From 58bb9c145b47ca7ae85fa7c72dcaad7b4572f0d7 Mon Sep 17 00:00:00 2001 From: KP <86213869+Kanishk-Pandey@users.noreply.github.com> Date: Sun, 7 Apr 2024 00:42:32 -0400 Subject: [PATCH] added to make side autos work Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com> --- Choreo.chor | 8784 ++++++++--------- .../choreo/Center to Nearest Note.1.traj | 37 +- .../deploy/choreo/Center to Nearest Note.traj | 37 +- src/main/deploy/choreo/Friend Amp Side.1.traj | 632 +- src/main/deploy/choreo/Friend Amp Side.2.traj | 1061 +- src/main/deploy/choreo/Friend Amp Side.3.traj | 1115 +-- src/main/deploy/choreo/Friend Amp Side.traj | 3197 +++--- .../deploy/choreo/Friend Source Side.1.traj | 68 +- .../deploy/choreo/Friend Source Side.2.traj | 1412 ++- .../deploy/choreo/Friend Source Side.3.traj | 197 +- .../deploy/choreo/Friend Source Side.4.traj | 1056 +- .../deploy/choreo/Friend Source Side.5.traj | 1090 +- .../deploy/choreo/Friend Source Side.6.traj | 1342 ++- .../deploy/choreo/Friend Source Side.traj | 5187 +++++----- src/main/deploy/choreo/Source Side.1.traj | 30 +- src/main/deploy/choreo/Source Side.2.traj | 39 +- src/main/deploy/choreo/Source Side.3.traj | 21 +- src/main/deploy/choreo/Source Side.traj | 66 +- .../pathplanner/autos/FORCE AMP AUTO.auto | 100 + .../pathplanner/autos/FORCE SOURCE AUTO.auto | 159 + .../deploy/pathplanner/autos/Just Shoot.auto | 44 + src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 21 +- .../frc/robot/commands/ShooterCommands.java | 11 +- .../frc/robot/subsystems/shooter/Shooter.java | 2 +- 25 files changed, 11911 insertions(+), 13799 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto create mode 100644 src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto create mode 100644 src/main/deploy/pathplanner/autos/Just Shoot.auto diff --git a/Choreo.chor b/Choreo.chor index e3d2cbcd..8e9e0658 100644 --- a/Choreo.chor +++ b/Choreo.chor @@ -1,10 +1,10 @@ { "version": "v0.3", "robotConfiguration": { - "mass": 70, - "rotationalInertia": 9, - "motorMaxTorque": 0.3, - "motorMaxVelocity": 4800, + "mass": 60, + "rotationalInertia": 7, + "motorMaxTorque": 0.5, + "motorMaxVelocity": 4704, "gearing": 6.746031746031747, "wheelbase": 0.52705, "trackWidth": 0.52705, @@ -2350,7 +2350,7 @@ { "name": "Intake", "target": 1, - "targetTimestamp": 1.1346806163482623, + "targetTimestamp": null, "offset": -0.62, "command": { "type": "parallel", @@ -2369,7 +2369,7 @@ { "name": "Shoot", "target": 3, - "targetTimestamp": 3.495829069127752, + "targetTimestamp": null, "offset": 0, "command": { "type": "named", @@ -2381,7 +2381,7 @@ { "name": "Aim", "target": 3, - "targetTimestamp": 3.495829069127752, + "targetTimestamp": null, "offset": -1, "command": { "type": "named", @@ -10498,7 +10498,7 @@ { "name": "Intake", "target": 7, - "targetTimestamp": null, + "targetTimestamp": 2.3982771257181246, "offset": -1, "command": { "type": "named", @@ -10510,7 +10510,7 @@ { "name": "Aim", "target": 11, - "targetTimestamp": null, + "targetTimestamp": 5.37703018216942, "offset": -1, "command": { "type": "named", @@ -10522,7 +10522,7 @@ { "name": "Shoot", "target": 11, - "targetTimestamp": null, + "targetTimestamp": 5.37703018216942, "offset": 0, "command": { "type": "named", @@ -10534,7 +10534,7 @@ { "name": "Intake", "target": 13, - "targetTimestamp": null, + "targetTimestamp": 6.13200208347499, "offset": -0.5, "command": { "type": "named", @@ -10546,7 +10546,7 @@ { "name": "Aim", "target": 14, - "targetTimestamp": null, + "targetTimestamp": 6.984976417129425, "offset": -0.5, "command": { "type": "named", @@ -10558,7 +10558,7 @@ { "name": "Shoot", "target": 14, - "targetTimestamp": null, + "targetTimestamp": 6.984976417129425, "offset": 0, "command": { "type": "named", @@ -10570,7 +10570,7 @@ { "name": "Intake", "target": 17, - "targetTimestamp": null, + "targetTimestamp": 10.91308507733646, "offset": -0.5, "command": { "type": "named", @@ -10604,7 +10604,7 @@ } } ], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Greedy": { "waypoints": [ @@ -12546,7 +12546,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Friend Amp Side": { "waypoints": [ @@ -12557,66 +12557,57 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 34 + "controlIntervalCount": 18 }, { - "x": 5.77, - "y": 7.471, - "heading": -3.1411853071795863, + "x": 2.618668556213379, + "y": 6.959228038787842, + "heading": -3.0791739027822587, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 