From ab295b7c7fa6d4f03d12204c68af4a186fd2cb36 Mon Sep 17 00:00:00 2001 From: Simon Weil <113215817+WeilSimon@users.noreply.github.com> Date: Thu, 21 Mar 2024 08:29:11 -0700 Subject: [PATCH] feat: updates to CenterLanePCBAFSprint --- paths.chor | 3503 ++++++++--------- .../choreo/CenterLanePCBAFSprint.1.traj | 600 ++- .../choreo/CenterLanePCBAFSprint.2.traj | 146 +- .../choreo/CenterLanePCBAFSprint.3.traj | 329 +- .../choreo/CenterLanePCBAFSprint.4.traj | 1666 ++++---- .../choreo/CenterLanePCBAFSprint.5.traj | 728 ++-- .../deploy/choreo/CenterLanePCBAFSprint.traj | 3483 ++++++++-------- .../commands/autos/CenterLanePCBAFSprint.java | 12 +- .../drivetrain/DriveWithTargetingCommand.java | 3 +- .../commands/shooter/ShootSequence.java | 14 +- .../robot2024/util/auto/AutoCommand.java | 8 +- 11 files changed, 5100 insertions(+), 5392 deletions(-) diff --git a/paths.chor b/paths.chor index 778dd1b6..b1758313 100644 --- a/paths.chor +++ b/paths.chor @@ -22651,7 +22651,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - 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createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), - drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 1), - drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 2), - drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 3), - drivetrain.commandCopyVisionPose() + createSegmentSequence(drivetrain, shooter, indexer, 0, false, false, false), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, false, true), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, false, true), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, false, true) ) ), getPath(4).getCommand(drivetrain) diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java index bf3b2661..9560fe16 100644 --- a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java @@ -54,8 +54,7 @@ public void execute() { Rotation2d targetRot = drivetrain.getPose() .minus(target.get()).getTranslation().getAngle() - .rotateBy(isFlipped ? Rotation2d.fromDegrees(180) : Rotation2d.fromDegrees(0)) - .plus(Rotation2d.fromDegrees(5)); + .rotateBy(isFlipped ? Rotation2d.fromDegrees(180) : Rotation2d.fromDegrees(0)); // Logger.recordOutput("Targeting/setpointPose", new Pose2d(drivetrain.getPose().getTranslation(), targetRot)); drivetrain.setTargetPose(new Pose2d(drivetrain.getPose().getTranslation(), targetRot)); Logger.recordOutput("Targeting/rotErrorDegrees", Math.abs(targetRot.minus(drivetrain.getRotation()).getDegrees())); diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java b/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java index 3bef39de..dbb592bf 100644 --- a/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java +++ b/src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java @@ -2,6 +2,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; import org.team1540.robot2024.Constants; @@ -45,8 +47,16 @@ public ShootSequence(Shooter shooter, Indexer indexer, Supplier ); } - public static ShootSequence forAutoSubwoofer(Shooter shooter, Indexer indexer) { - return new ShootSequence(shooter, indexer, () -> HUB_SHOOT, 1.5); + public static Command forAutoSubwoofer(Shooter shooter, Indexer indexer) { + return Commands.race( + new PrepareShooterCommand(shooter, ()-> shooter.lerp.get(Units.feetToMeters(3))), + Commands.sequence( + Commands.waitSeconds(1.5), + Commands.runOnce(shooter::zeroPivotToCancoder), + IntakeAndFeed.withDefaults(indexer).withTimeout(0.5) + ) + + ); } diff --git a/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java b/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java index fe861722..1503c9f0 100644 --- a/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java +++ b/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java @@ -84,7 +84,7 @@ public void setPathIndex(int index){ * @param pathIndex * @return the commands to run in the segment */ - protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex, boolean shouldZeroCancoder, boolean shouldRealignYaw) { + protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex, boolean shouldZeroCancoder, boolean shouldRealignYaw, boolean shouldResetOdometry) { return Commands.sequence( Commands.deadline( getPath(pathIndex).getCommand(drivetrain), @@ -95,7 +95,7 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Commands.waitSeconds(0.25), new InstantCommand(shooter::zeroPivotToCancoder) ).onlyIf(()->shouldZeroCancoder), - drivetrain.commandCopyVisionPose(), + drivetrain.commandCopyVisionPose().onlyIf(()->shouldResetOdometry), Commands.parallel( new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4).onlyIf(()->shouldRealignYaw), Commands.sequence( @@ -112,11 +112,11 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, ); } protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex){ - return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, false, false); + return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, false, true, true); } protected Command createCancoderSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex) { - return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, true, false); + return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, true, true, true); } public List toTrajectory() {