From: moo Date: Sun, 8 Mar 2026 18:47:40 +0000 (-0700) Subject: new week 2 auto X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=32afff8992e9f1a478090e22a970863da1ea2281;p=FRC2026.git new week 2 auto --- diff --git a/src/main/deploy/pathplanner/autos/Left Week 2.auto b/src/main/deploy/pathplanner/autos/Left Week 2.auto new file mode 100644 index 0000000..7ffb8ca --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Week 2.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Step 1 Left Near Scoop" + } + }, + { + "type": "path", + "data": { + "pathName": "Step 2 Left Return to Alliance Zone" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path b/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path new file mode 100644 index 0000000..39411b3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path @@ -0,0 +1,106 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.418208778173192, + "y": 7.666227758007118 + }, + "prevControl": null, + "nextControl": { + "x": 5.446060605950143, + "y": 7.836540115984649 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.4307829181494665, + "y": 6.471957295373666 + }, + "prevControl": { + "x": 7.383924347134917, + "y": 6.717526581568976 + }, + "nextControl": { + "x": 7.726832024394402, + "y": 4.920468077387175 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.431, + "y": 4.578339264531436 + }, + "prevControl": { + "x": 7.352398493947435, + "y": 4.815661415301793 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.0, + "rotationDegrees": -90.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Hood Down", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Extend intake", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Spin Intake Rollers", + "waypointRelativePos": 0.2412241224122456, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Stop Hood Down", + "waypointRelativePos": 0.4248424842484219, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Start Spindexer", + "waypointRelativePos": 1.0189018901890188, + "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": -90.18847227912985 + }, + "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/Step 2 Left Return to Alliance Zone.path b/src/main/deploy/pathplanner/paths/Step 2 Left Return to Alliance Zone.path new file mode 100644 index 0000000..4d45ac3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Step 2 Left Return to Alliance Zone.path @@ -0,0 +1,144 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.431, + "y": 4.578339264531436 + }, + "prevControl": null, + "nextControl": { + "x": 8.448096652146784, + "y": 4.443817359049041 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.097852906287072, + "y": 7.268137603795967 + }, + "prevControl": { + "x": 8.388197983214178, + "y": 7.161046321759119 + }, + "nextControl": { + "x": 7.053810025345407, + "y": 7.653223832241156 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.8790391459074738, + "y": 7.526358244365362 + }, + "prevControl": { + "x": 1.6365321729512556, + "y": 7.465609844653007 + }, + "nextControl": { + "x": 2.121546118863692, + "y": 7.587106644077717 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.8031198102016615, + "y": 7.268137603795967 + }, + "prevControl": { + "x": 0.8752107543682976, + "y": 7.507517836415879 + }, + "nextControl": { + "x": 0.42411399378818265, + "y": 6.009636948184546 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.4588256227758012, + "y": 5.084021352313167 + }, + "prevControl": { + "x": 0.4889387492292675, + "y": 5.458299710277916 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.28486646884272737, + "rotationDegrees": 76.69826503940088 + }, + { + "waypointRelativePos": 0.9139465875370935, + "rotationDegrees": -179.23505781164891 + }, + { + "waypointRelativePos": 1.7744807121661785, + "rotationDegrees": 180.0 + }, + { + "waypointRelativePos": 2.86053412462906, + "rotationDegrees": -89.5033421886735 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Stop Spindexer", + "waypointRelativePos": 0.0, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Hood Down", + "waypointRelativePos": 1.1917191719171927, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Stop Hood Down", + "waypointRelativePos": 1.5697569756975704, + "endWaypointRelativePos": null, + "command": null + }, + { + "name": "Start Spindexer", + "waypointRelativePos": 1.598559855985599, + "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": -90.37860096211433 + }, + "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/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 4eb087b..7e11e48 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -4,9 +4,10 @@ "holonomicMode": true, "pathFolders": [ "Center Autos", + "Field Testing Autos", "Left Autos", "Miscellaneous", - "Field Testing Autos", + "week 2 autos", "Right Autos" ], "autoFolders": [], diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 542a5b6..5f50053 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -141,7 +141,7 @@ public class RobotContainer { PathGroupLoader.loadPathGroups(); // Load the auto command try { - String leftSideAuto = "Left(No SOTM) - Under Trench"; + String leftSideAuto = "Left Week 2"; // String rightSideAuto = "Right(2) - Under Trench"; // String testing = "Straight Test"; PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto); @@ -225,6 +225,8 @@ public class RobotContainer { if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){ Command runSpindexer = new RunSpindexer(spindexer, turret); NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer)); + NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer)); + NamedCommands.registerCommand("Start Spindexer", new InstantCommand(() -> runSpindexer.schedule())); NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel())); }