From: iefomit Date: Sun, 29 Mar 2026 02:55:49 +0000 (-0700) Subject: AutoTuning X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=42f3c21e79529fc54b3832802b02afdf97e65dc3;p=FRC2026.git AutoTuning --- diff --git a/src/main/deploy/pathplanner/autos/Double Swipe.auto b/src/main/deploy/pathplanner/autos/Double Swipe.auto deleted file mode 100644 index 94d3ec7..0000000 --- a/src/main/deploy/pathplanner/autos/Double Swipe.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Swipe 1" - } - }, - { - "type": "path", - "data": { - "pathName": "Swipe 2" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/DoubleSwipe.auto b/src/main/deploy/pathplanner/autos/DoubleSwipe.auto new file mode 100644 index 0000000..3738c9e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/DoubleSwipe.auto @@ -0,0 +1,67 @@ +{ + "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": "W5 Full Left Path v3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + }, + { + "type": "named", + "data": { + "name": "Hood Down" + } + }, + { + "type": "path", + "data": { + "pathName": "Swipe2" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Jame's Square path.auto b/src/main/deploy/pathplanner/autos/Jame's Square path.auto deleted file mode 100644 index 47e02c3..0000000 --- a/src/main/deploy/pathplanner/autos/Jame's Square path.auto +++ /dev/null @@ -1,19 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Jame's Square path" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Week 2 autos", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto deleted file mode 100644 index 320cb79..0000000 --- a/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Trench Start Shifted" - } - }, - { - "type": "path", - "data": { - "pathName": "Full Left Path v3 (SHIFTED)" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto deleted file mode 100644 index 70d2d20..0000000 --- a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto +++ /dev/null @@ -1,49 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Trench Start" - } - }, - { - "type": "path", - "data": { - "pathName": "Left start to far neutral - down the middle" - } - }, - { - "type": "path", - "data": { - "pathName": "Far neutral to left start - down the middle" - } - }, - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "path", - "data": { - "pathName": "Left start hairpain back" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0 - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto deleted file mode 100644 index daa1292..0000000 --- a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto +++ /dev/null @@ -1,49 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Trench Start" - } - }, - { - "type": "path", - "data": { - "pathName": "Left start to far neutral - down the middle" - } - }, - { - "type": "path", - "data": { - "pathName": "Far neutral to left start - down the middle" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.0 - } - }, - { - "type": "path", - "data": { - "pathName": "Left start to near neutral - straight back" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0 - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Week V1.auto b/src/main/deploy/pathplanner/autos/Left Week V1.auto index 8c81abb..13d485d 100644 --- a/src/main/deploy/pathplanner/autos/Left Week V1.auto +++ b/src/main/deploy/pathplanner/autos/Left Week V1.auto @@ -34,12 +34,6 @@ "waitTime": 1.0 } }, - { - "type": "named", - "data": { - "name": "Stop Spindexer" - } - }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto deleted file mode 100644 index 46f1bb4..0000000 --- a/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Trench Start Shifted" - } - }, - { - "type": "path", - "data": { - "pathName": "Full Right Path v3 (SHIFTED)" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Trial Auto Path.auto b/src/main/deploy/pathplanner/autos/Trial Auto Path.auto deleted file mode 100644 index c3224d3..0000000 --- a/src/main/deploy/pathplanner/autos/Trial Auto Path.auto +++ /dev/null @@ -1,19 +0,0 @@ -{ - "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/Far neutral to left start - down the middle.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path deleted file mode 100644 index 91fea95..0000000 --- a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path +++ /dev/null @@ -1,89 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 8.3085588666341, - "y": 4.665 - }, - "prevControl": null, - "nextControl": { - "x": 8.313036773428234, - "y": 5.998552787663108 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.3085588666341, - "y": 6.3956595017040465 - }, - "prevControl": { - "x": 8.302277580071175, - "y": 5.977034400948992 - }, - "nextControl": { - "x": 8.322326911855162, - "y": 7.313250071745635 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.7, - "y": 7.623 - }, - "prevControl": { - "x": 5.031482799530884, - "y": 7.59091340451309 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 1.4067495559502714, - "rotationDegrees": -24.634740281575162 - } - ], - "constraintZones": [ - { - "name": "Go back to trench", - "minWaypointRelativePos": 0.7100802854594145, - "maxWaypointRelativePos": 2.0, - "constraints": { - "maxVelocity": 3.0, - "maxAcceleration": 1.5, - "maxAngularVelocity": 200.0, - "maxAngularAcceleration": 150.