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Commit all, explain later #103

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a6f4e4a
Commit all, explain later
Se-gol Mar 26, 2022
22011a3
Better LEDs, revert if it creates problems
Se-gol Mar 26, 2022
4707714
Add constants for tolerances
Se-gol Mar 26, 2022
5661036
Delete some unused code
Se-gol Mar 26, 2022
ba19905
Quick fix to LEDs
Se-gol Mar 26, 2022
47b0ddb
Reformat code
vichik123 Mar 26, 2022
e159e83
Update zero positions
Se-gol Mar 26, 2022
78e3c9c
Add paths
GaiaZano05 Mar 26, 2022
6ad7776
Add auto path
GaiaZano05 Mar 26, 2022
ad97c3c
Add warmup function
GaiaZano05 Mar 26, 2022
c2acd5a
Change name
GaiaZano05 Mar 26, 2022
060df3c
Change path
GaiaZano05 Mar 26, 2022
d0ee300
add fade and (5,6) ball
AlonSchwierz Mar 26, 2022
3303309
Change path
GaiaZano05 Mar 26, 2022
37c06f2
Change path
GaiaZano05 Mar 26, 2022
3fae4ee
Change path
GaiaZano05 Mar 26, 2022
dd83b4b
Working 4 ball
Se-gol Mar 26, 2022
7ca6fde
Five ball stuff, and just shoot
Se-gol Mar 26, 2022
9ec682f
Merge branch 'autoPaths-newFour' into suppliers-and-caching
Se-gol Mar 26, 2022
58d6c7c
Fix warmup
Se-gol Mar 26, 2022
b37bec8
Merge remote-tracking branch 'origin/back-up-cases' into suppliers-an…
Se-gol Mar 26, 2022
4913360
Add wait for vision adjustment in shooting
vichik123 Mar 26, 2022
ae57656
Latest (five cargo)
Se-gol Mar 27, 2022
450c5a1
Warm up fix and a more reliable option
Mar 27, 2022
cb28fd6
Driver's practice and autonomous
Mar 27, 2022
4483aba
Change to 5
Se-gol Mar 27, 2022
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/Alon 4 ball #2.path
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{"waypoints":[{"anchorPoint":{"x":7.68,"y":0.81},"prevControl":null,"nextControl":{"x":7.592110958862685,"y":2.057404114812666},"holonomicAngle":79.28,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.727465936471339,"y":1.72113244051184},"prevControl":{"x":7.014699442397051,"y":2.02486169471903},"nextControl":{"x":4.631195615678799,"y":1.4624619153810163},"holonomicAngle":-165.76271953423893,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.1097731477424426,"y":1.0665352328953341},"prevControl":{"x":2.551984847157085,"y":1.4842748908264891},"nextControl":null,"holonomicAngle":-141.95295746817393,"isReversal":false,"velOverride":null,"isLocked":false}]}
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/Alon 4 ball #3.path
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{"waypoints":[{"anchorPoint":{"x":1.33,"y":0.54},"prevControl":null,"nextControl":{"x":2.2845776560797413,"y":0.9594356367623105},"holonomicAngle":-139.67,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.268093581171338,"y":1.3668567129531706},"prevControl":{"x":4.268093581171338,"y":1.3668567129531706},"nextControl":null,"holonomicAngle":40.914383220025144,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":1.11,"y":1.07},"prevControl":null,"nextControl":{"x":2.1909478711777037,"y":1.8194571906832087},"holonomicAngle":-139.67,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.268093581171338,"y":1.3668567129531706},"prevControl":{"x":4.268093581171338,"y":1.3668567129531706},"nextControl":null,"holonomicAngle":40.914383220025144,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Disappeare #1.path
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{"waypoints":[{"anchorPoint":{"x":6.720378838681553,"y":5.638283940927743},"prevControl":null,"nextControl":{"x":6.734616929441472,"y":5.638283940927743},"holonomicAngle":134.99999999999991,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.666760122447581,"y":7.375331013637806},"prevControl":{"x":5.6525220316876625,"y":7.375331013637806},"nextControl":null,"holonomicAngle":-54.86580694308438,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Disappeare #2.1.path
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{"waypoints":[{"anchorPoint":{"x":6.108140936005055,"y":4.1290463203763785},"prevControl":null,"nextControl":{"x":7.108140936005055,"y":4.1290463203763785},"holonomicAngle":1.5074357587749554,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.086332048096622,"y":4.029379685056948},"prevControl":{"x":4.086332048096622,"y":4.01514159429703},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Disappeare #2.2.path
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{"waypoints":[{"anchorPoint":{"x":4.072093957336704,"y":3.9439511404974366},"prevControl":null,"nextControl":{"x":4.086332048096622,"y":3.9439511404974366},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.309904349912506,"y":4.0578558665767845},"prevControl":{"x":1.2956662591525876,"y":4.0578558665767845},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/FiveCargoAutoPart2.path
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{"waypoints":[{"anchorPoint":{"x":4.96,"y":2.0},"prevControl":null,"nextControl":{"x":3.120852115904583,"y":2.4666138205738624},"holonomicAngle":40.150654652961755,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.2004537190093711,"y":1.1715271233705913},"prevControl":{"x":2.776953181322883,"y":2.3864441401993526},"nextControl":null,"holonomicAngle":-139.51398845827583,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":4.96,"y":2.0},"prevControl":null,"nextControl":{"x":3.120852115904583,"y":2.4666138205738624},"holonomicAngle":40.150654652961755,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.3259627219779835,"y":1.0232973180482268},"prevControl":{"x":2.902462184291495,"y":2.2382143348769885},"nextControl":null,"holonomicAngle":-139.51398845827583,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/FiveCargoAutoPart3.path
