]> git.taranathan.com Git - FRC2026.git/commitdiff
conservative autos
authormoo <moogoesmeow123@gmail.com>
Fri, 1 May 2026 22:16:27 +0000 (17:16 -0500)
committermoo <moogoesmeow123@gmail.com>
Fri, 1 May 2026 22:16:27 +0000 (17:16 -0500)
src/main/deploy/choreo/conservative.traj
src/main/deploy/choreo/liberal.traj
src/main/java/frc/robot/RobotContainer.java
src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommand.java

index 2208cdf5d746f247f23bb283e6d1ef3d7bac92f7..b68aa6ddf68bd8f4aa46b4fb97dde90a6497146a 100644 (file)
@@ -4,29 +4,45 @@
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+  "splits":[0,75]
  },
  "events":[]
 }
index 7c07f15a8ba6eadf0e85bfc957bcffabfcc47127..3b86ec522f4378ad9c983f91d1e0a334ec7b2479 100644 (file)
@@ -11,8 +11,8 @@
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   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
     {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -32,8 +32,8 @@
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+    {"x":{"exp":"6.571913242340088 m", "val":6.571913242340088}, "y":{"exp":"6.780756950378418 m", "val":6.780756950378418}, "heading":{"exp":"-0.22347657213134994 rad", "val":-0.22347657213134992}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"3.9274368286132812 m", "val":3.9274368286132817}, "y":{"exp":"7.6577277183532715 m", "val":7.657727718353272}, "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},
@@ -71,7 +71,7 @@
    "differentialTrackWidth":0.5588
   },
   "sampleType":"Swerve",
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+    {"t":5.88541, "x":7.27947, "y":4.54498, "heading":1.27514, "vx":1.04107, "vy":1.83213, "omega":3.10858, "ax":-1.68468, "ay":1.40739, "alpha":-56.09209, "fx":[80.30185,-75.49264,-137.74964,37.42051], "fy":[113.04915,116.40979,-16.3185,-133.343]},
+    {"t":5.92846, "x":7.32274, "y":4.62517, "heading":1.35699, "vx":0.96853, "vy":1.89273, "omega":0.69346, "ax":-1.85922, "ay":1.05808, "alpha":-56.30801, "fx":[73.74606,-87.67662,-134.66622,43.18085], "fy":[117.43823,107.54268,-33.33336,-131.65565]},
+    {"t":5.97229, "x":7.3634, "y":4.70913, "heading":1.3333, "vx":0.88705, "vy":1.9391, "omega":-1.77429, "ax":-5.20348, "ay":1.48556, "alpha":-43.8571, "fx":[8.44448,-105.32253,-137.08169,-61.0728], "fy":[137.85624,90.01079,-19.98174,-123.65533]},
+    {"t":6.01611, "x":7.39728, "y":4.79554, "heading":1.21342, "vx":0.659, "vy":2.0042, "omega":-3.69637, "ax":-9.64402, "ay":0.43895, "alpha":5.16515, "fx":[-137.99748,-136.82789,-136.40609,-135.57546], "fy":[-3.17266,-16.55073,18.9632,25.64825]},
+    {"t":6.05994, "x":7.4169, "y":4.8838, "heading":1.05639, "vx":0.23635, "vy":2.02344, "omega":-3.47, "ax":-9.63318, "ay":0.85769, "alpha":3.57533, "fx":[-137.55338,-137.48949,-136.14908,-135.00018], "fy":[6.96005,-3.95949,18.71946,26.90996]},
+    {"t":6.10377, "x":7.418, "y":4.9733, "heading":0.90775, "vx":-0.18584, "vy":2.06103, "omega":-3.31331, "ax":-9.53809, "ay":1.45288, "alpha":2.74218, "fx":[-136.08501,-136.77437,-134.6994,-133.24159], "fy":[17.53299,8.17896,24.32562,32.33942]},
+    {"t":6.14759, "x":7.4007, "y":5.06502, "heading":0.76517, "vx":-0.60385, "vy":2.1247, "omega":-3.19313, "ax":-9.2108, "ay":2.57041, "alpha":2.98758, "fx":[-131.96601,-133.84009,-129.52386,-126.91373], "fy":[33.57657,23.23701,40.07662,48.8496]},
+    {"t":6.19142, "x":7.36539, "y":5.16061, "heading":0.6281, "vx":-1.00752, "vy":2.23735, "omega":-3.0622, "ax":-7.23945, "ay":5.72694, "alpha":6.41536, "fx":[-111.58167,-117.94791,-91.6596,-89.28048], "fy":[73.24386,58.98422,93.71888,98.7652]},