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 1.5, - "maxAcceleration": 1.5, - "maxAngularVelocity": 200.0, - "maxAngularAcceleration": 150.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -0.6883662028604366 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path deleted file mode 100644 index a16a72a..0000000 --- a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.828873072360619, - "y": 4.718208778173191 - }, - "prevControl": null, - "nextControl": { - "x": 7.833350979154753, - "y": 6.0517615658362995 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.828873072360619, - "y": 6.439679715302491 - }, - "prevControl": { - "x": 7.8225917857976945, - "y": 6.021054614547436 - }, - "nextControl": { - "x": 7.842641117581682, - "y": 7.35727028534408 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.7, - "y": 7.623 - }, - "prevControl": { - "x": 5.031482799530884, - "y": 7.59091340451309 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 1.4067495559502714, - "rotationDegrees": 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false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path b/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path deleted file mode 100644 index afdadc5..0000000 --- a/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path +++ /dev/null @@ -1,283 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.0, - "y": 7.623190984573506 - }, - "prevControl": null, - "nextControl": { - "x": 6.19392111698321, - "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": { - 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"named", - "data": { - "name": "Stop Hood Down" - } - } - }, - { - "name": "Start Spindexer", - "waypointRelativePos": 4.54, - "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": 0.0, - "rotation": 180.0 - }, - "reversed": false, - "folder": "week 5 (new stuff)", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "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 index 72bd96e..e5c6f67 100644 --- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path +++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path @@ -161,28 +161,6 @@ ], "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, @@ -194,17 +172,6 @@ } } }, - { - "name": "Start Spindexer", - "waypointRelativePos": 0.3104611923509808, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Start Spindexer" - } - } - }, { "name": "Stop Hood Down", "waypointRelativePos": 0.39145106861638246, @@ -276,7 +243,7 @@ "reversed": false, "folder": "week 2 autos", "idealStartingState": { - "velocity": 0, + "velocity": 0.5, "rotation": 0.0 }, "useDefaultConstraints": false diff --git a/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path b/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path deleted file mode 100644 index 2eddedd..0000000 --- a/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path +++ /dev/null @@ -1,283 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.0, - "y": 0.4481350154264931 - }, - "prevControl": null, - "nextControl": { - "x": 6.193921116983211, - "y": 0.4481350154264931 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.667485172004747, - "y": 1.642405478054566 - }, - "prevControl": { - "x": 7.665365003292386, - "y": 1.3845651641599017 - }, - "nextControl": { - "x": 7.684288184321054, - "y": 3.6858720874587565 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.667485172004747, - "y": 3.406913188612099 - }, - "prevControl": { - "x": 7.722519349903317, - "y": 3.1630459311480665 - }, - "nextControl": { - "x": 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"maxVelocity": 3.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "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/W5 Left Trench Start.path b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path new file mode 100644 index 0000000..dabc7c0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path @@ -0,0 +1,68 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.4, + "y": 7.623 + }, + "prevControl": null, + "nextControl": { + "x": 4.650000000000023, + "y": 7.623 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.5, + "y": 7.623 + }, + "prevControl": { + "x": 4.249999999999994, + "y": 7.623 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.5, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "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 57992de..59378b6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -264,17 +264,13 @@ public class RobotContainer { String leftSideAuto = "Left Week V1"; String rightSideAuto = "Right Week V1"; String shootOnlyAuto = "Shoot Only Left Week V1"; - String koushaDouble = "Kousha Double"; - String velocityTest = "Velocity TEST"; - String jame = "Jame's Square path"; + String doubleSwipe = "DoubleSwipe"; autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto)); addAuto(leftSideAuto); addAuto(rightSideAuto); addAuto(shootOnlyAuto); - addAuto(koushaDouble); - addAuto(velocityTest); - addAuto(jame); + addAuto(doubleSwipe); // put the Chooser on the SmartDashboard SmartDashboard.putData("Auto chooser", autoChooser);