From 5c54dbf2f3cc1319962cec2003c45e23f6e05489 Mon Sep 17 00:00:00 2001 From: 3729 Drive Station Date: Tue, 26 Mar 2024 15:46:36 -0600 Subject: [PATCH 1/3] comp --- .pathplanner/settings.json | 2 +- .../autos/REDSourceSpeaker1Note.auto | 37 ++++++ ...urceSpeaker3NoteFarSourceFarMidSource.auto | 113 ++++++++++++++++++ .../deploy/pathplanner/paths/AmpMobility.path | 2 +- .../paths/AmpNoteFarNoteFrontCenter.path | 2 +- .../AmpSpeaker-CloseAmp Low Profile.path | 2 +- .../paths/AmpSpeaker-CloseAmp.path | 2 +- .../pathplanner/paths/AmpSpeaker-FarAmp.path | 2 +- .../paths/AmpSpeaker-Mobility.path | 2 +- .../paths/CenterSpeaker-CloseAmp.path | 2 +- .../paths/CenterSpeaker-CloseMid.path | 2 +- .../paths/CenterSpeaker-CloseSource.path | 2 +- .../CenterSpeaker-FarMidAmp-NoCloseNotes.path | 2 +- .../paths/CenterSpeaker-FarMidAmp.path | 2 +- .../paths/CloseAmp-AmpSpeaker.path | 2 +- .../paths/CloseAmp-CenterSpeaker.path | 2 +- .../pathplanner/paths/CloseAmp-CloseMid.path | 2 +- .../paths/CloseAmpNote - PreCloseMidNote.path | 2 +- .../paths/CloseMid - PreCloseMid.path | 2 +- .../paths/CloseMid - PreCloseSource.path | 2 +- .../paths/CloseMid-CenterSpeaker.path | 2 +- .../paths/CloseMid-CloseSource.path | 2 +- .../paths/CloseSource - PreCloseSource.path | 2 +- .../paths/CloseSource-CenterSpeaker.path | 2 +- .../paths/CloseSource-SourceShotPoint.path | 12 +- .../paths/FarAmp - PreCloseAmp.path | 2 +- .../pathplanner/paths/FarAmp-AmpSpeaker.path | 2 +- .../paths/FarMidAmp - PreCloseAmp.path | 2 +- .../FarMidAmp-CenterSpeaker-NoCloseNotes.path | 2 +- .../paths/FarMidAmp-CenterSpeaker.path | 2 +- .../paths/FarMidSource-SourceShotPoint.path | 20 ++-- .../paths/FarSource-SourceShotPoint.path | 20 ++-- .../paths/PreCloseAmp - CloseAmp.path | 2 +- .../paths/PreCloseMid - CloseMid.path | 2 +- .../paths/PreCloseSource - CloseSource.path | 2 +- .../REDFarMidSource-SourceShotPoint.path | 68 +++++++++++ .../paths/REDFarSource-SourceShotPoint.path | 52 ++++++++ .../paths/REDSourceShotPoint-FarSource.path | 86 +++++++++++++ .../REDSourceShotPoint-FarSourceMidNote.path | 90 ++++++++++++++ .../REDSourceSpeaker-SourceShotPoint.path | 52 ++++++++ .../pathplanner/paths/SourceMobility.path | 2 +- .../paths/SourceShotPoint-CloseSource.path | 12 +- .../paths/SourceShotPoint-FarSource.path | 28 ++--- .../SourceShotPoint-FarSourceMidNote.path | 34 +++--- .../paths/SourceShotPoint-MessupCenter.path | 52 +++++--- .../paths/SourceShotPoint-Mobility.path | 12 +- .../paths/SourceSpeaker-SourceShotPoint.path | 12 +- src/main/java/frc/robot/Constants.java | 55 ++++----- src/main/java/frc/robot/RobotContainer.java | 45 ++++--- .../swerve/SwerveDriveSubsystem.java | 10 +- .../MiscRobotTelemetryAndAlerts.java | 8 +- 51 files changed, 697 insertions(+), 183 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/REDSourceSpeaker1Note.auto create mode 100644 src/main/deploy/pathplanner/autos/REDSourceSpeaker3NoteFarSourceFarMidSource.auto create mode 100644 src/main/deploy/pathplanner/paths/REDFarMidSource-SourceShotPoint.path create mode 100644 src/main/deploy/pathplanner/paths/REDFarSource-SourceShotPoint.path create mode 100644 src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSource.path create mode 100644 src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSourceMidNote.path create mode 100644 src/main/deploy/pathplanner/paths/REDSourceSpeaker-SourceShotPoint.path diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index d2f976f..78071a3 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -13,7 +13,7 @@ "Source Speaker" ], "defaultMaxVel": 3.8, - "defaultMaxAccel": 4.375, + "defaultMaxAccel": 4.0, "defaultMaxAngVel": 500.0, "defaultMaxAngAccel": 1000.0, "maxModuleSpeed": 4.0 diff --git a/src/main/deploy/pathplanner/autos/REDSourceSpeaker1Note.auto b/src/main/deploy/pathplanner/autos/REDSourceSpeaker1Note.auto new file mode 100644 index 0000000..6ba5927 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/REDSourceSpeaker1Note.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.74, + "y": 4.48 + }, + "rotation": -60.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "AutoStart" + } + }, + { + "type": "path", + "data": { + "pathName": "REDSourceSpeaker-SourceShotPoint" + } + }, + { + "type": "named", + "data": { + "name": "DynamicShoot" + } + } + ] + } + }, + "folder": "Source Speaker", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/REDSourceSpeaker3NoteFarSourceFarMidSource.auto b/src/main/deploy/pathplanner/autos/REDSourceSpeaker3NoteFarSourceFarMidSource.auto new file mode 100644 index 0000000..d06a7a9 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/REDSourceSpeaker3NoteFarSourceFarMidSource.auto @@ -0,0 +1,113 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.74, + "y": 4.48 + }, + "rotation": -60.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "AutoStart" + } + }, + { + "type": "path", + "data": { + "pathName": "REDSourceSpeaker-SourceShotPoint" + } + }, + { + "type": "named", + "data": { + "name": "DynamicShoot" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "REDSourceShotPoint-FarSource" + } + }, + { + "type": "path", + "data": { + "pathName": "REDFarSource-SourceShotPoint" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeUntilNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "DynamicShoot" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "REDSourceShotPoint-FarSourceMidNote" + } + }, + { + "type": "path", + "data": { + "pathName": "REDFarMidSource-SourceShotPoint" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeUntilNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "DynamicShoot" + } + } + ] + } + }, + "folder": "Source Speaker", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/AmpMobility.path b/src/main/deploy/pathplanner/paths/AmpMobility.path index 88e2a7c..a0941a4 100644 --- a/src/main/deploy/pathplanner/paths/AmpMobility.path +++ b/src/main/deploy/pathplanner/paths/AmpMobility.