+    {"t":6.23524, "x":7.31428, "y":5.26416, "heading":0.50005, "vx":-1.3248, "vy":2.48834, "omega":-2.78104, "ax":3.79078, "ay":8.12956, "alpha":8.00061, "fx":[20.33247,59.76781,83.21034,51.62287], "fy":[128.08486,111.42208,100.3352,121.09642]},
+    {"t":6.27907, "x":7.25986, "y":5.38102, "heading":0.38586, "vx":-1.15867, "vy":2.84463, "omega":-2.43041, "ax":5.70777, "ay":5.50756, "alpha":4.94252, "fx":[66.68806,84.41548,93.47836,79.04349], "fy":[90.10131,69.49652,67.04897,85.62633]},
+    {"t":6.3229, "x":7.21456, "y":5.51098, "heading":0.28409, "vx":-0.90852, "vy":3.086, "omega":-2.21379, "ax":6.82179, "ay":-0.51701, "alpha":-2.89073, "fx":[99.58205,98.78882,93.89452,94.52371], "fy":[-11.48464,1.46332,-2.65963,-16.63294]},
+    {"t":6.36672, "x":7.1813, "y":5.64573, "heading":0.18429, "vx":-0.60955, "vy":3.06334, "omega":-2.34048, "ax":-1.05648, "ay":-1.14898, "alpha":1.7976, "fx":[-18.53153,-17.27159,-11.43515,-12.6633], "fy":[-13.83413,-19.68238,-18.77356,-12.85597]},
+    {"t":6.41055, "x":7.15357, "y":5.77888, "heading":0.08344, "vx":-0.65585, "vy":3.01299, "omega":-2.2617, "ax":-6.8827, "ay":2.37143, "alpha":9.07149, "fx":[-103.10738,-109.75633,-94.51679,-82.86197], "fy":[46.15165,8.24979,16.57721,63.47901]},
+    {"t":6.45437, "x":7.11822, "y":5.91321, "heading":-0.00697, "vx":-0.95749, "vy":3.11692, "omega":-1.86414, "ax":-7.64547, "ay":3.22261, "alpha":9.54848, "fx":[-110.02278,-122.23201,-111.77004,-89.46621], "fy":[59.46737,17.50085,25.97743,79.77336]},
+    {"t":6.4982, "x":7.06891, "y":6.0529, "heading":-0.07949, "vx":-1.29256, "vy":3.25815, "omega":-1.44566, "ax":-8.38216, "ay":2.63869, "alpha":8.78067, "fx":[-118.03616,-128.59432,-123.6573,-104.97262], "fy":[53.92132,12.55738,13.25505,69.8774]},
+    {"t":6.54203, "x":7.00421, "y":6.19823, "heading":-0.13442, "vx":-1.65991, "vy":3.3738, "omega":-1.06084, "ax":-9.10183, "ay":0.91033, "alpha":7.27198, "fx":[-128.69687,-132.71682,-129.81819,-124.83329], "fy":[32.59678,-5.00551,-13.68666,37.71037]},
+    {"t":6.58585, "x":6.92273, "y":6.34696, "heading":-0.17393, "vx":-2.05881, "vy":3.41369, "omega":-0.74214, "ax":-9.34322, "ay":-1.02792, "alpha":5.82984, "fx":[-134.85211,-132.78527,-128.38189,-133.73237], "fy":[6.04304,-25.49242,-39.14322,0.31077]},
+    {"t":6.62968, "x":6.82352, "y":6.49559, "heading":-0.20085, "vx":-2.46828, "vy":3.36864, "omega":-0.48664, "ax":-9.22724, "ay":-2.4205, "alpha":5.17556, "fx":[-135.754,-130.34388,-123.73166,-133.34625], "fy":[-13.77813,-41.05299,-56.85389,-25.55525]},
+    {"t":6.6735, "x":6.70649, "y":6.64089, "heading":-0.21721, "vx":-2.87268, "vy":3.26256, "omega":-0.25982, "ax":-9.03459, "ay":-3.25151, "alpha":5.3333, "fx":[-135.18199,-127.69335,-118.48848,-130.8887], "fy":[-24.16501,-50.96863,-69.16321,-40.06054]},
+    {"t":6.71733, "x":6.57191, "y":6.78076, "heading":-0.22348, "vx":-3.26863, "vy":3.12006, "omega":-0.02608, "ax":-6.5108, "ay":-7.16699, "alpha":0.4974, "fx":[-93.93167,-92.76319,-90.65038,-91.81108], "fy":[-100.07718,-101.20654,-103.07848,-101.99948]},
+    {"t":6.77105, "x":6.38691, "y":6.93804, "heading":-0.22416, "vx":-3.61842, "vy":2.73502, "omega":0.00064, "ax":-5.3236, "ay":-7.93079, "alpha":-0.00129, "fx":[-75.45627,-75.45865,-75.46517,-75.46279], "fy":[-112.42008,-112.41824,-112.41396,-112.4158]},
