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} + }, + { + "timestamp": 5.690989547096541, + "command": { + "type": "named", + "data": { + "name": "seek4" + } + } + }, + { + "timestamp": 9.682752408630998, + "command": { + "type": "named", + "data": { + "name": "seek3" + } + } + } + ] +} \ No newline at end of file diff --git a/src/main/java/com/team1701/robot/Constants.java b/src/main/java/com/team1701/robot/Constants.java index 6aace4b3..851d8880 100644 --- a/src/main/java/com/team1701/robot/Constants.java +++ b/src/main/java/com/team1701/robot/Constants.java @@ -385,7 +385,7 @@ public static final class Shooter { public static final Rotation2d kShooterUpperLimit = Rotation2d.fromDegrees(58); public static final Rotation2d kShooterLowerLimit = Rotation2d.fromDegrees(12.5); - public static final Rotation2d kPassingHeadingTolerance = Rotation2d.fromRadians(0.1); + public static final Rotation2d kPassingHeadingTolerance = Rotation2d.fromRadians(0.05); public static final double kShooterAxisHeight = Units.inchesToMeters(7.52); public static final Rotation2d kShooterReleaseAngle = Rotation2d.fromDegrees(-2); @@ -441,7 +441,7 @@ public static final class Shooter { public static final LoggedTunableNumber kRotationKp = new LoggedTunableNumber("Shooter/Motor/Rotation/Kp"); public static final LoggedTunableNumber kRotationKd = new LoggedTunableNumber("Shooter/Motor/Rotation/Kd"); - public static final ShooterSetpoint kLowPassSetpoint = new ShooterSetpoint(300, kShooterLowerLimit); + public static final ShooterSetpoint kLowPassSetpoint = new ShooterSetpoint(250, kShooterLowerLimit); public static final InterpolatingDoubleTreeMap kShooterAngleInterpolator = new InterpolatingDoubleTreeMap(); // Radians @@ -498,7 +498,7 @@ public static final class Shooter { {66, 13}, {73, 9}, {89, 2}, - {100, 2} + {100, 1} }; public static final double[][] kPassingDistanceToAngleValues = { @@ -608,10 +608,10 @@ public static final class Climb { public static final int kLeftWinchId = 40; public static final int kRightWinchId = 41; - public static final Rotation2d kMaxSetpoint = Rotation2d.fromRadians(32); - public static final Rotation2d kMiddleSetpoint = Rotation2d.fromRadians(25); + public static final Rotation2d kMaxSetpoint = Rotation2d.fromRadians(35); + public static final Rotation2d kMiddleSetpoint = Rotation2d.fromRadians(31); - public static final double upperLimitRotations = Units.radiansToRotations(32) / kWinchReduction; + public static final double upperLimitRotations = Units.radiansToRotations(35) / kWinchReduction; public static final double lowerLimitRotations = Units.radiansToRotations(-2) / kWinchReduction; public static final LoggedTunableNumber kWinchKp = new LoggedTunableNumber("Climb/Winch/Kp"); @@ -689,7 +689,7 @@ public static final class Indexer { public static final double kIndexerLoadPercent = 0.8; public static final double kIndexerSlowPercent = 0.5; public static final double kIndexerReversePercent = -1; - public static final double kIndexerReverseBumpPercent = -0.2; + public static final double kIndexerReverseBumpPercent = -0.4; } public class Intake { diff --git a/src/main/java/com/team1701/robot/FieldConstants.java b/src/main/java/com/team1701/robot/FieldConstants.java index 0bcd81dd..3023af1a 100644 --- a/src/main/java/com/team1701/robot/FieldConstants.java +++ b/src/main/java/com/team1701/robot/FieldConstants.java @@ -45,16 +45,16 @@ public final class FieldConstants { public static final Pose2d kBlueAmpDrivePose = new Pose2d( Units.inchesToMeters(72.5), - Units.inchesToMeters(325.0) - Constants.Robot.kRobotFrontToCenterWithBumpers, + Units.inchesToMeters(328.0) - Constants.Robot.kRobotFrontToCenterWithBumpers, Rotation2d.fromDegrees(90)); public static final Pose2d kRedAmpDrivePose = new Pose2d( - Units.inchesToMeters(578.77), - Units.inchesToMeters(325.0) - Constants.Robot.kRobotFrontToCenterWithBumpers, + Units.inchesToMeters(582.77), + Units.inchesToMeters(328.0) - Constants.Robot.kRobotFrontToCenterWithBumpers, Rotation2d.fromDegrees(90)); public static final Pose2d kBluePassingTarget = new Pose2d(new Translation2d(1.5, 6.5), GeometryUtil.kRotationIdentity); public static final Pose2d kRedPassingTarget = - new Pose2d(new Translation2d(kFieldLongLengthMeters - 1.5, 6.5), GeometryUtil.kRotationIdentity); + new Pose2d(new Translation2d(kFieldLongLengthMeters - 1.5, 5.8), GeometryUtil.kRotationIdentity); } diff --git a/src/main/java/com/team1701/robot/RobotContainer.java b/src/main/java/com/team1701/robot/RobotContainer.java index 570be075..d225b609 100644 --- a/src/main/java/com/team1701/robot/RobotContainer.java +++ b/src/main/java/com/team1701/robot/RobotContainer.java @@ -148,8 +148,8 @@ public RobotContainer() { new DigitalIOSensor(Constants.Indexer.kIndexerExitSensorId, false))); intake = Optional.of(new Intake( SparkMotorFactory.createIntakeMotorIOSparkFlex(Constants.Intake.kIntakeMotorId), - new DigitalIOSensor(Constants.Intake.kIntakeEntranceSensorId, false), - new DigitalIOSensor(Constants.Intake.kIntakeExitSensorId, false))); + new DigitalIOSensor(Constants.Intake.kIntakeEntranceSensorId, true), + new DigitalIOSensor(Constants.Intake.kIntakeExitSensorId, true))); climb = Optional.of(new Climb( SparkMotorFactory.createArmClimbMotorIOSparkFlex( Constants.Climb.kLeftWinchId, MotorUsage.WINCH, true), @@ -330,6 +330,12 @@ private void setupControllerBindings() { .and(() -> DriverStation.isFMSAttached() && Timer.getMatchTime() < 30.5) .onTrue(rumbleController.rumblePulses(3).withInterruptBehavior(InterruptionBehavior.kCancelIncoming)); + teleopEnabled + .and(() -> DriverStation.isFMSAttached() && Timer.getMatchTime() < 20) + .whileTrue(rumbleController.rumblePulses(4)); + + teleopEnabled.and(mIntake::hasNote).whileTrue(rumbleController.rumblePulses(2)); + mDriverController .y() .and(() -> !mRobotState.getDetectedNoteForPickup().isPresent() || mRobotState.hasNote()) @@ -491,6 +497,22 @@ private void setupControllerBindings() { mClimb) .withName("StreamDeckRetractWinchCommand"); var stopShooterCommand = ShootCommands.stop(mShooter).withName("StreamDeckStopShootCommand"); + var shooterUpCommand = run( + () -> { + mShooter.setShooterUp(); + }, + mShooter) + .withName("StreamDeckShooterUpCommand"); + + var shooterDownCommand = startEnd( + () -> { + mShooter.setShooterDown(); + }, + () -> { + mShooter.stopRotation(); + }, + mShooter) + .withName("StreamDeckShooterDownCommand"); mStreamDeck.configureButton(config -> config.add( StreamDeckButton.kSpeakerModeButton, () -> mRobotState.getScoringMode() == ScoringMode.SPEAKER) @@ -502,8 +524,8 @@ private void setupControllerBindings() { .add(StreamDeckButton.kLeftClimbButton, leftClimbCommand::isScheduled) .add(StreamDeckButton.kRightClimbButton, rightClimbCommand::isScheduled) .add(StreamDeckButton.kCenterClimbButton, centerClimbCommand::isScheduled) - .add(StreamDeckButton.kUseHighButton, () -> false) - .add(StreamDeckButton.kUseLowButton, () -> false) + .add(StreamDeckButton.kRaiseShooterButton, shooterUpCommand::isScheduled) + .add(StreamDeckButton.kLowerShooterButton, shooterDownCommand::isScheduled) .add(StreamDeckButton.kShootButton, manualShootCommand::isScheduled) .add(StreamDeckButton.kExtendWinchButton, extendWinchCommand::isScheduled) .add(StreamDeckButton.kRetractWinchButton, retractWinchCommand::isScheduled) @@ -528,6 +550,15 @@ private void setupControllerBindings() { mStreamDeck.button(StreamDeckButton.kAmpModeButton).onTrue(setAmpModeCommand); mStreamDeck.button(StreamDeckButton.kClimbModeButton).onTrue(setClimbModeCommand); + mStreamDeck + .button(StreamDeckButton.kRaiseShooterButton) + .whileTrue(shooterUpCommand) + .onFalse(stopShooterCommand); + mStreamDeck + .button(StreamDeckButton.kLowerShooterButton) + .whileTrue(shooterDownCommand) + .onFalse(stopShooterCommand); + mStreamDeck .button(StreamDeckButton.kExtendWinchButton) .whileTrue(extendWinchCommand) @@ -567,6 +598,7 @@ private void setupAutonomous() { var centerB231Center = commands.centerB231Center(); var centerBA123Amp = commands.centerBA123Amp(); var centerBC123center = commands.centerBC123center(); + var source543source = commands.source543Source(); mAutonomousPaths.put("Shoot and Backup", shootAndBackupCommand.path()); mAutonomousPaths.put("Greedy Middle Auto", greedyMiddleCommand.path()); @@ -579,6 +611,7 @@ private void setupAutonomous() { mAutonomousPaths.put("Center B231 Center", centerB231Center.path()); mAutonomousPaths.put("Center BA123 Amp", centerBA123Amp.path()); mAutonomousPaths.put("Center BC123 Center", centerBC123center.path()); + mAutonomousPaths.put("Source 543 Source", source543source.path()); autonomousModeChooser.addDefaultOption("Shoot and Backup", shootAndBackupCommand.command()); autonomousModeChooser.addOption("Greedy Middle Auto", greedyMiddleCommand.command()); @@ -591,6 +624,7 @@ private void setupAutonomous() { autonomousModeChooser.addOption("Center B231 Center", centerB231Center.command()); autonomousModeChooser.addOption("Center BA123 Amp", centerBA123Amp.command()); autonomousModeChooser.addOption("Center BC123 Center", centerBC123center.command()); + autonomousModeChooser.addOption("Source 543 Source", source543source.command()); // autonomousModeChooser.addOption( // "Drive Characterization", diff --git a/src/main/java/com/team1701/robot/commands/AutonomousCommands.java b/src/main/java/com/team1701/robot/commands/AutonomousCommands.java index ff865e5f..9069842f 100644 --- a/src/main/java/com/team1701/robot/commands/AutonomousCommands.java +++ b/src/main/java/com/team1701/robot/commands/AutonomousCommands.java @@ -249,7 +249,7 @@ private Pose2d getFinalPose(String pathName) { private Command efficientlyPreWarmShootAndDrive(String pathName, String returnPath, AutoNote nextNote) { return race( driveBackPreWarmAndShoot(pathName).andThen(followChoreoPathAndSeekNote(returnPath)), - waitSeconds(.7) + waitSeconds(.5) .andThen(either( idle(), runOnce(() -> mRobotState.setUseAutonFallback(true)), @@ -504,4 +504,17 @@ public AutonomousCommand centerBC123center() { return new AutonomousCommand(command, mPathBuilder.buildAndClear()); } + + public AutonomousCommand source543Source() { + var command = loggedSequence( + print("Started source 543 source auto"), + driveToPoseWhileShooting( + getFirstPose("Source543Source.2"), FinishedState.END_AFTER_SHOOTING_AND_MOVING), + followChoreoPathAndSeekNote("Source543Source.2"), + efficientlyPreWarmShootAndDrive("Source543Source.3", "Source543Source.4", AutoNote.M4), + efficientlyPreWarmShootAndDrive("Source543Source.5", "Source543Source.6", AutoNote.M3), + driveBackPreWarmAndShoot("Source543Source.7")) + .withName("Source453sourceAuto"); + return