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/AmpNoteFarNoteFrontCenter.path b/src/main/deploy/pathplanner/paths/AmpNoteFarNoteFrontCenter.path index 45c0a04..326a8af 100644 --- a/src/main/deploy/pathplanner/paths/AmpNoteFarNoteFrontCenter.path +++ b/src/main/deploy/pathplanner/paths/AmpNoteFarNoteFrontCenter.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp Low Profile.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp Low Profile.path index 937e037..30e161a 100644 --- a/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp Low Profile.path +++ b/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp Low Profile.path @@ -72,7 +72,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path index a9105bc..0aad619 100644 --- a/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path +++ b/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path @@ -72,7 +72,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path index e97f7a1..0973239 100644 --- a/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path +++ b/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path @@ -88,7 +88,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-Mobility.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-Mobility.path index e8b873b..0b7e03a 100644 --- a/src/main/deploy/pathplanner/paths/AmpSpeaker-Mobility.path +++ b/src/main/deploy/pathplanner/paths/AmpSpeaker-Mobility.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path index 50de488..eaf9f67 100644 --- a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path +++ b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path @@ -72,7 +72,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path index dacbdc2..5f908e4 100644 --- a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path +++ b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path @@ -72,7 +72,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path index d11ea23..b7d5055 100644 --- a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path +++ b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path @@ -72,7 +72,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path index b636922..7afc56e 100644 --- a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path +++ b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path @@ -76,7 +76,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path index 10223d4..f69126a 100644 --- a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path +++ b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path @@ -104,7 +104,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path b/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path index 4e8ef97..db7632a 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path +++ b/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path index 4d39677..3512335 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path +++ b/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseAmp-CloseMid.path b/src/main/deploy/pathplanner/paths/CloseAmp-CloseMid.path index 85971cb..7cae5d0 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmp-CloseMid.path +++ b/src/main/deploy/pathplanner/paths/CloseAmp-CloseMid.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseAmpNote - PreCloseMidNote.path b/src/main/deploy/pathplanner/paths/CloseAmpNote - PreCloseMidNote.path index 0b361ec..ed7a837 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmpNote - PreCloseMidNote.path +++ b/src/main/deploy/pathplanner/paths/CloseAmpNote - PreCloseMidNote.path @@ -51,7 +51,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseMid - PreCloseMid.path b/src/main/deploy/pathplanner/paths/CloseMid - PreCloseMid.path index 6498e71..278fef2 100644 --- a/src/main/deploy/pathplanner/paths/CloseMid - PreCloseMid.path +++ b/src/main/deploy/pathplanner/paths/CloseMid - PreCloseMid.path @@ -45,7 +45,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseMid - PreCloseSource.path b/src/main/deploy/pathplanner/paths/CloseMid - PreCloseSource.path index 6e6777e..8b0e7f6 100644 --- a/src/main/deploy/pathplanner/paths/CloseMid - PreCloseSource.path +++ b/src/main/deploy/pathplanner/paths/CloseMid - PreCloseSource.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path index 07c39d3..af6dbbd 100644 --- a/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path +++ b/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseMid-CloseSource.path b/src/main/deploy/pathplanner/paths/CloseMid-CloseSource.path index b321e94..6bc0446 100644 --- a/src/main/deploy/pathplanner/paths/CloseMid-CloseSource.path +++ b/src/main/deploy/pathplanner/paths/CloseMid-CloseSource.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseSource - PreCloseSource.path b/src/main/deploy/pathplanner/paths/CloseSource - PreCloseSource.path index 51c4622..800d482 100644 --- a/src/main/deploy/pathplanner/paths/CloseSource - PreCloseSource.path +++ b/src/main/deploy/pathplanner/paths/CloseSource - PreCloseSource.path @@ -33,7 +33,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path index 80313d9..191578a 100644 --- a/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path +++ b/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/CloseSource-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/CloseSource-SourceShotPoint.path index cd1d1db..4c5493c 100644 --- a/src/main/deploy/pathplanner/paths/CloseSource-SourceShotPoint.path +++ b/src/main/deploy/pathplanner/paths/CloseSource-SourceShotPoint.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": { - "x": 1.4193777693110943, - "y": 3.8228099511754583 + "x": 0.855953447843377, + "y": 4.299755492974569 }, "nextControl": null, "isLocked": false, @@ -51,13 +51,13 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, "goalEndState": { "velocity": 0, - "rotation": -60.0, + "rotation": -68.