18 }, { - "x": 7.63, - "y": 7.471, - "heading": -3.142, + "x": 0.7495853900909424, + "y": 6.700613021850586, + "heading": -2.1587987743279, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - 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20.059946471371653 + "angularVelocity": -0.5268414803177216, + "velocityX": -0.13284284683283323, + "velocityY": 0.17100701913985478, + "timestamp": 18.073171092737084 }, { "x": 0.745423436164856, "y": 4.267520427703857, "heading": 2.1112158476853815, - "angularVelocity": 3.9387474269988e-24, - "velocityX": 8.659105770040098e-26, - "velocityY": 2.01374292974275e-24, - "timestamp": 20.12020377410887 + "angularVelocity": -3.2203520171556764e-25, + "velocityX": -9.728255749234079e-25, + "velocityY": 2.314996439142047e-25, + "timestamp": 18.135376945250545 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/Source Side.1.traj b/src/main/deploy/choreo/Source Side.1.traj index 44a46062..f94c69c8 100644 --- a/src/main/deploy/choreo/Source Side.1.traj +++ b/src/main/deploy/choreo/Source Side.1.traj @@ -991,5 +991,33 @@ "timestamp": 5.37703018216942 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 1.3982771257181246, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 4.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 5.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.2.traj b/src/main/deploy/choreo/Source Side.2.traj index dfff85a7..d6b97c0a 100644 --- a/src/main/deploy/choreo/Source Side.2.traj +++ b/src/main/deploy/choreo/Source Side.2.traj @@ -271,5 +271,42 @@ "timestamp": 1.6079462349600044 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 0, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 0.25497190130557, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 1.1079462349600044, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 1.6079462349600044, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.3.traj b/src/main/deploy/choreo/Source Side.3.traj index db7379d0..40dd828a 100644 --- a/src/main/deploy/choreo/Source Side.3.traj +++ b/src/main/deploy/choreo/Source Side.3.traj @@ -820,5 +820,24 @@ "timestamp": 5.169479625585555 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 0, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 3.4281086602070348, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.traj b/src/main/deploy/choreo/Source Side.traj index 7bc4cc7a..ad840679 100644 --- a/src/main/deploy/choreo/Source Side.traj +++ b/src/main/deploy/choreo/Source Side.traj @@ -2062,5 +2062,69 @@ "timestamp": 12.15445604271498 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 1.3982771257181246, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 4.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 5.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 5.63200208347499, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 6.484976417129425, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 6.984976417129425, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 10.41308507733646, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto b/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto new file mode 100644 index 00000000..f9b082d3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto @@ -0,0 +1,100 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.695, + "y": 6.737 + }, + "rotation": -120.32113697747288 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.1" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.2" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.3" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto b/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto new file mode 100644 index 00000000..931b00a0 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto @@ -0,0 +1,159 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6949124932289124, + "y": 4.350799083709717 + }, + "rotation": 121.42956875605759 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.1" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.2" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.3" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.4" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Force Shoot" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.5" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.6" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Just Shoot.auto b/src/main/deploy/pathplanner/autos/Just Shoot.auto