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], + "timestamp": 9.202104163152415 + } + ], + "eventMarkers": [ + { + "timestamp": 5.8797537526195125, + "command": { + "type": "named", + "data": { + "name": "seekSB" + } + } + }, + { + "timestamp": 2.739361127567343, + "command": { + "type": "named", + "data": { + "name": "seek4" + } + } + }, + { + "timestamp": 1.2, + "command": { + "type": "named", + "data": { + "name": "seek5" + } + } + }, + { + "timestamp": 7.467553432438181, + "command": { + "type": "named", + "data": { + "name": "seek5D" + } + } + } + ] +} \ No newline at end of file diff --git a/src/main/java/com/team1701/robot/FieldConstants.java b/src/main/java/com/team1701/robot/FieldConstants.java index b7117ac4..2211b7e4 100644 --- a/src/main/java/com/team1701/robot/FieldConstants.java +++ b/src/main/java/com/team1701/robot/FieldConstants.java @@ -64,6 +64,10 @@ public final class FieldConstants { public static final Translation2d kDroppedSourceNoteRedTranslation = new Translation2d(kFieldLongLengthMeters - 3.73, 1.12); + public static final Translation2d kDroppedBlue5NoteTranslation = new Translation2d(6.124847888946533, 0.988); + public static final Translation2d kDroppedRed5NoteTranslation = + new Translation2d(kFieldLongLengthMeters - 6.124847888946533, 0.988); + public static final Translation2d kDroppedAmpNoteBlueTranslation = new Translation2d(4.99, 7.39); public static final Translation2d kDroppedAmpNoteRedTranslation = new Translation2d(kFieldLongLengthMeters - 4.99, 7.39); diff --git a/src/main/java/com/team1701/robot/RobotContainer.java b/src/main/java/com/team1701/robot/RobotContainer.java index 98528a24..e380f169 100644 --- a/src/main/java/com/team1701/robot/RobotContainer.java +++ b/src/main/java/com/team1701/robot/RobotContainer.java @@ -646,6 +646,7 @@ private void setupAutonomous() { var sourceDrop543source = commands.sourceDrop543source(); var sourceDrop54source = commands.sourceDrop54source(); var sourceDrop45source = commands.sourceDrop45source(); + var sourceSpit54source = commands.sourceSpit54source(); mAutonomousPaths.put("Shoot and Backup", shootAndBackupCommand.path()); mAutonomousPaths.put("Greedy Middle Auto", greedyMiddleCommand.path()); @@ -667,6 +668,7 @@ private void setupAutonomous() { mAutonomousPaths.put("Source Drop 543 Source", sourceDrop543source.path()); mAutonomousPaths.put("Source Drop 54 Source", sourceDrop54source.path()); mAutonomousPaths.put("Source Drop 45 Source", sourceDrop45source.path()); + mAutonomousPaths.put("Source Spit 54 Source", sourceSpit54source.path()); autonomousModeChooser.addDefaultOption("Shoot and Backup", shootAndBackupCommand.command()); autonomousModeChooser.addOption("Greedy Middle Auto", greedyMiddleCommand.command()); @@ -688,6 +690,7 @@ private void setupAutonomous() { autonomousModeChooser.addOption("Source Drop 543 Source", sourceDrop543source.command()); autonomousModeChooser.addOption("Source Drop 54 Source", sourceDrop54source.command()); autonomousModeChooser.addOption("Source Drop 45 Source", sourceDrop45source.command()); + autonomousModeChooser.addOption("Source Spit 54 Source", sourceSpit54source.command()); // autonomousModeChooser.addOption( // "Drive Characterization", diff --git a/src/main/java/com/team1701/robot/autonomous/AutoNote.java b/src/main/java/com/team1701/robot/autonomous/AutoNote.java index 01d7df6e..5d91bdf9 100644 --- a/src/main/java/com/team1701/robot/autonomous/AutoNote.java +++ b/src/main/java/com/team1701/robot/autonomous/AutoNote.java @@ -39,6 +39,11 @@ public class AutoNote { public static final AutoNote AR = new AutoNote( FieldConstants.kDroppedAmpNoteRedTranslation.getX(), FieldConstants.kDroppedAmpNoteRedTranslation.getY()); + public static final AutoNote B5D = new AutoNote( + FieldConstants.kDroppedBlue5NoteTranslation.getX(), FieldConstants.kDroppedBlue5NoteTranslation.getY()); + public static final AutoNote R5D = new AutoNote( + FieldConstants.kDroppedRed5NoteTranslation.getX(), FieldConstants.kDroppedRed5NoteTranslation.getY()); + public static final AutoNote X = new AutoNote(0, 0); private final Pose2d mBluePose; diff --git a/src/main/java/com/team1701/robot/commands/AutonomousCommands.java b/src/main/java/com/team1701/robot/commands/AutonomousCommands.java index aa10f534..677825bc 100644 --- a/src/main/java/com/team1701/robot/commands/AutonomousCommands.java +++ b/src/main/java/com/team1701/robot/commands/AutonomousCommands.java @@ -71,6 +71,9 @@ public AutonomousCommands(RobotState robotState, Drive drive, Shooter shooter, I