fy":[0.00806,0.00806,0.00806,0.00806]}, - {"t":1.56318, "x":2.41796, "y":3.94734, "heading":0.0, "vx":0.07002, "vy":-1.49805, "omega":0.0, "ax":-0.66752, "ay":14.28135, "alpha":0.0, "fx":[-8.66314,-8.66314,-8.66314,-8.66314], "fy":[185.34596,185.34596,185.34596,185.34596]}, - {"t":1.61529, "x":2.4207, "y":3.88867, "heading":0.0, "vx":0.03524, "vy":-0.75391, "omega":0.0, "ax":-0.67627, "ay":14.46867, "alpha":0.0, "fx":[-8.77677,-8.77677,-8.77677,-8.77677], "fy":[187.7771,187.7771,187.7771,187.7771]}, - {"t":1.6674, "x":2.42162, "y":3.86903, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index f63301c..cbece4c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -60,41 +60,39 @@ public enum Path { // D for depot // O for outpost // C for climb - // S was going to be for scoreing pos but i think we will just score + // S was going to be for scoring // F for feeding poses - // I for intake??? - - // may have to rethink naming to some extent and add more poses - + // I for intake DtoFL("D", "FL", Action.FEED), - FLMtoPL("FLM", "PL", Action.SCORE), + FLMtoSL("FLM", "SL", Action.SCORE), FLtoFLM("FL", "FLM", Action.FEED), - FLtoPL("FL", "PL", Action.SCORE), - FRMtoPR("FRM", "PR", Action.SCORE), + FLtoSL("FL", "SL", Action.SCORE), + FRMtoSR("FRM", "SR", Action.SCORE), FRtoFRM("FR", "FRM", Action.FEED), - FRtoPR("FR", "PR", Action.SCORE), + FRtoSR("FR", "SR", Action.SCORE), OtoFR("O", "FR", Action.FEED), - PLtoCL("PL", "CL", Action.CLIMB), - PLtoCM("PL", "CM", Action.CLIMB), - PLtoD("PL", "D", Action.INTAKE), - PLtoFL("PL", "FL", Action.FEED), - PRtoCM("PR", "CM", Action.CLIMB), - PRtoCR("PR", "CR", Action.CLIMB), - PRtoFR("PR", "FR", Action.FEED), + SLtoCL("SL", "CL", Action.CLIMB), + SLtoCM("SL", "CM", Action.CLIMB), + SLtoFL("SL", "FL", Action.FEED), + SRtoCM("SR", "CM", Action.CLIMB), + SRtoCR("SR", "CR", Action.CLIMB), + SRtoFR("SR", "FR", Action.FEED), + //starting paths PRtoO("PR", "O", Action.INTAKE), + PLtoD("PL", "D", Action.INTAKE), // idk seperate intake and feed so action is included makes it easier for me but they use the // same // trajectories so i dont have to make new paths DtoIL("D", "FL", Action.INTAKE), - ILMtoPL("FLM", "PL", Action.SCORE), + ILMtoSL("FLM", "SL", Action.SCORE), ILtoILM("FL", "FLM", Action.INTAKE), - ILtoPL("FL", "PL", Action.SCORE), - IRMtoPR("FRM", "PR", Action.SCORE), + ILtoSL("FL", "SL", Action.SCORE), + IRMtoSR("FRM", "SR", Action.SCORE), IRtoIRM("FR", "FRM", Action.INTAKE), - IRtoPR("FR", "PR", Action.SCORE), + IRtoSR("FR", "SR", Action.SCORE), OtoIR("O", "FR", Action.INTAKE), - PLtoIL("PL", "FL", Action.INTAKE), - PRtoIR("PR", "FR", Action.INTAKE); + SLtoIL("SL", "FL", Action.INTAKE), + SRtoIR("SR", "FR", Action.INTAKE); private final String start; private final String end; @@ -243,16 +241,10 @@ public Command setAutoClimbReqFalse() { return Commands.runOnce(() -> autoClimb = false); } - // TODO: score at the start of each auto - // specific paths: - // no idea what to name them - // FOCUS ON THIS TODAY!!!! public Command getDepotScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Score Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoPL, Path.PLtoCL}; - // Will always need to reset odo at the start of a routine + Path[] paths = {Path.PLtoD, Path.DtoIL, Path.ILtoILM, Path.ILMtoSL, Path.SLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); - // shoot preload then do the paths for (Path p : paths) { autoCommand = autoCommand.andThen(runPath(p, routine)); @@ -265,7 +257,7 @@ public Command getDepotScoreClimbAuto() { public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoPR, Path.PRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoIR, Path.IRtoIRM, Path.IRMtoSR, Path.SRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { @@ -279,7 +271,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoPL, Path.PLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoSL, Path.SLtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { @@ -293,7 +285,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoFR, Path.FRtoFRM, Path.FRMtoPR, Path.PRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoFR, Path.FRtoFRM, Path.FRMtoSR, Path.SRtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { @@ -322,6 +314,6 @@ public Command getTestAuto() { public Command waitUntilEmpty() { // TODO wait till robot empty / done scoring // return null; - return Commands.waitSeconds(5.0); + return Commands.waitSeconds(3.0); } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index bebacac..0ddf342 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -272,9 +272,11 @@ public Robot() { driver .leftBumper() .or( - () -> - Superstructure.getState() == SuperState.SPIN_UP_SCORE - || Superstructure.getState() == SuperState.SCORE); + new Trigger( + () -> + Superstructure.getState() == SuperState.SPIN_UP_SCORE + || Superstructure.getState() == SuperState.SCORE) + .and(() -> isTeleopEnabled())); // if this is alpha, we won't have assigned a climber yet // this creates