new file mode 100644 index 00000000..ee828e5d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Just Shoot.auto @@ -0,0 +1,44 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 2, + "y": 2 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 9d4a9258..2c47c421 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -31,7 +31,7 @@ public final class Constants { public static final boolean isInReplayTestMode = (System.getenv().getOrDefault("TEST_RUN_MODE", "false").equalsIgnoreCase("true")); - public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : ((isInReplayTestMode)?Mode.REPLAY:Mode.REPLAY); + public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : ((isInReplayTestMode)?Mode.REPLAY:Mode.SIM); public static enum Mode { /** diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index abae01b5..ec7e59b0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -203,11 +203,11 @@ public String getCameraName() { ); NamedCommands.registerCommand( "Zero Feeder", - FeederCommands.feedToBeamBreak(feeder) + FeederCommands.feedToBeamBreak(feeder).asProxy() ); NamedCommands.registerCommand( "Zero Hood", - ShooterCommands.simpleHoodZero(shooter) + ShooterCommands.simpleHoodZero(shooter).asProxy() ); NamedCommands.registerCommand( "Auto Point", @@ -233,10 +233,10 @@ public String getCameraName() { feedToShooter(feeder) ) .deadlineWith(ShooterCommands.JustShoot(shooter)) - .withTimeout(8.0)); + .withTimeout(4.0).asProxy()); NamedCommands.registerCommand( "Intake Note", - smartIntakeCommand(intake, feeder) + smartIntakeCommand(intake, feeder).raceWith(FeederCommands.feedToBeamBreak(feeder)) .andThen(either( none(), race( @@ -244,13 +244,21 @@ public String getCameraName() { flushIntakeWithoutTheArmExtendedOutward(intake, feeder) ), feeder::getBeamBroken - )).withTimeout(3.0) + )).withTimeout(3.0).asProxy() ); NamedCommands.registerCommand( "Intake", intakeCommand(intake) .withTimeout(1.0) ); + NamedCommands.registerCommand( + "Force Shoot", + sequence( + ShooterCommands.forceShoot(shooter), + waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000))), + run(()->{feeder.runVolts(8);}, feeder) + ).asProxy() + ); autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); // dashboard = new Dashboard(autoChooser, drive, shooter, feeder, intake, vision, this.smartCommandsMode); this.reactions = new ReactionObject( @@ -397,13 +405,14 @@ private void configureButtonBindings() { .rightTrigger() .whileTrue( sequence( - waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000) && command.getReadySupplier().getAsBoolean())), + waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000) /*&& command.getReadySupplier().getAsBoolean()*/)), feedToShooter(feeder) .until(() -> !feeder.getBeamBroken()), feedToShooter(feeder) .withTimeout(.25) ) ); + operatorController.rightBumper().whileTrue(run(()->{feeder.runVolts(8);}, feeder)); operatorController .start() .onTrue( diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index 4223f5a4..d1ef7b5a 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -139,8 +139,8 @@ public static Command autoAim(Shooter shooter, Drive drive, Feeder feeder) { public static Command JustShoot(Shooter shooter) { //the parameter is the robot, idk how to declare it, also this returns the angle return run(() -> { - shooter.setTargetShooterAngle(Rotation2d.fromRadians(.8)); - shooter.shooterRunVelocity(3500); + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1)); + shooter.shooterRunVelocity(3000); }, shooter) .raceWith(SpecializedCommands.timeoutDuringAutoSim(2)) .withName("Just Shoot"); @@ -160,6 +160,13 @@ public static Command stopShooter(Shooter shooter){ }, shooter).withName("Stop Shooter"); } + public static Command forceShoot (Shooter shooter){ + return run(() -> { + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1)); + shooter.shooterRunVelocity(3000); + }); + } + public static Command simpleHoodZero(Shooter shooter) { Debouncer zeroStateDetection = new Debouncer(.2, Debouncer.DebounceType.kRising); return race( diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index eefc3e87..6dbe2770 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -194,7 +194,7 @@ public void resetWhileZeroing() { hoodFB.reset(hoodInputs.motorPositionRad - hoodOffsetAngle.getRadians()); } - boolean hoodOverride = false; + boolean hoodOverride = true; public void overrideHoodAtSetpoint(boolean isAtSetpoint) { hoodOverride = isAtSetpoint;