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/FarAmp - PreCloseAmp.path b/src/main/deploy/pathplanner/paths/FarAmp - PreCloseAmp.path index 56bf7c6..33c5102 100644 --- a/src/main/deploy/pathplanner/paths/FarAmp - PreCloseAmp.path +++ b/src/main/deploy/pathplanner/paths/FarAmp - PreCloseAmp.path @@ -76,7 +76,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/FarAmp-AmpSpeaker.path b/src/main/deploy/pathplanner/paths/FarAmp-AmpSpeaker.path index 8790c81..2df1d50 100644 --- a/src/main/deploy/pathplanner/paths/FarAmp-AmpSpeaker.path +++ b/src/main/deploy/pathplanner/paths/FarAmp-AmpSpeaker.path @@ -55,7 +55,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/FarMidAmp - PreCloseAmp.path b/src/main/deploy/pathplanner/paths/FarMidAmp - PreCloseAmp.path index 0aefc2c..8fc2c73 100644 --- a/src/main/deploy/pathplanner/paths/FarMidAmp - PreCloseAmp.path +++ b/src/main/deploy/pathplanner/paths/FarMidAmp - PreCloseAmp.path @@ -76,7 +76,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker-NoCloseNotes.path b/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker-NoCloseNotes.path index a08fb0a..3d25349 100644 --- a/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker-NoCloseNotes.path +++ b/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker-NoCloseNotes.path @@ -60,7 +60,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker.path index cb47b52..df7e029 100644 --- a/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker.path +++ b/src/main/deploy/pathplanner/paths/FarMidAmp-CenterSpeaker.path @@ -71,7 +71,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/FarMidSource-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/FarMidSource-SourceShotPoint.path index a93b4d9..75860a0 100644 --- a/src/main/deploy/pathplanner/paths/FarMidSource-SourceShotPoint.path +++ b/src/main/deploy/pathplanner/paths/FarMidSource-SourceShotPoint.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 8.25, - "y": 2.432078175029955 + "x": 8.5, + "y": 2.8 }, "prevControl": null, "nextControl": { - "x": 7.153687983211928, - "y": 2.0173778996357132 + "x": 7.403687983211928, + "y": 2.385299724605758 }, "isLocked": false, "linkedName": "FarMidSourceNote" @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": { - "x": 2.819558642966207, - "y": 2.4178036874446422 + "x": 2.25613432149849, + "y": 2.8947492292437533 }, "nextControl": null, "isLocked": false, @@ -49,13 +49,13 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, "goalEndState": { "velocity": 0, - "rotation": -60.0, + "rotation": -68.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/FarSource-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/FarSource-SourceShotPoint.path index 6cd5fee..d8f9ced 100644 --- a/src/main/deploy/pathplanner/paths/FarSource-SourceShotPoint.path +++ b/src/main/deploy/pathplanner/paths/FarSource-SourceShotPoint.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 8.25, - "y": 0.7749824424295128 + "x": 8.5, + "y": 1.2 }, "prevControl": null, "nextControl": { - "x": 7.254766816315967, - "y": 0.9584357615087478 + "x": 7.504766816315967, + "y": 1.383453319079235 }, "isLocked": false, "linkedName": "FarSourceNote" }, { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": { - "x": 3.7834782885654104, - "y": 2.020863497562958 + "x": 2.3065055799322796, + "y": 1.921769136159138 }, "nextControl": null, "isLocked": false, @@ -33,13 +33,13 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, "goalEndState": { "velocity": 0, - "rotation": -60.0, + "rotation": -68.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/PreCloseAmp - CloseAmp.path b/src/main/deploy/pathplanner/paths/PreCloseAmp - CloseAmp.path index 852baef..6be7c5b 100644 --- a/src/main/deploy/pathplanner/paths/PreCloseAmp - CloseAmp.path +++ b/src/main/deploy/pathplanner/paths/PreCloseAmp - CloseAmp.path @@ -45,7 +45,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/PreCloseMid - CloseMid.path b/src/main/deploy/pathplanner/paths/PreCloseMid - CloseMid.path index 9c9d5b9..d7878bc 100644 --- a/src/main/deploy/pathplanner/paths/PreCloseMid - CloseMid.path +++ b/src/main/deploy/pathplanner/paths/PreCloseMid - CloseMid.path @@ -45,7 +45,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/PreCloseSource - CloseSource.path b/src/main/deploy/pathplanner/paths/PreCloseSource - CloseSource.path index 577bb51..3cddc33 100644 --- a/src/main/deploy/pathplanner/paths/PreCloseSource - CloseSource.path +++ b/src/main/deploy/pathplanner/paths/PreCloseSource - CloseSource.path @@ -45,7 +45,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/REDFarMidSource-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/REDFarMidSource-SourceShotPoint.path new file mode 100644 index 0000000..4fa68e3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/REDFarMidSource-SourceShotPoint.path @@ -0,0 +1,68 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.5, + "y": 2.8 + }, + "prevControl": null, + "nextControl": { + "x": 7.403687983211928, + "y": 2.385299724605758 + }, + "isLocked": false, + "linkedName": "FarMidSourceNote" + }, + { + "anchor": { + "x": 5.513255300958551, + "y": 1.8960832440592332 + }, + "prevControl": { + "x": 6.428091314384522, + "y": 1.8854614956863989 + }, + "nextControl": { + "x": 3.8384739377113624, + "y": 1.9155283751634469 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.0445175813246057, + "y": 3.895277066947966 + }, + "prevControl": { + "x": 2.25613432149849, + "y": 2.8947492292437533 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "FarShotSource" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.8, + "maxAcceleration": 4.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 1000.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -58.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Source Speaker", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/REDFarSource-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/REDFarSource-SourceShotPoint.path new file mode 100644 index 0000000..162f3e6 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/REDFarSource-SourceShotPoint.