NamedCommands.registerCommand("seekAB", setNoteToSeek(AutoNote.AB)); NamedCommands.registerCommand("seekSR", setNoteToSeek(AutoNote.SR)); NamedCommands.registerCommand("seekAR", setNoteToSeek(AutoNote.AR)); + NamedCommands.registerCommand( + "seek5D", + Commands.runOnce(() -> setNoteToSeek(Configuration.isRedAlliance() ? AutoNote.R5D : AutoNote.B5D))); } private Pose2d autoFlipPose(Pose2d pose) { @@ -769,4 +772,17 @@ public AutonomousCommand sourceDrop45source() { .withName("SourceDrop45SourceAuto"); return new AutonomousCommand(command, mPathBuilder.buildAndClear()); } + + public AutonomousCommand sourceSpit54source() { + var command = loggedSequence( + print("Started source spit 45 source auto"), + followChoreoPathSeekNoteAndSpit("SourceSpit54Source.1", 0.7), + followChoreoPathSeekNoteAndSpit("SourceSpit54Source.2", 0.1), + driveBackPreWarmAndShoot("SourceSpit54Source.3"), + followChoreoPathAndSeekNote("SourceSpit54Source.4"), + followChoreoPathAndSeekNote("SourceSpit54Source.5"), + driveBackPreWarmAndShoot("SourceSpit54Source.6")) + .withName("SourceSpit54SourceAuto"); + return new AutonomousCommand(command, mPathBuilder.buildAndClear()); + } } diff --git a/src/main/java/com/team1701/robot/commands/PassANote.java b/src/main/java/com/team1701/robot/commands/PassANote.java index 9535fb89..f6a6fa43 100644 --- a/src/main/java/com/team1701/robot/commands/PassANote.java +++ b/src/main/java/com/team1701/robot/commands/PassANote.java @@ -26,7 +26,6 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; -import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; public class PassANote extends Command { @@ -55,8 +54,6 @@ public class PassANote extends Command { private final RobotState mRobotState; private final Supplier mFieldRelativeSpeeds; private final PIDController mRotationController; - - @AutoLogOutput private final boolean mUseMidTarget; private TrapezoidProfile mRotationProfile; @@ -211,6 +208,7 @@ public void execute() { new ShootingState(shooterSetpoint, true, atAngle, atSpeed, atHeading, atPose, mShooting)); Logger.recordOutput(kLoggingPrefix + "AtPose", atPose); Logger.recordOutput(kLoggingPrefix + "HeadingSetpoint", headingSetpoint); + Logger.recordOutput(kLoggingPrefix + "UseMidTarget", mUseMidTarget); } @Override diff --git a/src/main/java/com/team1701/robot/subsystems/leds/LED.java b/src/main/java/com/team1701/robot/subsystems/leds/LED.java index 128badaa..4cff965d 100644 --- a/src/main/java/com/team1701/robot/subsystems/leds/LED.java +++ b/src/main/java/com/team1701/robot/subsystems/leds/LED.java @@ -1,6 +1,7 @@ package com.team1701.robot.subsystems.leds; import com.team1701.lib.drivers.leds.LEDController; +import com.team1701.robot.Configuration; import com.team1701.robot.states.RobotState; import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.DriverStation; @@ -82,32 +83,32 @@ private void setRainbow() { } } - // private void setDisabledLEDStates() { - // var color = Configuration.isBlueAlliance() ? LEDColors.kDisabledBlue : LEDColors.kDisabledRed; - // var cylonColumn = (int) ((Timer.getFPGATimestamp() * kCylonFrequency) % ((kTopLEDsPerRow - 1) * 2)); - // if (cylonColumn >= kTopLEDsPerRow) { - // cylonColumn = (kTopLEDsPerRow - 1) * 2 - cylonColumn; - // } - - // mLEDController.setAll(Color.kBlack); - // for (var row = 0; row < kTopLEDsRowCount; row++) { - // var rowStart = row * kTopLEDsPerRow; - // var rowEnd = rowStart + kTopLEDsPerRow - 1; - // var column = row % 2 == 0 ? rowStart + cylonColumn : rowEnd - cylonColumn; - // mLEDController.set(column, color); - // if (column > rowStart) { - // mLEDController.set(column - 1, color, 0.25); - // } - // if (column < rowEnd) { - // mLEDController.set(column + 1, color, 0.25); - // } - // } - // } - private void setDisabledLEDStates() { - setRainbow(); + var color = Configuration.isBlueAlliance() ? LEDColors.kDisabledBlue : LEDColors.kDisabledRed; + var cylonColumn = (int) ((Timer.getFPGATimestamp() * kCylonFrequency) % ((kTopLEDsPerRow - 1) * 2)); + if (cylonColumn >= kTopLEDsPerRow) { + cylonColumn = (kTopLEDsPerRow - 1) * 2 - cylonColumn; + } + + mLEDController.setAll(Color.kBlack); + for (var row = 0; row < kTopLEDsRowCount; row++) { + var rowStart = row * kTopLEDsPerRow; + var rowEnd = rowStart + kTopLEDsPerRow - 1; + var column = row % 2 == 0 ? rowStart + cylonColumn : rowEnd - cylonColumn; + mLEDController.set(column, color); + if (column > rowStart) { + mLEDController.set(column - 1, color, 0.25); + } + if (column < rowEnd) { + mLEDController.set(column + 1, color, 0.25); + } + } } + // private void setDisabledLEDStates() { + // setRainbow(); + // } + private void setScoringLEDStates() { var state = mRobotState.getShootingState(); if (state.isShooting) {