+    {"t":6.82478, "x":6.18483, "y":7.07353, "heading":-0.22413, "vx":-3.90443, "vy":2.30894, "omega":0.00057, "ax":-4.16753, "ay":-7.98826, "alpha":-0.00056, "fx":[-59.07192,-59.07257,-59.07555,-59.07491], "fy":[-113.23275,-113.2321,-113.23062,-113.23127]},
+    {"t":6.8785, "x":5.96905, "y":7.18605, "heading":-0.2241, "vx":-4.12833, "vy":1.87977, "omega":0.00054, "ax":-1.96116, "ay":-4.67303, "alpha":-0.00011, "fx":[-27.79881,-27.79878,-27.79922,-27.79925], "fy":[-66.23936,-66.23909,-66.23895,-66.23923]},
+    {"t":6.93223, "x":5.74443, "y":7.2803, "heading":-0.22407, "vx":-4.23369, "vy":1.62871, "omega":0.00053, "ax":-0.41732, "ay":-1.1077, "alpha":0.00016, "fx":[-5.91559,-5.91571,-5.91517,-5.91506], "fy":[-15.70106,-15.70159,-15.70171,-15.70119]},
+    {"t":6.98595, "x":5.51637, "y":7.3662, "heading":-0.22404, "vx":-4.25611, "vy":1.5692, "omega":0.00054, "ax":-1.04138, "ay":-2.99776, "alpha":0.00235, "fx":[-14.76487,-14.76625,-14.7579,-14.75651], "fy":[-42.48807,-42.49495,-42.49704,-42.49016]},
+    {"t":7.03968, "x":5.28621, "y":7.44618, "heading":-0.22401, "vx":-4.31206, "vy":1.40815, "omega":0.00067, "ax":-1.8411, "ay":-6.54711, "alpha":0.00895, "fx":[-26.11737,-26.1194,-26.07686,-26.07481], "fy":[-92.7904,-92.80581,-92.81698,-92.80157]},
+    {"t":7.0934, "x":5.05189, "y":7.51238, "heading":-0.22396, "vx":-4.41097, "vy":1.0564, "omega":0.00115, "ax":5.53566, "ay":-7.00005, "alpha":11.89861, "fx":[86.30048,32.52549,79.56119,115.47972], "fy":[-94.13572,-128.54994,-108.13586,-66.07492]},
+    {"t":7.14713, "x":4.8229, "y":7.55903, "heading":-0.20672, "vx":-4.11357, "vy":0.68033, "omega":0.6404, "ax":8.92284, "ay":-3.72826, "alpha":4.85579, "fx":[132.05603,118.15004,122.76919,132.94102], "fy":[-39.616,-71.16021,-63.27062,-37.34208]},
+    {"t":7.20085, "x":4.61477, "y":7.5902, "heading":-0.16531, "vx":-3.63419, "vy":0.48003, "omega":0.90128, "ax":9.40924, "ay":-2.58837, "alpha":-1.81791, "fx":[132.07513,135.05733,134.85753,131.50497], "fy":[-41.62765,-30.58165,-31.27648,-43.27224]},
+    {"t":7.25458, "x":4.43311, "y":7.61226, "heading":-0.11951, "vx":-3.12868, "vy":0.34097, "omega":0.80361, "ax":9.60661, "ay":-1.70755, "alpha":-2.77962, "fx":[134.85345,137.78493,137.76464,134.2826], "fy":[-32.1439,-15.28026,-15.09899,-34.29308]},
+    {"t":7.3083, "x":4.27888, "y":7.62811, "heading":-0.08035, "vx":-2.61257, "vy":0.24923, "omega":0.65428, "ax":9.67812, "ay":-1.26533, "alpha":-2.91266, "fx":[136.17811,138.43498,138.42664,135.70034], "fy":[-26.3476,-8.60707,-8.22935,-28.55872]},
+    {"t":7.36203, "x":4.15249, "y":7.63968, "heading":-0.0494, "vx":-2.09261, "vy":0.18125, "omega":0.49779, "ax":9.71343, "ay":-1.01614, "alpha":-2.73933, "fx":[136.93679,138.63486,138.61873,136.55189], "fy":[-22.33002,-5.51357,-5.32605,-24.44444]},
+    {"t":7.41575, "x":4.05408, "y":7.64795, "heading":-0.02661, "vx":-1.57076, "vy":0.12666, "omega":0.35062, "ax":9.73413, "ay":-0.86604, "alpha":-2.46332, "fx":[137.40896,138.70995,138.69071,137.10606], "fy":[-19.40922,-4.15202,-4.20876,-21.33337]},
+    {"t":7.46948, "x":3.98374, "y":7.6535, "heading":-0.01133, "vx":-1.0478, "vy":0.08013, "omega":0.21828, "ax":9.74729, "ay":-0.7732, "alpha":-2.16847, "fx":[137.71574,138.74215,138.72254,137.48134], "fy":[-17.25448,-3.70763,-3.9402,-18.93767]},
+    {"t":7.5232, "x":3.94152, "y":7.65669, "heading":-0.00273, "vx":-0.52413, "vy":0.03859, "omega":0.10178, "ax":9.75574, "ay":-0.71828, "alpha":-1.8945, "fx":[137.91555,138.7549,138.73569,137.73503], "fy":[-15.70623,-3.78007,-4.10198,-17.13776]},