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{"waypoints":[{"anchorPoint":{"x":1.2,"y":1.17},"prevControl":null,"nextControl":{"x":1.5020361644941214,"y":1.4018664841196122},"holonomicAngle":-139.51,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.4009074380187423,"y":1.7789856317849724},"prevControl":{"x":1.9525452056176515,"y":1.619889355771682},"nextControl":null,"holonomicAngle":22.5795725640263,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":1.3403753602603528,"y":1.02},"prevControl":null,"nextControl":{"x":1.6424115247544742,"y":1.2518664841196123},"holonomicAngle":-139.51,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.5798622525441197,"y":1.8015797852961732},"prevControl":{"x":2.131500020143029,"y":1.642483509282883},"nextControl":null,"holonomicAngle":22.5795725640263,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":4.0,"maxAcceleration":2.0,"isReversed":null}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Four- first shooting position.path
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{"waypoints":[{"anchorPoint":{"x":5.59,"y":2.06},"prevControl":null,"nextControl":{"x":5.68380749106099,"y":2.101047099251879},"holonomicAngle":-164.29,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.777894753114187,"y":1.71425289653302},"prevControl":{"x":5.271566301321153,"y":1.8720242160630813},"nextControl":null,"holonomicAngle":15.762147763972642,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Four- go to terminal.path
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{"waypoints":[{"anchorPoint":{"x":4.78,"y":1.71},"prevControl":null,"nextControl":{"x":4.121362487972965,"y":1.5513921795987642},"holonomicAngle":15.76,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.5919319780877905,"y":1.4801406159400265},"prevControl":{"x":2.513112908247183,"y":1.495408808152613},"nextControl":null,"holonomicAngle":-142.56839702158936,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Four- leave low left.path
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{"waypoints":[{"anchorPoint":{"x":6.6656763466332585,"y":2.6405468074855807},"prevControl":null,"nextControl":{"x":6.05876943741271,"y":2.3277563235026832},"holonomicAngle":-135.31654804727307,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.5872494540952085,"y":2.0616509863829044},"prevControl":{"x":5.582580939408897,"y":2.0523139570102797},"nextControl":null,"holonomicAngle":-164.29136217098434,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Four- pickup from terminal.path
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{"waypoints":[{"anchorPoint":{"x":2.71,"y":1.55},"prevControl":null,"nextControl":{"x":2.36552038352551,"y":1.429246641898072},"holonomicAngle":-155.73,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.5613955936626176,"y":1.5615709744071544},"prevControl":{"x":1.3323727104738194,"y":1.1849555664966847},"nextControl":null,"holonomicAngle":-138.53955916854994,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/Four- second shooting position.path
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{"waypoints":[{"anchorPoint":{"x":1.59,"y":1.48},"prevControl":null,"nextControl":{"x":2.59,"y":1.48},"holonomicAngle":-142.57,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.963724348291743,"y":1.5004982055568075},"prevControl":{"x":4.963724348291743,"y":1.5004982055568075},"nextControl":null,"holonomicAngle":38.49104355949754,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/From Tarmac to (5,6) ball.path
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{"waypoints":[{"anchorPoint":{"x":6.21,"y":5.14},"prevControl":null,"nextControl":{"x":5.683180986615138,"y":5.405388025965925},"holonomicAngle":135.97,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.069721531848127,"y":5.949399240570633},"prevControl":{"x":5.347514492497339,"y":5.602158039759117},"nextControl":null,"holonomicAngle":135.97,"isReversal":false,"velOverride":null,"isLocked":false}]}
1 change: 1 addition & 0 deletions src/main/deploy/pathplanner/p0- leave tarmac up low.path
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{"waypoints":[{"anchorPoint":{"x":6.0865374516672786,"y":3.962765462187816},"prevControl":null,"nextControl":{"x":4.942994427384167,"y":4.055106757438087},"holonomicAngle":1.134421630977088,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.055976636984904,"y":4.08778636024227},"prevControl":{"x":5.0783813532872095,"y":4.050438242751776},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
10 changes: 6 additions & 4 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -79,17 +79,19 @@ public static final class SwerveDrive {
public static final WebConstant ADJUST_CONTROLLER_KP = WebConstant.of("Swerve", "kp_heading", 12.5);
public static final WebConstant ADJUST_CONTROLLER_KI = WebConstant.of("Swerve", "KI_heading", 0);
public static final WebConstant ADJUST_CONTROLLER_KD = WebConstant.of("Swerve", "Kd_heading", 0.1);