a placeholder "no-operation" climber that will just not do anything, but is not // null (and we need it to be not null) @@ -585,7 +587,10 @@ public void disabledPeriodic() {} public void disabledExit() {} @Override - public void autonomousInit() {} + public void autonomousInit() { + // TODO + superstructure.resetStateForAuto(SuperState.READY); + } @Override public void autonomousPeriodic() {} From f610088246dafa2c0b3f6888ad4038ebfcc8362c Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 31 Jan 2026 19:42:10 -0800 Subject: [PATCH 40/40] fix feeding paths --- src/main/deploy/choreo/FLMtoCL.traj | 198 ++++++++++++++++++++++++++++ src/main/deploy/choreo/FRMtoCR.traj | 193 +++++++++++++++++++++++++++ src/main/java/frc/robot/Autos.java | 11 +- 3 files changed, 397 insertions(+), 5 deletions(-) create mode 100644 src/main/deploy/choreo/FLMtoCL.traj create mode 100644 src/main/deploy/choreo/FRMtoCR.traj diff --git a/src/main/deploy/choreo/FLMtoCL.traj b/src/main/deploy/choreo/FLMtoCL.traj new file mode 100644 index 0000000..406d7ea --- /dev/null +++ b/src/main/deploy/choreo/FLMtoCL.traj @@ -0,0 +1,198 @@ +{ + "name":"FLMtoCL", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":7.82036542892456, "y":4.503572463989258, "heading":-1.5707963267948966, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.016256809234619, "y":7.323315143585205, "heading":3.1172067680459215, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.617038249969482, "y":7.365917682647705, "heading":3.141592653589793, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.261221170425415, "y":7.2484235763549805, "heading":3.1415912186228, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7636412382125854, "y":4.111053943634033, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"FLM.x", "val":7.82036542892456}, "y":{"exp":"FLM.y", "val":4.503572463989258}, "heading":{"exp":"FLM.heading", "val":-1.5707963267948966}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.016256809234619 m", "val":6.016256809234619}, "y":{"exp":"7.323315143585205 m", "val":7.323315143585205}, "heading":{"exp":"3.1172067680459215 rad", "val":3.1172067680459215}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.617038249969482 m", "val":4.617038249969482}, "y":{"exp":"7.365917682647705 m", "val":7.365917682647705}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.261221170425415 m", "val":3.261221170425415}, "y":{"exp":"7.2484235763549805 m", "val":7.2484235763549805}, "heading":{"exp":"3.1415912186228 rad", "val":3.1415912186228}, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"CL.x", "val":1.7636412382125854}, "y":{"exp":"CL.y", "val":4.111053943634033}, "heading":{"exp":"CL.heading", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", 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{"t":6.20152, "x":1.7659, "y":3.38114, "heading":-3.14159, "vx":-0.35361, "vy":0.65207, "omega":0.0, "ax":6.90848, "ay":-12.73973, "alpha":0.00002, "fx":[89.65955,89.65966,89.65947,89.65936], "fy":[-165.33855,-165.33849,-165.3386,-165.33865]}, + {"t":6.2527, "x":1.75685, "y":3.39783, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index cbece4c..5fb1db7 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -64,9 +64,11 @@ public enum Path { // F for feeding poses // I for intake DtoFL("D", "FL", Action.FEED), + FLMtoCL("FLM", "CL", Action.CLIMB), FLMtoSL("FLM", "SL", Action.SCORE), FLtoFLM("FL", "FLM", Action.FEED), FLtoSL("FL", "SL", Action.SCORE), + FRMtoCR("FRM", "CR", Action.CLIMB), FRMtoSR("FRM", "SR", Action.SCORE), FRtoFRM("FR", "FRM", Action.FEED), FRtoSR("FR", "SR", Action.SCORE), @@ -77,12 +79,11 @@ public enum Path { SRtoCM("SR", "CM", Action.CLIMB), SRtoCR("SR", "CR", Action.CLIMB), SRtoFR("SR", "FR", Action.FEED), - //starting paths + // starting paths PRtoO("PR", "O", Action.INTAKE), PLtoD("PL", "D", Action.INTAKE), // idk seperate intake and feed so action is included makes it easier for me but they use the - // same - // trajectories so i dont have to make new paths + // same trajectories so I dont have to make new paths DtoIL("D", "FL", Action.INTAKE), ILMtoSL("FLM", "SL", Action.SCORE), ILtoILM("FL", "FLM", Action.INTAKE), @@ -271,7 +272,7 @@ public Command getOutpostScoreClimbAuto() { public Command getDepotFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Depot Feed Climb Auto"); - Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoSL, Path.SLtoCL}; + Path[] paths = {Path.PLtoD, Path.DtoFL, Path.FLtoFLM, Path.FLMtoCL}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) { @@ -285,7 +286,7 @@ public Command getDepotFeedClimbAuto() { public Command getOutpostFeedClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Feed Climb Auto"); - Path[] paths = {Path.PRtoO, Path.OtoFR, Path.FRtoFRM, Path.FRMtoSR, Path.SRtoCR}; + Path[] paths = {Path.PRtoO, Path.OtoFR, Path.FRtoFRM, Path.FRMtoCR}; Command autoCommand = paths[0].getTrajectory(routine).resetOdometry().andThen(shootPreload()); for (Path p : paths) {