testing autos, added paths

diff --git a/src/main/deploy/pathplanner/autos/Left Week 2 slower.auto b/src/main/deploy/pathplanner/autos/Left Week 2 slower.auto
new file mode 100644 (file)
index 0000000..7e4c207
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Week 2 slower.auto
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "shoot from start"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Full Left Path v3"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path slower.path b/src/main/deploy/pathplanner/paths/Full Left Path slower.path
new file mode 100644 (file)
index 0000000..08c833c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Full Left Path slower.path
@@ -0,0 +1,299 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.461245551596047,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.613160638537474,
+        "y": 7.456089060354733
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.667485172004747,
+        "y": 6.428920521945433
+      },
+      "prevControl": {
+        "x": 7.545273564909296,
+        "y": 6.647012986490055
+      },
+      "nextControl": {
+        "x": 8.2418218927067,
+        "y": 5.403989143712815
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.667485172004747,
+        "y": 4.6644128113879
+      },
+      "prevControl": {
+        "x": 7.975395404605428,
+        "y": 5.131586957402723
+      },
+      "nextControl": {
+        "x": 7.35546856465006,
+        "y": 4.191008303677343
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.236512455516015,
+        "y": 5.084021352313167
+      },
+      "prevControl": {
+        "x": 6.5799561936021105,
+        "y": 4.75215445445843
+      },
+      "nextControl": {
+        "x": 5.65645110998725,
+        "y": 5.644529924630823
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.236512455516015,
+        "y": 7.268137603795967
+      },
+      "prevControl": {
+        "x": 6.709845339124411,
+        "y": 6.5665940697865075
+      },
+      "nextControl": {
+        "x": 5.8207588839551905,
+        "y": 7.884340787581406
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.6013318584144021,
+        "y": 7.134601236249081
+      },
+      "prevControl": {
+        "x": 3.5546210957312354,
+        "y": 7.467259667375804
+      },
+      "nextControl": {
+        "x": 0.35290289496152694,
+        "y": 7.106618203573367
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.4588256227758012,
+        "y": 5.084021352313167
+      },
+      "prevControl": {
+        "x": 0.5558396548739409,
+        "y": 5.465118366137181
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.087033747779748,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 2.5364120781527437,
+      "rotationDegrees": 155.02674741986806
+    },
+    {
+      "waypointRelativePos": 3.85,
+      "rotationDegrees": 138.60721817200425
+    },
+    {
+      "waypointRelativePos": 4.4,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 4.660237388724038,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 4.95,
+      "rotationDegrees": -89.50334218867351
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Depot",
+      "minWaypointRelativePos": 4.953880764904385,
+      "maxWaypointRelativePos": 6.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.9718785151856066,
+      "maxWaypointRelativePos": 2.4701912260967447,
+      "constraints": {
+        "maxVelocity": 0.3,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.767154105736777,
+      "maxWaypointRelativePos": 4.467941507311604,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 1.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Extend Intake",
+      "waypointRelativePos": 0.0944881889763795,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.17547806524185328,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 0.3104611923509808,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.39145106861638246,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 2.9156355455568033,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 3.3745781777277815,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.724409448818935,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 4.764904386951711,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.37860096211433
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.4275725068334245
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3.path b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
new file mode 100644 (file)
index 0000000..0017492
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
@@ -0,0 +1,299 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.193921116983211,
+        "y": 7.623190984573506
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.667485172004747,
+        "y": 6.428920521945433
+      },
+      "prevControl": {
+        "x": 7.665365003292386,
+        "y": 6.686760835840097
+      },
+      "nextControl": {
+        "x": 7.684288184321054,
+        "y": 4.385453912541243
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.667485172004747,
+        "y": 4.6644128113879
+      },
+      "prevControl": {
+        "x": 7.722519349903317,
+        "y": 4.908280068851933
+      },
+      "nextControl": {
+        "x": 7.611361211994106,
+        "y": 4.415716515223697
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.236512455516015,
+        "y": 5.084021352313167
+      },
+      "prevControl": {
+        "x": 7.118832485314941,
+        "y": 4.554066742084302
+      },
+      "nextControl": {
+        "x": 5.563661514586408,
+        "y": 5.488160945770811
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.236512455516015,
+        "y": 7.031435349940688
+      },
+      "prevControl": {
+        "x": 6.607692290036552,
+        "y": 6.097932084737065
+      },
+      "nextControl": {
+        "x": 5.905339551755663,
+        "y": 7.864322695252948
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6967378410438916,
+        "y": 7.031435349940688
+      },
+      "prevControl": {
+        "x": 3.336191665489592,
+        "y": 7.488201938773801
+      },
+      "nextControl": {
+        "x": 2.4696060632890897,
+        "y": 6.869193443841226
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8682799525504161,
+        "y": 5.084
+      },
+      "prevControl": {
+        "x": 1.8804205947396213,
+        "y": 5.5984071344829935
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.087033747779748,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 2.5364120781527437,
+      "rotationDegrees": 155.02674741986806
+    },
+    {
+      "waypointRelativePos": 3.85,
+      "rotationDegrees": 138.60721817200425
+    },
+    {
+      "waypointRelativePos": 4.4,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 4.660237388724038,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 4.95,
+      "rotationDegrees": -89.50334218867351
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Depot",
+      "minWaypointRelativePos": 4.953880764904385,
+      "maxWaypointRelativePos": 6.0,
+      "constraints": {
+        "maxVelocity": 0.5,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.9718785151856066,
+      "maxWaypointRelativePos": 2.4701912260967447,
+      "constraints": {
+        "maxVelocity": 0.3,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.767154105736777,
+      "maxWaypointRelativePos": 4.467941507311604,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 1.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Extend Intake",
+      "waypointRelativePos": 0.0944881889763795,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.17547806524185328,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 0.3104611923509808,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.39145106861638246,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 2.9156355455568033,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 3.3745781777277815,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.724409448818935,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 4.764904386951711,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.37860096211433
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/shoot from start.path b/src/main/deploy/pathplanner/paths/shoot from start.path
new file mode 100644 (file)
index 0000000..a5ca0d7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/shoot from start.path
@@ -0,0 +1,121 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.75,
+        "y": 7.623
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 3.7421509693935855,
+        "y": 7.623
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Extend Intake",
+      "waypointRelativePos": 0.0944881889763795,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.17547806524185328,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 0.3104611923509808,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.40494938132733566,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 1.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 1.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "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 85ed2ed134c88ae84259825f2ede963ce35e017f..0a550cb5aa1ad231a42211f1f484f75f8e94b624 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -137,7 +137,7 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String leftSideAuto = "Left Week 2";
+          String leftSideAuto = "Left Week 2 slower";
           // String rightSideAuto = "Right(2) - Under Trench";
           // String testing = "Straight Test";
           PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);

