eoijao

diff --git a/src/main/deploy/pathplanner/autos/Trial Auto Path.auto b/src/main/deploy/pathplanner/autos/Trial Auto Path.auto
new file mode 100644 (file)
index 0000000..c3224d3
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Trial Auto Path.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Trial Left Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Trial Left Path.path b/src/main/deploy/pathplanner/paths/Trial Left Path.path
new file mode 100644 (file)
index 0000000..68eb1fa
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Trial Left Path.path
@@ -0,0 +1,186 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.458534768210455,
+        "y": 7.628667218546397
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.754544701986754,
+        "y": 7.432649006622516
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.667425496687276,
+        "y": 6.677615894043087
+      },
+      "prevControl": {
+        "x": 7.671362748581045,
+        "y": 7.130399861826626
+      },
+      "nextControl": {
+        "x": 7.660165562912443,
+        "y": 5.8427235099371275
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.41332781456807,
+        "y": 4.405256622519909
+      },
+      "prevControl": {
+        "x": 7.485927152316415,
+        "y": 5.044130794705338
+      },
+      "nextControl": {
+        "x": 7.331274667469874,
+        "y": 3.6831889280557975
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.482185430463577,
+        "y": 0.3905132450331109
+      },
+      "prevControl": {
+        "x": 6.433236754965422,
+        "y": 0.4631125827848075
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "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": 2.45,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 2.6,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 2.9,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 2.9,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.75,
+    "maxAcceleration": 2.75,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 180.0
+  },
+  "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 fe64006ac8a073db57615b136e6f5a1cc302f3eb..b0374771ad7dab220ef1a269ede56ae468ca34b3 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -255,7 +255,7 @@ public class RobotContainer {
    */
   public void autoChooserInit() {
     // add the options to the Chooser
-    String defaultAuto = "Test default auto";
+    String defaultAuto = "Trial Auto Path";
     String leftSideAuto = "Left Week V1";
     String rightSideAuto = "Right Week V1";      
     String shootOnlyAuto = "Shoot Only Left Week V1";

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index bb169086dcd807b2a03f650348b4bdb53e13b0a3..d1bdf15445bed24986be3e33f42bceb76848450b 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -232,8 +232,10 @@ public class Superstructure extends Command {
             System.out.println("X: " + x + "Y: " + y);
             if (FieldConstants.underTrench(x, y)) {
                 hood.forceHoodDown(true);
+                System.out.println("Hood forced down");
             } else {
                 hood.forceHoodDown(false);
+                System.out.println("Hood forced down");
             }
             shooter.setShooter(-ShotInterpolation.shooterVelocityMap.get(distanceFromTarget));
             Logger.recordOutput("Distance From Target", distanceFromTarget);

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 5dc7aa1ca32bad7c1bb901e642a082f45bac67e4..7adbf88cab8d57f6dd64632e2f3512e5620c68f6 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -192,7 +192,7 @@ public class FieldConstants {
     if (y > Units.inchesToMeters(50.0) && y < FIELD_WIDTH - Units.inchesToMeters(50)) {
       return false;
     }
-    if (!(x > Units.inchesToMeters(182.5) && x < Units.inchesToMeters(230.0)) || !(x < Units.inchesToMeters(FIELD_LENGTH - 182.5) && x > Units.inchesToMeters(FIELD_LENGTH - 230.0))) {
+    if (!(x > Units.inchesToMeters(182.5) && x < Units.inchesToMeters(230.0)) && !(x < Units.inchesToMeters(FIELD_LENGTH - 182.5) && x > Units.inchesToMeters(FIELD_LENGTH - 230.0))) {
       return false;
     }
     return true;