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.5, + "y": 1.2 + }, + "prevControl": null, + "nextControl": { + "x": 7.504766816315967, + "y": 1.383453319079235 + }, + "isLocked": false, + "linkedName": "FarSourceNote" + }, + { + "anchor": { + "x": 1.0445175813246057, + "y": 3.895277066947966 + }, + "prevControl": { + "x": 2.3065055799322796, + "y": 1.921769136159138 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.8, + "maxAcceleration": 4.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 1000.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -58.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Source Speaker", + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSource.path b/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSource.path new file mode 100644 index 0000000..9886d11 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSource.path @@ -0,0 +1,86 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.0445175813246057, + "y": 3.895277066947966 + }, + "prevControl": null, + "nextControl": { + "x": 2.0887769059543664, + "y": 1.203321956185892 + }, + "isLocked": false, + "linkedName": "FarShotSource" + }, + { + "anchor": { + "x": 7.15, + "y": 1.2 + }, + "prevControl": { + "x": 5.696697402122883, + "y": 1.2 + }, + "nextControl": { + "x": 7.200000000000001, + "y": 1.2 + }, + "isLocked": false, + "linkedName": "PreFarSource" + }, + { + "anchor": { + "x": 8.5, + "y": 1.2 + }, + "prevControl": { + "x": 8.45, + "y": 1.2 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "FarSourceNote" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1, + "rotationDegrees": 0, + "rotateFast": false + } + ], + "constraintZones": [ + { + "name": "Slow Pickup", + "minWaypointRelativePos": 1.0, + "maxWaypointRelativePos": 2.0, + "constraints": { + "maxVelocity": 1.375, + "maxAcceleration": 6.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 2000.0 + } + } + ], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.8, + "maxAcceleration": 4.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 1000.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": "Source Speaker", + "previewStartingState": { + "rotation": -58.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSourceMidNote.path b/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSourceMidNote.path new file mode 100644 index 0000000..159d675 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/REDSourceShotPoint-FarSourceMidNote.path @@ -0,0 +1,90 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.0445175813246057, + "y": 3.895277066947966 + }, + "prevControl": null, + "nextControl": { + "x": 2.9331694286798244, + "y": 2.078435098346024 + }, + "isLocked": false, + "linkedName": "FarShotSource" + }, + { + "anchor": { + "x": 5.920267107709789, + "y": 1.6397704042227415 + }, + "prevControl": { + "x": 5.191977670210137, + "y": 1.3563038926021924 + }, + "nextControl": { + "x": 6.702766172707919, + "y": 1.9443365133549604 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.246705587558758, + "y": 2.8 + }, + "prevControl": { + "x": 6.8966497589903835, + "y": 2.8 + }, + "nextControl": { + "x": 7.627228992901105, + "y": 2.8 + }, + "isLocked": false, + "linkedName": "PreFarMidSource" + }, + { + "anchor": { + "x": 8.5, + "y": 2.8 + }, + "prevControl": { + "x": 8.35646890495804, + "y": 2.8 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "FarMidSourceNote" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 2.0, + "rotationDegrees": 0, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.8, + "maxAcceleration": 4.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 1000.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -0.6035722361884116, + "rotateFast": false + }, + "reversed": false, + "folder": "Source Speaker", + "previewStartingState": { + "rotation": -68.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/REDSourceSpeaker-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/REDSourceSpeaker-SourceShotPoint.path new file mode 100644 index 0000000..ec801c7 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/REDSourceSpeaker-SourceShotPoint.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7416832472553837, + "y": 4.483698694249241 + }, + "prevControl": null, + "nextControl": { + "x": 0.7666832472553837, + "y": 4.440397424060019 + }, + "isLocked": false, + "linkedName": "SourceSpeaker" + }, + { + "anchor": { + "x": 1.0445175813246057, + "y": 3.895277066947966 + }, + "prevControl": { + "x": 1.0195175813246058, + "y": 3.938578337137188 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "FarShotSource" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.8, + "maxAcceleration": 4.0, + "maxAngularVelocity": 500.0, + "maxAngularAcceleration": 1000.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -58.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Source Speaker", + "previewStartingState": { + "rotation": -60.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceMobility.path b/src/main/deploy/pathplanner/paths/SourceMobility.path index 0d65fd1..79cbe10 100644 --- a/src/main/deploy/pathplanner/paths/SourceMobility.path +++ b/src/main/deploy/pathplanner/paths/SourceMobility.path @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, diff --git a/src/main/deploy/pathplanner/paths/SourceShotPoint-CloseSource.path b/src/main/deploy/pathplanner/paths/SourceShotPoint-CloseSource.path index ef170c2..fea1e15 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotPoint-CloseSource.path +++ b/src/main/deploy/pathplanner/paths/SourceShotPoint-CloseSource.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": null, "nextControl": { - "x": 1.1750428500857002, - "y": 3.9553194106388214 + "x": 0.6116185286179829, + "y": 4.432264952437933 }, "isLocked": false, "linkedName": "FarShotSource" @@ -67,7 +67,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, @@ -79,7 +79,7 @@ "reversed": false, "folder": "Source Speaker", "previewStartingState": { - "rotation": -60.0, + "rotation": -68.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSource.path b/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSource.path index 66855e5..1cf3ae8 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSource.path +++ b/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSource.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": null, "nextControl": { - "x": 2.6522012274220836, - "y": 0.726376414386781 + "x": 2.0887769059543664, + "y": 1.203321956185892 }, "isLocked": false, "linkedName": "FarShotSource" @@ -17,27 +17,27 @@ { "anchor": { "x": 7.15, - "y": 0.77 + "y": 1.2 }, "prevControl": { "x": 5.696697402122883, - "y": 0.77 + "y": 1.2 }, "nextControl": { "x": 7.200000000000001, - "y": 0.77 + "y": 1.2 }, "isLocked": false, - "linkedName": null + "linkedName": "PreFarSource" }, { "anchor": { - "x": 8.25, - "y": 0.7749824424295128 + "x": 8.5, + "y": 1.2 }, "prevControl": { - "x": 8.2, - "y": 0.7749824424295128 + "x": 8.45, + "y": 1.2 }, "nextControl": null, "isLocked": false, @@ -67,7 +67,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, @@ -79,7 +79,7 @@ "reversed": false, "folder": "Source Speaker", "previewStartingState": { - "rotation": -60.0, + "rotation": -68.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSourceMidNote.path b/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSourceMidNote.path index 8efd510..fa392f9 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSourceMidNote.path +++ b/src/main/deploy/pathplanner/paths/SourceShotPoint-FarSourceMidNote.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": null, "nextControl": { - "x": 3.930530361060722, - "y": 2.1686763373526747 + "x": 2.9331694286798244, + "y": 2.078435098346024 }, "isLocked": false, "linkedName": "FarShotSource" @@ -32,28 +32,28 @@ }, { "anchor": { - "x": 7.482522765971458, - "y": 2.432078175029955 + "x": 7.246705587558758, + "y": 2.8 }, "prevControl": { - "x": 7.132466937403084, - "y": 2.432078175029955 + "x": 6.8966497589903835, + "y": 2.8 }, "nextControl": { - "x": 7.863046171313806, - "y": 2.432078175029955 + "x": 7.627228992901105, + "y": 2.8 }, "isLocked": false, - "linkedName": null + "linkedName": "PreFarMidSource" }, { "anchor": { - "x": 8.25, - "y": 2.432078175029955 + "x": 8.5, + "y": 2.8 }, "prevControl": { - "x": 8.10646890495804, - "y": 2.432078175029955 + "x": 8.35646890495804, + "y": 2.8 }, "nextControl": null, "isLocked": false, @@ -71,7 +71,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, @@ -83,7 +83,7 @@ "reversed": false, "folder": "Source Speaker", "previewStartingState": { - "rotation": -60.0, + "rotation": -68.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/SourceShotPoint-MessupCenter.path b/src/main/deploy/pathplanner/paths/SourceShotPoint-MessupCenter.path index 027dce2..b17a2b9 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotPoint-MessupCenter.path +++ b/src/main/deploy/pathplanner/paths/SourceShotPoint-MessupCenter.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": null, "nextControl": { - "x": 2.4670369664813405, - "y": 1.6344956208430936 + "x": 1.9036126450136237, + "y": 2.1114411626422047 }, "isLocked": false, "linkedName": "FarShotSource" @@ -49,15 +49,31 @@ { "anchor": { "x": 7.829808041319553, - "y": 4.188914079720904 + "y": 4.284804773642762 }, "prevControl": { "x": 7.493857314213051, - "y": 3.619487207428674 + "y": 3.7153779013505317 }, "nextControl": { "x": 8.127402458513169, - "y": 4.693328103925317 + "y": 4.789218797847176 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.829808041319553, + "y": 5.75527186641562 + }, + "prevControl": { + "x": 8.157452685183618, + "y": 5.3206559715567225 + }, + "nextControl": { + "x": 7.31591365911083, + "y": 6.436945353131514 }, "isLocked": false, "linkedName": null @@ -65,27 +81,27 @@ { "anchor": { "x": 7.976691647385896, - "y": 5.748389059869603 + "y": 6.738829325819981 }, "prevControl": { - "x": 8.146087953971794, - "y": 5.231139719578222 + "x": 7.976691647385896, + "y": 6.455993054453153 }, "nextControl": { - "x": 7.849028347898968, - "y": 6.138207225152621 + "x": 7.976691647385896, + "y": 7.021665597186808 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.180780955410492, - "y": 7.358039156136207 + "x": 7.976691647385896, + "y": 7.595790280548532 }, "prevControl": { - "x": 7.300187435548373, - "y": 7.083998048122279 + "x": 7.976691647385896, + "y": 7.303208293579452 }, "nextControl": null, "isLocked": false, @@ -103,7 +119,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, @@ -115,7 +131,7 @@ "reversed": false, "folder": "Source Speaker", "previewStartingState": { - "rotation": -60.0, + "rotation": -68.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/SourceShotPoint-Mobility.path b/src/main/deploy/pathplanner/paths/SourceShotPoint-Mobility.path index e9536dc..1065ac5 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotPoint-Mobility.path +++ b/src/main/deploy/pathplanner/paths/SourceShotPoint-Mobility.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": null, "nextControl": { - "x": 1.8981129670916899, - "y": 1.4394932918808159 + "x": 1.3346886456239726, + "y": 1.916438833679927 }, "isLocked": false, "linkedName": "FarShotSource" @@ -39,7 +39,7 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, @@ -51,7 +51,7 @@ "reversed": false, "folder": "Source Speaker", "previewStartingState": { - "rotation": -60.0, + "rotation": -68.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/SourceSpeaker-SourceShotPoint.path b/src/main/deploy/pathplanner/paths/SourceSpeaker-SourceShotPoint.path index 635752a..a7eb4ba 100644 --- a/src/main/deploy/pathplanner/paths/SourceSpeaker-SourceShotPoint.path +++ b/src/main/deploy/pathplanner/paths/SourceSpeaker-SourceShotPoint.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.607941902792323, - "y": 3.418331525148855 + "x": 1.0445175813246057, + "y": 3.895277066947966 }, "prevControl": { - "x": 1.582941902792323, - "y": 3.461632795338077 + "x": 1.0195175813246058, + "y": 3.938578337137188 }, "nextControl": null, "isLocked": false, @@ -33,13 +33,13 @@ "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.8, - "maxAcceleration": 4.375, + "maxAcceleration": 4.0, "maxAngularVelocity": 500.0, "maxAngularAcceleration": 1000.0 }, "goalEndState": { "velocity": 0, - "rotation": -60.0, + "rotation": -68.