Shooter COSF and Limit

Shooter P lowered: Motors dont fight
Need to add current limits

Lowered drivetrain module limits from 60 to 40

Increased coefficient of static from 0.9 to 1.5

Kousha Auto

diff --git a/src/main/deploy/pathplanner/paths/Kousha S1.path b/src/main/deploy/pathplanner/paths/Kousha S1.path
new file mode 100644 (file)
index 0000000..e2b0a20
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Kousha S1.path
@@ -0,0 +1,146 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.45853476821192,
+        "y": 7.664966887417217
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.458534768211921,
+        "y": 7.664966887417217
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.921523178807947,
+        "y": 6.750215231788079
+      },
+      "prevControl": {
+        "x": 7.9078401005687935,
+        "y": 7.287276052674142
+      },
+      "nextControl": {
+        "x": 7.9796026490066865,
+        "y": 4.4705960264905045
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.534875827814634,
+        "y": 4.819072847682557
+      },
+      "prevControl": {
+        "x": 7.224569536423906,
+        "y": 4.753733443709048
+      },
+      "nextControl": {
+        "x": 5.615154835282087,
+        "y": 4.906204310133009
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.213567880794766,
+        "y": 5.42890728476865
+      },
+      "prevControl": {
+        "x": 5.888741721854368,
+        "y": 5.153029801324941
+      },
+      "nextControl": {
+        "x": 4.393659545209185,
+        "y": 5.7639235939326525
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.3,
+        "y": 5.75
+      },
+      "prevControl": {
+        "x": 4.100683433038495,
+        "y": 5.703196560889764
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.002386634844876,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 1.6658711217183793,
+      "rotationDegrees": -171.29413327946216
+    },
+    {
+      "waypointRelativePos": 2.6348448687350827,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Extend Intake",
+      "waypointRelativePos": 0.41695621959694984,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.4447533009034007,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 0.9506601806810285,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 1.2119527449617822,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Kousha S2.path b/src/main/deploy/pathplanner/paths/Kousha S2.path
new file mode 100644 (file)
index 0000000..b00df98
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Kousha S2.path
@@ -0,0 +1,235 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.3,
+        "y": 5.75
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.9339486754966884,
+        "y": 5.748344370860926
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.088278145695364,
+        "y": 7.599627483443708
+      },
+      "prevControl": {
+        "x": 3.0882889621775207,
+        "y": 7.59497637096223
+      },
+      "nextControl": {
+        "x": 5.649163907284769,
+        "y": 7.606887417218543
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.925041390728477,
+        "y": 6.677615894039734
+      },
+      "prevControl": {
+        "x": 5.927124705977556,
+        "y": 7.17761155381847
+      },
+      "nextControl": {
+        "x": 5.922958075479399,
+        "y": 6.177620234260998
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.801622516552661,
+        "y": 4.390736754963256
+      },
+      "prevControl": {
+        "x": 5.824062934803918,
+        "y": 5.123790417837672
+      },
+      "nextControl": {
+        "x": 5.779842715228158,
+        "y": 3.6792632450294818
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.868832781456953,
+        "y": 4.811812913907284
+      },
+      "prevControl": {
+        "x": 6.9559519867549655,
+        "y": 3.7155629139072834
+      },
+      "nextControl": {
+        "x": 6.78171357615894,
+        "y": 5.908062913907284
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.489445364238411,
+        "y": 5.552326158940397
+      },
+      "prevControl": {
+        "x": 6.081129966887417,
+        "y": 5.6212955298013245
+      },
+      "nextControl": {
+        "x": 4.897760761589405,
+        "y": 5.483356788079469
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.3,
+        "y": 5.552326158940397
+      },
+      "prevControl": {
+        "x": 3.83542011589404,
+        "y": 5.492431705298013
+      },
+      "nextControl": {
+        "x": 2.7645798841059595,
+        "y": 5.612220612582781
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.384064569536424,
+        "y": 7.505248344370861
+      },
+      "prevControl": {
+        "x": 2.9266887417218546,
+        "y": 7.338269867549668
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.1026252983293603,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 2.0095465393794885,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 2.983293556085921,
+      "rotationDegrees": -75.19021917064742
+    },
+    {
+      "waypointRelativePos": 3.326968973747023,
+      "rotationDegrees": 57.25248324201524
+    },
+    {
+      "waypointRelativePos": 3.646778042959423,
+      "rotationDegrees": 64.7436522905489
+    },
+    {
+      "waypointRelativePos": 3.9260143198090636,
+      "rotationDegrees": 90.0
+    },
+    {
+      "waypointRelativePos": 4.853221957040566,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 5.939140811455842,
+      "rotationDegrees": 45.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 1.0368311327310604,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 5.662265462126515,
+      "maxWaypointRelativePos": 7.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 0.9631688672689134,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 1.002084781098009,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 5.86657400972897,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 5.944405837387076,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 1.8279682443049239
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "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 87b6ee0ee39aaad26141898f8f2d797b92f5eb16..7d351b56819824cc36f7f9454775091b8e1195ab 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -137,13 +137,14 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String leftSideAuto = "Right Week V1";
+          String koushaAuto = "Kousha Double";
+          //String leftSideAuto = "Right Week V1";
           // String leftSideAuto = "Right Week V1";
           // String leftSideAuto = "Right Week V1";
           // String rightSideAuto = "Right(2) - Under Trench";
           // String testing = "Straight Test";
-          PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);
-          auto = new PathPlannerAuto(leftSideAuto);
+          PathPlannerAuto.getPathGroupFromAutoFile(koushaAuto);
+          auto = new PathPlannerAuto(koushaAuto);
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 5cb0da5aaec69ea33a35fc08f496dcf8229fbfd4..f39931fbfd86e2dd04fc7332d02036dbae858563 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -53,7 +53,7 @@ public class DriveConstants {
         // To do so, divide by the radius. The radius is the diagonal of the square chassis, diagonal = sqrt(2) * side_length.
         public static final double MAX_ANGULAR_SPEED = MAX_SPEED / ((TRACK_WIDTH / 2) * Math.sqrt(2));
     