new AutonomousCommand(command, mPathBuilder.buildAndClear()); + } } diff --git a/src/main/java/com/team1701/robot/commands/IntakeCommands.java b/src/main/java/com/team1701/robot/commands/IntakeCommands.java index 2f2173b1..442ee8d9 100644 --- a/src/main/java/com/team1701/robot/commands/IntakeCommands.java +++ b/src/main/java/com/team1701/robot/commands/IntakeCommands.java @@ -79,7 +79,7 @@ public static Command idleIntake(Intake intake, RobotState robotState) { } public static Command idleIndexer(Indexer indexer) { - var recentlyUnloaded = new TimeLockedBoolean(0.05, Timer.getFPGATimestamp(), false, false); + var recentlyUnloaded = new TimeLockedBoolean(0.06, Timer.getFPGATimestamp(), false, false); return Commands.run( () -> { var hasNoteAtExit = indexer.hasNoteAtExit(); diff --git a/src/main/java/com/team1701/robot/commands/ShootCommands.java b/src/main/java/com/team1701/robot/commands/ShootCommands.java index 7241280b..38f937ee 100644 --- a/src/main/java/com/team1701/robot/commands/ShootCommands.java +++ b/src/main/java/com/team1701/robot/commands/ShootCommands.java @@ -89,7 +89,7 @@ public static Command passLow( shooter.setSetpoint(setpoint); var atSpeed = setpoint.speeds().allMatch(shooter.getRollerSpeedsRadiansPerSecond(), 50.0); var atAngle = GeometryUtil.isNear( - shooter.getAngle(), setpoint.angle(), Rotation2d.fromRadians(.01)); + shooter.getAngle(), setpoint.angle(), Rotation2d.fromRadians(.02)); var atHeading = GeometryUtil.isNear( robotState.getPassingHeading(), robotState.getHeading(), diff --git a/src/main/java/com/team1701/robot/controls/StreamDeck.java b/src/main/java/com/team1701/robot/controls/StreamDeck.java index f6fc0c6f..fc6f9b90 100644 --- a/src/main/java/com/team1701/robot/controls/StreamDeck.java +++ b/src/main/java/com/team1701/robot/controls/StreamDeck.java @@ -71,8 +71,8 @@ public static enum StreamDeckButton { kLeftClimbButton(0, 1, "Controls/LeftClimbButton", "LeftClimbIcon", "Left"), kRightClimbButton(2, 1, "Controls/RightClimbButton", "RightClimbIcon", "Right"), kCenterClimbButton(1, 1, "Controls/CenterClimbButton", "CenterClimbIcon", "Center"), - kUseHighButton(0, 3, "Controls/ShooterUpButton", "RaiseShooterIcon", "Use High"), - kUseLowButton(2, 3, "Controls/ShooterDownButton", "LowerShooterIcon", "Use Low"), + kRaiseShooterButton(0, 3, "Controls/ShooterUpButton", "RaiseShooterIcon", "Raise"), + kLowerShooterButton(2, 3, "Controls/ShooterDownButton", "LowerShooterIcon", "Lower"), kShootButton(1, 2, "Controls/ShootButton", "ShootIcon", "Shoot"), kStopShootButton(1, 3, "Controls/StopShootButton", "StopShooterIcon", "Stop"), kSpeakerModeButton(0, 4, "Controls/SpeakerModeButton", "SpeakerModeIcon", "Speaker"), diff --git a/src/main/java/com/team1701/robot/util/ShooterUtil.java b/src/main/java/com/team1701/robot/util/ShooterUtil.java index 421e624e..738444b9 100644 --- a/src/main/java/com/team1701/robot/util/ShooterUtil.java +++ b/src/main/java/com/team1701/robot/util/ShooterUtil.java @@ -87,7 +87,7 @@ private static ShooterSpeeds calculateIdleRollerSpeeds(RobotState robotState) { double speed; var distance = robotState.getDistanceToSpeaker(); - if (!robotState.inNearHalf()) { + if (robotState.inOpponentWing()) { speed = 0; } else if (robotState.hasNote()) { speed = calculateSpeakerSpeed(distance);