From: iefomit Date: Fri, 13 Mar 2026 01:19:48 +0000 (-0700) Subject: testing autos, added paths X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=8f44434f6aef6b0f6f961d9d2f098a457a266b6d;p=FRC2026.git 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 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 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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 85ed2ed..0a550cb 100644 --- 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 685287a..169c32c 100644 --- 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 3009047..363e9d1 100644 --- 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 872b136..b698a1f 100644 --- 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();