-        public static final double COSF = 0.9;
+        public static final double COSF = 1.5;
         
         // The maximum acceleration of the robot, limited by friction
         public static final double MAX_LINEAR_ACCEL = COSF * Constants.GRAVITY_ACCELERATION;
@@ -129,8 +129,8 @@ public class DriveConstants {
         public static final double STEER_PEAK_CURRENT_DURATION = 0.01;
         public static final boolean STEER_ENABLE_CURRENT_LIMIT = true;
     
-        public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 60;
-        public static final int DRIVE_PEAK_CURRENT_LIMIT = 60;
+        public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 40;
+        public static final int DRIVE_PEAK_CURRENT_LIMIT = 40;
         public static final double DRIVE_PEAK_CURRENT_DURATION = 0.01;
         public static final boolean DRIVE_ENABLE_CURRENT_LIMIT = true;
     

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 5e751e2e5409a74c54fe4d3c09b631d96f04c49d..024c11f0d8c3ed3331af992aeb84a1838575bc15 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -23,6 +23,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
     private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.CANIVORE_SUB);
     private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.CANIVORE_SUB);
 
+
+    //TODO Add current limits
+
+
     // Goal Velocity / Double theCircumfrence
     private double shooterTargetSpeed = 0;
 
@@ -38,7 +42,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         updateInputs();
         
         TalonFXConfiguration config = new TalonFXConfiguration();
-        config.Slot0.kP = 1.0; //tune p value
+        config.Slot0.kP = 0.5; // 0.5 Stable
         config.Slot0.kI = 0;
         config.Slot0.kD = 0.0;
         config.Slot0.kV = 0.125; //Maximum rps = 100 --> 12V/100rps