+    {"t":7.57693, "x":3.92744, "y":7.65773, "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":[0,75]
  },
  "events":[]
index 0f1afad48a3079cd3a7aed46105d80c44e1ab0ef..4e36869d76327a51a0a1257fcaf29f9de2d8a0b9 100644 (file)
@@ -366,6 +366,10 @@ public class RobotContainer {
     addAuto("testChoreo", ChoreoPathCommand.basicTrajectoryAuto("test.traj", true, autoFactory));
     addChoreoAuto("choreoLiberalLeft", choreo.leftLiberal(autoFactory));
     addChoreoAuto("choreoLiberalRight", choreo.rightLiberal(autoFactory));
+    addChoreoAuto("choreoConservativeLeft", choreo.leftConservative(autoFactory));
+    addChoreoAuto("choreoConservativeRight", choreo.rightConservative(autoFactory));
+    addChoreoAuto("choreoShallowLeft", choreo.leftShallow(autoFactory));
+    addChoreoAuto("choreoShallowRight", choreo.rightShallow(autoFactory));
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);
index 3a0c3d91a1850138b27569d87e6e4fa01b6aa487..ffd8cb040a4088d1556631cde91799c78a662714 100644 (file)
@@ -111,6 +111,99 @@ public class ChoreoPathCommand {
 
   }
 
+  
+  public AutoRoutine leftConservative(AutoFactory factory) {
+    AutoRoutine routine = factory.newRoutine("leftConservative");
+
+    AutoTrajectory liberalSwipe = routine.trajectory("conservative", 0);
+    AutoTrajectory shallowSwipe = routine.trajectory("conservative", 1);
+
+    routine.active().onTrue(
+        Commands.sequence(
+            liberalSwipe.resetOdometry(),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            liberalSwipe.cmd()));
+
+    liberalSwipe.done()
+        .onTrue(Commands.sequence(
+            new InstantCommand(() -> {
+              hood.forceHoodDown(false);
+            }),
+            new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            shallowSwipe.cmd()));
+
+    shallowSwipe.done()
+        .onTrue(Commands.sequence(
+            new InstantCommand(() -> {
+              hood.forceHoodDown(false);
+            }),
+            new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            shallowSwipe.cmd()));
+
+    return routine;
+
+  }
+
+  public AutoRoutine rightConservative(AutoFactory factory) {
+    AutoRoutine routine = factory.newRoutine("rightConservative");
+
+    AutoTrajectory liberalSwipe = routine.trajectory("conservative", 0).mirrorY();
+    AutoTrajectory shallowSwipe = routine.trajectory("conservative", 1).mirrorY();
+
+    routine.active().onTrue(
+        Commands.sequence(
+            liberalSwipe.resetOdometry(),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            liberalSwipe.cmd()));
+
+    liberalSwipe.done()
+        .onTrue(Commands.sequence(
+            new InstantCommand(() -> {
+              hood.forceHoodDown(false);
+            }),
+            new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            shallowSwipe.cmd()));
+
+    shallowSwipe.done()
+        .onTrue(Commands.sequence(
+            new InstantCommand(() -> {
+              hood.forceHoodDown(false);
+            }),
+            new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+            new InstantCommand(() -> {
+              intake.extend();
+              intake.spinStart();
+              hood.forceHoodDown(true);
+            }),
+            shallowSwipe.cmd()));
+
+    return routine;
+
+  }
+
   public AutoRoutine leftShallow(AutoFactory factory) {
     AutoRoutine routine = factory.newRoutine("leftShallow");