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index bd5e816..6a58194 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -21,30 +21,24 @@ private Constants() {} public static class SetpointConstants { - public static final double REGULAR_SHOT_ELEVATOR_HEIGHT_METERS = Units.inchesToMeters(2.0); + public static final double REGULAR_SHOT_ELEVATOR_HEIGHT_METERS = Units.inchesToMeters(0.0); public static final InterpolatingDoubleTreeMap REGULAR_SHOT_WRIST_SETPOINT_TABLE = new InterpolatingDoubleTreeMap(); static { REGULAR_SHOT_WRIST_SETPOINT_TABLE.put(0.0, WristConstants.WRIST_MIN_RADIANS); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 1.14, Units.degreesToRadians(40.0) - WristConstants.WRIST_TO_SHOOTER); + 1.24, Units.degreesToRadians(42.0) - WristConstants.WRIST_TO_SHOOTER); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 1.69, Units.degreesToRadians(45.0) - WristConstants.WRIST_TO_SHOOTER); + 1.54, Units.degreesToRadians(44.0) - WristConstants.WRIST_TO_SHOOTER); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 2.17, Units.degreesToRadians(52.0) - WristConstants.WRIST_TO_SHOOTER); + 1.95, Units.degreesToRadians(50.0) - WristConstants.WRIST_TO_SHOOTER); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 2.55, Units.degreesToRadians(56.0) - WristConstants.WRIST_TO_SHOOTER); + 2.43, Units.degreesToRadians(58.0) - WristConstants.WRIST_TO_SHOOTER); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 2.78, Units.degreesToRadians(57.0) - WristConstants.WRIST_TO_SHOOTER); + 2.89, Units.degreesToRadians(62.0) - WristConstants.WRIST_TO_SHOOTER); REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 3.135, Units.degreesToRadians(59.0) - WristConstants.WRIST_TO_SHOOTER); - REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 3.22, Units.degreesToRadians(60.5) - WristConstants.WRIST_TO_SHOOTER); - REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 3.6, Units.degreesToRadians(62) - WristConstants.WRIST_TO_SHOOTER); - REGULAR_SHOT_WRIST_SETPOINT_TABLE.put( - 4.12, Units.degreesToRadians(64.5) - WristConstants.WRIST_TO_SHOOTER); + 3.48, Units.degreesToRadians(66.0) - WristConstants.WRIST_TO_SHOOTER); } public static final double HIGH_SHOT_ELEVATOR_HEIGHT_METERS = Units.inchesToMeters(10.0); @@ -81,13 +75,14 @@ public static class SetpointConstants { public static final double INTAKE_WRIST_ANGLE_RADIANS = WristConstants.WRIST_MIN_RADIANS; public static final double CLOSE_SPEAKER_WRIST_ANGLE_RADIANS = - Units.degreesToRadians(40) - WristConstants.WRIST_TO_SHOOTER; - public static final double EXPEL_ELEVATOR_HEIGHT = Units.inchesToMeters(3.0); + Units.degreesToRadians(42) - WristConstants.WRIST_TO_SHOOTER; + public static final double EXPEL_ELEVATOR_HEIGHT = Units.inchesToMeters(0.0); public static final double EXPEL_WRIST_ANGLE_RADIANS = Units.degreesToRadians(90) - WristConstants.WRIST_TO_SHOOTER; - public static final double CLIMB_UP_ELEVATOR_HEIGHT = Units.inchesToMeters(11.0); - public static final double CLIMB_UP_WRIST_ANGLE_RADIANS = Math.PI / 2.0; - public static final double CLIMB_DOWN_WRIST_ANGLE_RADIANS = Math.PI / 2.0; + // 11 + public static final double CLIMB_UP_ELEVATOR_HEIGHT = Units.inchesToMeters(10.0); + public static final double CLIMB_UP_WRIST_ANGLE_RADIANS = Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; + public static final double CLIMB_DOWN_WRIST_ANGLE_RADIANS = Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; } public static class IntakeConstants { @@ -159,11 +154,11 @@ public static class ElevatorConstants { public static final TunablePIDGains PID_GAINS = new TunablePIDGains("/gains/elevator", 42.0, 0.0, 0.0, true); public static final TunableTrapezoidalProfileGains TRAPEZOIDAL_PROFILE_GAINS = - new TunableTrapezoidalProfileGains("/gains/elevator", 0.25, 0.5, MiscConstants.TUNING_MODE); + new TunableTrapezoidalProfileGains("/gains/elevator", 0.25, 0.25, MiscConstants.TUNING_MODE); public static final TunableArmElevatorFFGains FF_GAINS = new TunableArmElevatorFFGains( - "/gains/elevator", 0.12892, 0.057717, 43.046, 6.0387, MiscConstants.TUNING_MODE); + "/gains/elevator", 0.15013, 0.053896, 43.417, 4.0148, MiscConstants.TUNING_MODE); } public static class SwerveConstants { @@ -172,7 +167,7 @@ private SwerveConstants() {} public static final int PIGEON_ID = 21; public static final int NUM_MODULES = 4; - public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(1.921818 * 2); + public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(1.9414427803834284 * 2); public static final double DRIVE_GEAR_REDUCTION = (50.0 / 16) * (17.0 / 27) * (45.0 / 15); public static final double STEER_GEAR_REDUCTION = 150.0 / 7.0; @@ -232,18 +227,16 @@ private SwerveConstants() {} public static final SwerveModuleConfiguration FRONT_LEFT_MODULE_CONFIGURATION = new SwerveModuleConfiguration( - 12, 8, 17, true, true, -2.45283527982914, false, SHARED_SWERVE_MODULE_CONFIGURATION); + 12, 8, 17, true, true, -2.440563, false, SHARED_SWERVE_MODULE_CONFIGURATION); public static final SwerveModuleConfiguration FRONT_RIGHT_MODULE_CONFIGURATION = new SwerveModuleConfiguration( - 13, 5, 18, true, true, -0.32520392703175593, false, SHARED_SWERVE_MODULE_CONFIGURATION); - + 13, 5, 18, true, true, -0.348214, false, SHARED_SWERVE_MODULE_CONFIGURATION); public static final SwerveModuleConfiguration BACK_LEFT_MODULE_CONFIGURATION = new SwerveModuleConfiguration( - 14, 10, 19, true, true, -0.4770680250324344, false, SHARED_SWERVE_MODULE_CONFIGURATION); - + 14, 10, 19, true, true, -0.480136, false, SHARED_SWERVE_MODULE_CONFIGURATION); public static final SwerveModuleConfiguration BACK_RIGHT_MODULE_CONFIGURATION = new SwerveModuleConfiguration( - 15, 3, 20, true, true, -0.7194369895183657, false, SHARED_SWERVE_MODULE_CONFIGURATION); + 15, 3, 20, true, true, -0.719437, false, SHARED_SWERVE_MODULE_CONFIGURATION); } public