public static final double ODOMETRY_ADJUST_FINISHED_CONDITION = 2; // [deg]
public static final double VISION_ADJUST_FINISHED_CONDITION = 1.5; // [deg]
private static final double Rx = SwerveDrive.ROBOT_LENGTH / 2; // [m]
private static final double Ry = SwerveDrive.ROBOT_WIDTH / 2; // [m]

// Axis systems
public static final Translation2d[] SWERVE_POSITIONS = new Translation2d[]{
new Translation2d(Rx, -Ry),
new Translation2d(Rx, Ry),
new Translation2d(-Rx, -Ry),
new Translation2d(-Rx, Ry)
};


}

public static class Shooter {
Expand All @@ -105,7 +107,7 @@ public static class Shooter {
public static final WebConstant kI = WebConstant.of("Shooter", "kI", 0.0000075);
public static final WebConstant kD = WebConstant.of("Shooter", "kD", 9);
public static final WebConstant kF = WebConstant.of("Shooter", "kf", 0.0465);
// public static final WebConstant kP = WebConstant.of("Shooter", "kP", 0.03);
// public static final WebConstant kP = WebConstant.of("Shooter", "kP", 0.03);
// public static final WebConstant kI = WebConstant.of("Shooter", "kI", 0.00);
// public static final WebConstant kD = WebConstant.of("Shooter", "kD", 0);
// public static final WebConstant kF = WebConstant.of("Shooter", "kf", 0.0475);
Expand Down Expand Up @@ -153,7 +155,7 @@ public static final class SwerveModule {
public static final double TRIGGER_THRESHOLD_TIME = 0.02; // [secs]
public static final double RAMP_RATE = 0; // seconds from neutral to max

public static final int[] ZERO_POSITIONS = {-589, -430, -868, -519}; // fr, fl, rr, rl
public static final int[] ZERO_POSITIONS = {-582, -1451, -866, -493}; // fr, fl, rr, rl

public static final SwerveModuleConfigBase frConfig = new SwerveModuleConfigBase.Builder(0)
.configPorts(DRIVE_MOTOR_FR, ANGLE_MOTOR_FR)
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -11,6 +11,7 @@
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.subsystems.intake.Intake;
import frc.robot.utils.LedSubsystem;
import frc.robot.valuetuner.NetworkTableConstant;

/**
Expand Down Expand Up @@ -131,6 +132,7 @@ public void teleopInit() {
m_autonomousCommand.cancel();
}
new InstantCommand(() -> RobotContainer.shooting = false);
new InstantCommand(() -> LedSubsystem.currentLedMode = LedSubsystem.LedMode.STATIC);
}

/**
Expand Down
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