diff --git a/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java b/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
index 685287a2eb8d399a4caf0c1750331ccc4b68464a..169c32c78a8a0b3a8e9616b4458c62525d2dcec7 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
+++ b/src/main/java/frc/robot/subsystems/Climb/ClimbConstants.java
@@ -23,9 +23,9 @@ public class ClimbConstants {
     // CALIBRATION: Low current while finding hardstop to prevent damage
     // NORMAL: Moderate current for PID-controlled movement
     // CLIMB: High current for full-power climbing
-    public final static double CALIBRATION_CURRENT = 7.0;
+    public final static double CALIBRATION_CURRENT = 20.0;
     public final static double CLIMB_CURRENT = 42.0;
-    public final static double CALIBRATION_CURRENT_THRESHOLD = 6.0;
+    public final static double CALIBRATION_CURRENT_THRESHOLD = 18.0;
 
     // PID Constants
     // TODO: what are the units? Inches? Meters?

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 30090472f4d866ed44d30e65cdfbecc7b11ffa78..363e9d1d30b24248b7ac00bc51cf77cebf6c5fff 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -36,7 +36,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         updateInputs();
         
         TalonFXConfiguration config = new TalonFXConfiguration();
-        config.Slot0.kP = 0.15; //tune p value
+        config.Slot0.kP = 1.0; //tune p value
         config.Slot0.kI = 0;
         config.Slot0.kD = 0.0;
         config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps
@@ -93,6 +93,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
     public void updateInputs(){
         inputs.shooterSpeedLeft = Units.rotationsToRadians(shooterMotorLeft.getVelocity().getValueAsDouble()) * ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2;
         inputs.shooterSpeedRight = Units.rotationsToRadians(shooterMotorRight.getVelocity().getValueAsDouble())* ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2;
+        inputs.shooterCurrentLeft = shooterMotorLeft.getStatorCurrent().getValueAsDouble();
+        inputs.shooterCurrentRight = shooterMotorRight.getStatorCurrent().getValueAsDouble();
+
+
         Logger.processInputs("Shooter", inputs);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index 872b1365d565d234b0d72d07c0e5ea46f75dd1d7..b698a1f6e8dee2d3ac30e115b4ac8ec2bf14497a 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -7,6 +7,8 @@ public interface ShooterIO {
     public static class ShooterIOInputs {
         public double shooterSpeedLeft = 0.0;
         public double shooterSpeedRight = 0.0;
+        public double shooterCurrentLeft = 0.0;
+        public double shooterCurrentRight = 0.0;
     }
 
     public void updateInputs();