-imports, + auto translation paths

diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipeTranslation.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipeTranslation.auto
new file mode 100644 (file)
index 0000000..65ee476
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipeTranslation.auto
@@ -0,0 +1,127 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Left Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe1Translation"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Intake Seizure"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Reset Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe2Translation"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe1Translation.path b/src/main/deploy/pathplanner/paths/Swipe1Translation.path
new file mode 100644 (file)
index 0000000..d761d44
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe1Translation.path
@@ -0,0 +1,155 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.735631586835829,
+        "y": 7.2764780852994
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.710521945432978,
+        "y": 6.697900355871886
+      },
+      "prevControl": {
+        "x": 7.529042978857038,
+        "y": 6.86984623308483
+      },
+      "nextControl": {
+        "x": 7.928919995080244,
+        "y": 6.490974754868527
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.710521945432978,
+        "y": 5.7188137603795965
+      },
+      "prevControl": {
+        "x": 7.925365275955983,
+        "y": 5.863911730255719
+      },
+      "nextControl": {
+        "x": 7.408579979016614,
+        "y": 5.514892297047377
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.860545670225386,
+        "y": 6.364365361803084
+      },
+      "prevControl": {
+        "x": 6.917316499510639,
+        "y": 6.120896528187229
+      },
+      "nextControl": {
+        "x": 6.574474152212791,
+        "y": 7.591219006502909
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.6124792408066435,
+        "y": 7.408007117437722
+      },
+      "prevControl": {
+        "x": 5.872250653983406,
+        "y": 7.333391289226129
+      },
+      "nextControl": {
+        "x": 5.300042806450162,
+        "y": 7.497750261334479
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 4.245580247742288,
+        "y": 7.453198911136212
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.7761529808773961,
+      "maxWaypointRelativePos": 1.642294713160863,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.968503937007888,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 5.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.5,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe2Translation.path b/src/main/deploy/pathplanner/paths/Swipe2Translation.path
new file mode 100644 (file)
index 0000000..22b175e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe2Translation.path
@@ -0,0 +1,118 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.75,
+        "y": 7.5
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.0213285883748515,
+        "y": 6.289051008303677
+      },
+      "prevControl": {
+        "x": 6.135976270876549,
+        "y": 7.282457223754833
+      },
+      "nextControl": {
+        "x": 5.929276488101032,
+        "y": 5.4914323686422035
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.258030842230131,
+        "y": 4.449228944246738
+      },
+      "prevControl": {
+        "x": 5.653713425517404,
+        "y": 4.619355154982582
+      },
+      "nextControl": {
+        "x": 6.687014708632405,
+        "y": 4.3284622781876605
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.892823250296561,
+        "y": 5.546666666666668
+      },
+      "prevControl": {
+        "x": 6.892823250296561,
+        "y": 4.907866997335997
+      },
+      "nextControl": {
+        "x": 6.892823250296561,
+        "y": 6.2753696930420535
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.258030842230131,
+        "y": 6.977639383155397
+      },
+      "prevControl": {
+        "x": 6.423269381273585,
+        "y": 6.7900328128685725
+      },
+      "nextControl": {
+        "x": 6.092792303186677,
+        "y": 7.165245953442221
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 5.5,
+        "y": 7.5
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ 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 ae3561773db0d8b947d0cb8210eadb318c6665d7..cb8097851e193105e009dd2c24324747f6b44b93 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,6 +1,5 @@
 package frc.robot;
 
-import java.util.concurrent.ScheduledExecutorService;
 import java.util.function.BooleanSupplier;
 
 import org.littletonrobotics.junction.Logger;
@@ -20,7 +19,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.ScheduleCommand;
 import frc.robot.commands.LogCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
@@ -272,6 +270,7 @@ public class RobotContainer {
     String rightSideAuto = "Right Week V1";
     String shootOnlyAuto = "Shoot Only Left Week V1";
     String leftLiberalSwipe = "LeftLiberalDoubleSwipe";
+    String leftLiberalSwipeTranslation = "LeftLiberalDoubleSwipeTranslation";
     String leftConservativeSwipe = "LeftConservativeDoubleSwipe";
 
     autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto));
@@ -280,6 +279,7 @@ public class RobotContainer {
     addAuto(shootOnlyAuto);
     addAuto(leftConservativeSwipe);
     addAuto(leftLiberalSwipe);
+    addAuto(leftLiberalSwipeTranslation);
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);

diff --git a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
index a48076ab51db8fc59b101439857a514ae88b9309..cfa986ced1abe8f4eb46e26729e3556c9349ec71 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
+++ b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
@@ -1,7 +1,5 @@
 package frc.robot.commands.gpm;
 
-import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Intake.Intake;
@@ -9,7 +7,6 @@ import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.spindexer.Spindexer;
-import frc.robot.subsystems.spindexer.SpindexerConstants;
 import frc.robot.subsystems.turret.Turret;
 import frc.robot.util.BrownOut.BrownOutConstants;
 import frc.robot.util.BrownOut.BrownOutLevel;

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 0af0c6ed75bcd8f8711a7a583904ccdd67d4726c..4146791a25f71479ad8bd2c4b46658b3bf989725 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import frc.robot.Robot;
-import frc.robot.commands.gpm.BrownOutControl;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 5847e671645eed6ca19682ce5cae84460a45a1b2..c1fca0af01d99549a812034f214ef43296c063b0 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -29,7 +29,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 import frc.robot.constants.IntakeConstants;
-import frc.robot.subsystems.shooter.ShooterConstants;
 
 public class Intake extends SubsystemBase implements IntakeIO{
     // Mechanism Display...

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index f6c704e170dcbc0ab9d428571efddec56460ec37..bdd18741481d228567d8f33589853282b61b99da 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
-import frc.robot.subsystems.spindexer.SpindexerConstants;
 import frc.robot.util.HubActive;
 
 public class Shooter extends SubsystemBase implements ShooterIO {

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 4c7754ce30d6702899f725be1fa766f7d75b98b0..a4a1014c46b4ff330ca430ff81bc4775ccdb6c3e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -6,7 +6,6 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;