a

diff --git a/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto
index e8d7a5aee32a31cf28deec80b42c81834d8723bb..8fd6d66b4b4b7dc3da122532d4a25b110bc7c473 100644 (file)
--- a/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto
+++ b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto
@@ -16,11 +16,55 @@
             "pathName": "#2(2) Right - Under the trench"
           }
         },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Start Spindexer"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "path",
           "data": {
             "pathName": "#3 Right - Under the trench"
           }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Start Spindexer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Start Intake Seizure"
+                }
+              }
+            ]
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
index fa5e4eb13b7ad1904b898784849493d7a72cca22..62211f81a8ad343724113f940631cf9c1e0caea9 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
@@ -69,29 +69,16 @@
   "constraintZones": [
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 1.95,
+      "minWaypointRelativePos": 1.5658042744656906,
       "maxWaypointRelativePos": 2.759480519480524,
       "constraints": {
-        "maxVelocity": 3.0,
+        "maxVelocity": 2.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 720.0,
         "nominalVoltage": 12.0,
         "unlimited": false
       }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 2.0652418447694045,
-      "constraints": {
-        "maxVelocity": 6.0,
-        "maxAcceleration": 7.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
     }
   ],
   "pointTowardsZones": [],

diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
index d1bb09c17c5a81050dcba7af6fccb1199afb633a..bcf06eb3b3742c99b3c60ee271be92695abc760e 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
@@ -9,23 +9,23 @@
       "prevControl": null,
       "nextControl": {
         "x": 6.580806642941875,
-        "y": 0.823380782918149
+        "y": 0.6081969157769855
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.301672597864768,
-        "y": 0.823380782918149
+        "x": 7.473819691577701,
+        "y": 0.7050296559905087
       },
       "prevControl": {
-        "x": 6.72798848994848,
-        "y": 0.776996631189148
+        "x": 6.900135583661412,
+        "y": 0.6586455042615077
       },
       "nextControl": {
-        "x": 7.911232317280483,
-        "y": 0.8726655898756941
+        "x": 8.083379410993413,
+        "y": 0.7543144629480538
       },
       "isLocked": false,
       "linkedName": null
@@ -76,7 +76,7 @@
       "minWaypointRelativePos": 1.55,
       "maxWaypointRelativePos": 2.6989130434782616,
       "constraints": {
-        "maxVelocity": 3.0,
+        "maxVelocity": 2.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 720.0,

diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
index 2e7f0803c5344aa09737080a585f13c23bd9f5c3..5e42a301ed14fda74b5034efb56adbfb4d09c535 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
@@ -20,23 +20,23 @@
         "y": 0.5865314569536417
       },
       "prevControl": {
-        "x": 6.035164509263001,
-        "y": 0.617600951415989
+        "x": 6.83902728351127,
+        "y": 0.5974377224199281
       },
       "nextControl": {
-        "x": 3.0682440376782023,
-        "y": 0.24599719472861176
+        "x": 3.157328753736785,
+        "y": 0.5592661840649349
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.6398096026490065,
+        "x": 0.62,
         "y": 0.65
       },
       "prevControl": {
-        "x": 1.0581491579606932,
+        "x": 1.0383395553116865,
         "y": 0.7153598580391806
       },
       "nextControl": null,
@@ -63,6 +63,19 @@
         "nominalVoltage": 12.0,
         "unlimited": false
       }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.4128233970753654,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
     }
   ],
   "pointTowardsZones": [],
@@ -90,6 +103,41 @@
           ]
         }
       }
+    },
+    {
+      "name": "Extend Intake",
+      "waypointRelativePos": 1.2508436445444353,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Stop Hood Down"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "Extend Intake"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 1.277840269966252,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
     }
   ],
   "globalConstraints": {

diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
index f8ec91ee4bf229e991ba3bfc4105f5477019a1fa..6e453ea51a7bf1b42efa2064652f8837e159c5ea 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.64,
+        "x": 0.62,
         "y": 0.65
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5400413907284771,
+        "x": 1.520041390728477,
         "y": 1.4359437086129003
       },
       "isLocked": false,
@@ -31,7 +31,19 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
new file mode 100644 (file)
index 0000000..0ebfc62
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
@@ -0,0 +1,150 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.842,
+        "y": 4.478
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.592775800711744,
+        "y": 7.429525504151838
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.730830367740831,
+        "y": 8.67
+      },
+      "prevControl": {
+        "x": 7.0789534313387525,
+        "y": 8.67
+      },
+      "nextControl": {
+        "x": 3.9343350188895077,
+        "y": 8.67
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.5353499406880196,
+        "y": 7.526358244365362
+      },
+      "prevControl": {
+        "x": 2.9979952550415194,
+        "y": 8.591518386714121
+      },
+      "nextControl": {
+        "x": 2.3695164161432727,
+        "y": 7.1445554785530385
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.18,
+        "y": 5.966
+      },
+      "prevControl": {
+        "x": 2.224810422787547,
+        "y": 6.241444208960923
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.21847246891652505,
+      "rotationDegrees": 40.0
+    },
+    {
+      "waypointRelativePos": 0.4476021314387213,
+      "rotationDegrees": 150.0
+    },
+    {
+      "waypointRelativePos": 0.927175843694493,
+      "rotationDegrees": -179.587
+    },
+    {
+      "waypointRelativePos": 1.4422735346358764,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Retract Intake",
+      "waypointRelativePos": 0.65466816647919,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Retract Intake"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "Stop Intake Rollers"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0.9111361079864995,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 1.7885264341957245,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": -110.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 926877bf4cc603b56864435f170b1cdf63b38563..e7b1d9a28ea9ccf33928d42f0527ec7a270e2dc0 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -142,8 +142,9 @@ public class RobotContainer {
         // Load the auto command
         try {
           String leftSideAuto = "Left(No SOTM) - Under Trench";
-          PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);
-          auto = new PathPlannerAuto(leftSideAuto);
+          String rightSideAuto = "Right(2) - Under Trench";
+          PathPlannerAuto.getPathGroupFromAutoFile(rightSideAuto);
+          auto = new PathPlannerAuto(rightSideAuto);
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 7b957154d03b476f6f0c7d0a3b6c310fe7b8d4c7..4ee974c7b1fcc018e36fcc8929d9f7dacdfe6d30 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -22,8 +22,8 @@ public class FieldConstants {
 
   public static final double RED_BORDER = FIELD_LENGTH/2 + Units.inchesToMeters(167.0);
   public static final double BLUE_BORDER = FIELD_LENGTH/2 - Units.inchesToMeters(167.0);
-  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.10;
-  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.90;
+  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.12;
+  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.88;
 
   /**The coordinate of the climb position */
   public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); // TODO: find this
@@ -52,17 +52,17 @@ public class FieldConstants {
     new Translation3d(FIELD_LENGTH/2, RIGHT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_LEFT_BLUE =
-    new Translation3d(BLUE_BORDER - 2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
+    new Translation3d(BLUE_BORDER - 2.2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
 
   public static final Translation3d ALLIANCE_RIGHT_BLUE =
-    new Translation3d(BLUE_BORDER - 2, RIGHT_SIDE_TARGET, 0);
+    new Translation3d(BLUE_BORDER - 2.2, RIGHT_SIDE_TARGET, 0);
 
 
   public static final Translation3d ALLIANCE_LEFT_RED =
-    new Translation3d(RED_BORDER + 2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
+    new Translation3d(RED_BORDER + 2.2, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
 
   public static final Translation3d ALLIANCE_RIGHT_RED =
-    new Translation3d(RED_BORDER + 2, RIGHT_SIDE_TARGET, 0);
+    new Translation3d(RED_BORDER + 2.2, RIGHT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_CENTER_BLUE =
     new Translation3d(BLUE_BORDER - 2, FIELD_WIDTH/2, 0);

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index cdd4a6980735e82b043e79fd9483c7edc5e34877..64b098f2f784485ff2c0cb448bf709ca57b0ee52 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -3,7 +3,7 @@ package frc.robot.subsystems.spindexer;
 public class SpindexerConstants {
     public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
     public static final double currentLimit = 40; //A
-    public static final double spindexerMaxPower = 0.5; 
+    public static final double spindexerMaxPower = 0.75; 
     public static final double spindexerReversePower = -0.2;
     public static final double CURRENT_SPIKE_LIMIT = 80;
     public static final double CURRENT_TIME_LIMIT = 1.0; //s