static class AutoConstants { @@ -279,11 +272,11 @@ private AutoConstants() {} public static class WristConstants { public static final double WRIST_GEAR_RATIO = 25.0 * 42.0 / 18.0; - public static final double WRIST_MIN_RADIANS = -0.13236545988983028 - 0.31059; + public static final double WRIST_MIN_RADIANS = 0.7479511201007967; - public static final double WRIST_TO_SHOOTER = Units.degreesToRadians(26.5) - WRIST_MIN_RADIANS; + public static final double WRIST_TO_SHOOTER = Units.degreesToRadians(25.2) - WRIST_MIN_RADIANS; - public static final double WRIST_OFFSET = 0.5545670430374852 + Math.PI / 2.0 - 0.31059; + public static final double WRIST_OFFSET = -1.0815 -0.091469; public static final int WRIST_ENCODER_PORT = 7; public static final int WRIST_MOTOR_ID = 2; @@ -293,7 +286,7 @@ public static class WristConstants { public static final TunableArmElevatorFFGains WRIST_FF_GAINS = new TunableArmElevatorFFGains( - "/gains/wrist/", 0.13193, 0.25029, 0.93277, 0.10262, MiscConstants.TUNING_MODE); + "/gains/wrist/", 0.079672, 0.24001, 0.98823, 0.10831, MiscConstants.TUNING_MODE); public static final TunablePIDGains WRIST_PID_GAINS = new TunablePIDGains("/gains/wrist/", 4, 0.0, 0.0, MiscConstants.TUNING_MODE); diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index aca8ae9..3b513eb 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -260,27 +260,27 @@ private void configureDriverBindings() { elevatorSubsystem, wristSubsystem)) .withName("SnapToSpeakerAndWrist")); - driverController - .y() - .whileTrue( - Commands.parallel( - Commands.run(() -> snapToSpeaker.set(true)) - .finallyDo(() -> snapToSpeaker.set(false)), - ElevatorWristCommands.elevatorWristDynamicCommand( - () -> SetpointConstants.HIGH_SHOT_ELEVATOR_HEIGHT_METERS, - () -> { - OptionalDouble distance = photonSubsystem.getDistanceSpeaker(); - // TODO: Filter this so it doesn't start to go down if tag goes out for a - // small time - if (distance.isEmpty()) { - return SetpointConstants.CLOSE_SPEAKER_WRIST_ANGLE_RADIANS; - } - return SetpointConstants.HIGH_SHOT_WRIST_SETPOINT_TABLE.get( - distance.getAsDouble()); - }, - elevatorSubsystem, - wristSubsystem)) - .withName("SnapToSpeakerAndWristHigh")); + // driverController + // .y() + // .whileTrue( + // Commands.parallel( + // Commands.run(() -> snapToSpeaker.set(true)) + // .finallyDo(() -> snapToSpeaker.set(false)), + // ElevatorWristCommands.elevatorWristDynamicCommand( + // () -> SetpointConstants.HIGH_SHOT_ELEVATOR_HEIGHT_METERS, + // () -> { + // OptionalDouble distance = photonSubsystem.getDistanceSpeaker(); + // // TODO: Filter this so it doesn't start to go down if tag goes out for a + // // small time + // if (distance.isEmpty()) { + // return SetpointConstants.CLOSE_SPEAKER_WRIST_ANGLE_RADIANS; + // } + // return SetpointConstants.HIGH_SHOT_WRIST_SETPOINT_TABLE.get( + // distance.getAsDouble()); + // }, + // elevatorSubsystem, + // wristSubsystem)) + // .withName("SnapToSpeakerAndWristHigh")); } private void configureOperatorBindings() { @@ -392,8 +392,7 @@ private void configureDriving() { } else { double target = 0.0; if (distance.isPresent()) { - target = Units.degreesToRadians(1.0) * distance.getAsDouble(); - target *= RaiderUtils.shouldFlip() ? 1 : -1; + target = Units.degreesToRadians(-2) * distance.getAsDouble(); } return snapController.calculate(result.getAsDouble(), target); } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java index 4d1fcd2..98c2e62 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java @@ -44,6 +44,8 @@ public class SwerveDriveSubsystem extends SubsystemBase { PIGEON_ID, "/drive/pigeon", MiscConstants.CANIVORE_NAME, MiscConstants.TUNING_MODE); private StatusSignal yawSignal; + private StatusSignal yawVelSignal; + private final SwerveDrivePoseEstimator poseEstimator; @@ -124,11 +126,17 @@ public SwerveDriveSubsystem(Function> cameraPos private void configurePigeon() { StringFaultRecorder faultRecorder = new StringFaultRecorder(); yawSignal = pigeon.getYaw(); + yawVelSignal = pigeon.getAngularVelocityZWorld(); ConfigurationUtils.applyCheckRecordCTRE( () -> yawSignal.setUpdateFrequency(ODOMETRY_FREQUENCY), () -> yawSignal.getAppliedUpdateFrequency() == ODOMETRY_FREQUENCY, faultRecorder.run("Update frequency"), MiscConstants.CONFIGURATION_ATTEMPTS); + ConfigurationUtils.applyCheckRecordCTRE( + () -> yawVelSignal.setUpdateFrequency(ODOMETRY_FREQUENCY), + () -> yawVelSignal.getAppliedUpdateFrequency() == ODOMETRY_FREQUENCY, + faultRecorder.run("Vel Update frequency"), + MiscConstants.CONFIGURATION_ATTEMPTS); ConfigurationUtils.applyCheckRecordCTRE( pigeon::optimizeBusUtilization, () -> true, @@ -153,7 +161,7 @@ private void updateOdometry() { * getPose().getRotation2d() for reset value. Counterclockwise is positive. */ private Rotation2d getGyroRotation() { - return Rotation2d.fromDegrees(yawSignal.refresh().getValue()); + return Rotation2d.fromDegrees(StatusSignal.getLatencyCompensatedValue(yawSignal, yawVelSignal)); } /** Sets the odometry perceived location to zero */ diff --git a/src/main/java/frc/robot/telemetry/MiscRobotTelemetryAndAlerts.java b/src/main/java/frc/robot/telemetry/MiscRobotTelemetryAndAlerts.java index 1d68988..da839ab 100644 --- a/src/main/java/frc/robot/telemetry/MiscRobotTelemetryAndAlerts.java +++ b/src/main/java/frc/robot/telemetry/MiscRobotTelemetryAndAlerts.java @@ -21,11 +21,11 @@ public class MiscRobotTelemetryAndAlerts { private static final String tableName = "/robot/"; - private final Alert highRIOCanUsageAlert = new Alert("High RIO CAN Usage", AlertType.WARNING); + private final Alert highRIOCanUsageAlert = new Alert("High RIO CAN Usage :(", AlertType.WARNING); private final LinearFilter highRIOCanUsageFilter = LinearFilter.movingAverage(50); private final Alert highCANivoreCanUsageAlert = - new Alert("High CANivore CAN Usage", AlertType.WARNING); + new Alert("High CANivore CAN Usage :)", AlertType.WARNING); private final LinearFilter highCANivoreCanUsageFilter = LinearFilter.movingAverage(50); private final Alert[] controllerAlerts = new Alert[MiscConstants.USED_CONTROLLER_PORTS.length]; @@ -52,12 +52,12 @@ public MiscRobotTelemetryAndAlerts() { for (int i = 0; i < controllerAlerts.length; i++) { controllerAlerts[i] = new Alert( - "Controller " + MiscConstants.USED_CONTROLLER_PORTS[i] + " is disconnected.", + "Controller " + MiscConstants.USED_CONTROLLER_PORTS[i] + " is disconnected. :(", AlertType.WARNING); } if (MiscConstants.TUNING_MODE) { - Alert tuningModeAlert = new Alert("Tuning Mode is Enabled", AlertType.INFO); + Alert tuningModeAlert = new Alert("Tuning Mode is Enabled :)", AlertType.INFO); tuningModeAlert.set(true); } From 260c0dcd2f93ea128c4b62e43be74f48aeb4dacf Mon Sep 17 00:00:00 2001 From: ohowe Date: Thu, 4 Apr 2024 08:09:06 -0600 Subject: [PATCH 2/3] Re-tuned wrist --- src/main/java/frc/robot/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 6a58194..1b8c891 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -272,11 +272,11 @@ private AutoConstants() {} public static class WristConstants { public static final double WRIST_GEAR_RATIO = 25.0 * 42.0 / 18.0; - public static final double WRIST_MIN_RADIANS = 0.7479511201007967; + public static final double WRIST_MIN_RADIANS = -0.22169540258784437; - public static final double WRIST_TO_SHOOTER = Units.degreesToRadians(25.2) - WRIST_MIN_RADIANS; + public static final double WRIST_TO_SHOOTER = Units.degreesToRadians(26) - WRIST_MIN_RADIANS; - public static final double WRIST_OFFSET = -1.0815 -0.091469; + public static final double WRIST_OFFSET = -2.1184; public static final int WRIST_ENCODER_PORT = 7; public static final int WRIST_MOTOR_ID = 2; @@ -286,7 +286,7 @@ public static class WristConstants { public static final TunableArmElevatorFFGains WRIST_FF_GAINS = new TunableArmElevatorFFGains( - "/gains/wrist/", 0.079672, 0.24001, 0.98823, 0.10831, MiscConstants.TUNING_MODE); + "/gains/wrist/", 0.09409, 0.2675, 1.0086, 0.084547, MiscConstants.TUNING_MODE); public static final TunablePIDGains WRIST_PID_GAINS = new TunablePIDGains("/gains/wrist/", 4, 0.0, 0.0, MiscConstants.TUNING_MODE); From 366b7b5feeadb70b6bba077e4d8afe99b1fa0c32 Mon Sep 17 00:00:00 2001 From: ohowe Date: Thu, 4 Apr 2024 08:10:34 -0600 Subject: [PATCH 3/3] Format --- src/main/java/frc/robot/Constants.java | 12 ++++++++---- src/main/java/frc/robot/RobotContainer.java | 5 +++-- .../subsystems/swerve/SwerveDriveSubsystem.java | 5 ++--- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1b8c891..70fab0b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -77,12 +77,15 @@ public static class SetpointConstants { public static final double CLOSE_SPEAKER_WRIST_ANGLE_RADIANS = Units.degreesToRadians(42) - WristConstants.WRIST_TO_SHOOTER; public static final double EXPEL_ELEVATOR_HEIGHT = Units.inchesToMeters(0.0); - public static final double EXPEL_WRIST_ANGLE_RADIANS = Units.degreesToRadians(90) - WristConstants.WRIST_TO_SHOOTER; + public static final double EXPEL_WRIST_ANGLE_RADIANS = + Units.degreesToRadians(90) - WristConstants.WRIST_TO_SHOOTER; // 11 public static final double CLIMB_UP_ELEVATOR_HEIGHT = Units.inchesToMeters(10.0); - public static final double CLIMB_UP_WRIST_ANGLE_RADIANS = Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; - public static final double CLIMB_DOWN_WRIST_ANGLE_RADIANS = Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; + public static final double CLIMB_UP_WRIST_ANGLE_RADIANS = + Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; + public static final double CLIMB_DOWN_WRIST_ANGLE_RADIANS = + Units.degreesToRadians(140) - WristConstants.WRIST_TO_SHOOTER; } public static class IntakeConstants { @@ -154,7 +157,8 @@ public static class ElevatorConstants { public static final TunablePIDGains PID_GAINS = new TunablePIDGains("/gains/elevator", 42.0, 0.0, 0.0, true); public static final TunableTrapezoidalProfileGains TRAPEZOIDAL_PROFILE_GAINS = - new TunableTrapezoidalProfileGains("/gains/elevator", 0.25, 0.25, MiscConstants.TUNING_MODE); + new TunableTrapezoidalProfileGains( + "/gains/elevator", 0.25, 0.25, MiscConstants.TUNING_MODE); public static final TunableArmElevatorFFGains FF_GAINS = new TunableArmElevatorFFGains( diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ae376e9..3a3dede 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -266,7 +266,8 @@ private void configureDriverBindings() { // () -> SetpointConstants.HIGH_SHOT_ELEVATOR_HEIGHT_METERS, // () -> { // OptionalDouble distance = photonSubsystem.getDistanceSpeaker(); - // // TODO: Filter this so it doesn't start to go down if tag goes out for a + // // TODO: Filter this so it doesn't start to go down if tag goes out for + // a // // small time // if (distance.isEmpty()) { // return SetpointConstants.CLOSE_SPEAKER_WRIST_ANGLE_RADIANS; @@ -276,7 +277,7 @@ private void configureDriverBindings() { // }, // elevatorSubsystem, // wristSubsystem)) - // .withName("SnapToSpeakerAndWristHigh")); + // .withName("SnapToSpeakerAndWristHigh")); } private void configureOperatorBindings() { diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java index 98c2e62..4c6bf24 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveDriveSubsystem.java @@ -44,8 +44,7 @@ public class SwerveDriveSubsystem extends SubsystemBase { PIGEON_ID, "/drive/pigeon", MiscConstants.CANIVORE_NAME, MiscConstants.TUNING_MODE); private StatusSignal yawSignal; - private StatusSignal yawVelSignal; - + private StatusSignal yawVelSignal; private final SwerveDrivePoseEstimator poseEstimator; @@ -132,7 +131,7 @@ private void configurePigeon() { () -> yawSignal.getAppliedUpdateFrequency() == ODOMETRY_FREQUENCY, faultRecorder.run("Update frequency"), MiscConstants.CONFIGURATION_ATTEMPTS); - ConfigurationUtils.applyCheckRecordCTRE( + ConfigurationUtils.applyCheckRecordCTRE( () -> yawVelSignal.setUpdateFrequency(ODOMETRY_FREQUENCY), () -> yawVelSignal.getAppliedUpdateFrequency() == ODOMETRY_FREQUENCY, faultRecorder.run("Vel Update frequency"),