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public static final double MAX_LINEAR_SPEED = Units.feetToMeters(IS_L3 ? 16.0 : 15.7); public static final double TRACK_WIDTH_X = Units.inchesToMeters(18.75); @@ -111,7 +111,7 @@ public static class Vision { public static final String REAR_CAMERA_NAME = "limelight-rear"; public static final Pose3d FRONT_CAMERA_POSE = new Pose3d(0.086018, 0, 0.627079, new Rotation3d(0, Math.toRadians(-40.843), 0)); - public static final Pose3d REAR_CAMERA_POSE = new Pose3d(0.046049, 0, 0.540510, new Rotation3d(0, Math.toRadians(10), Math.PI)); + public static final Pose3d REAR_CAMERA_POSE = new Pose3d(0.046049, 0, 0.540510, new Rotation3d(0, Math.toRadians(10), Math.PI + 0.043)); public static final boolean TAKE_SNAPSHOTS = true; public static final double SNAPSHOT_PERIOD_SECS = 1; @@ -149,7 +149,7 @@ public static class Flywheels { public static final double KS = 0.26925; public static final double KV = 0.07485; - public static final double ERROR_TOLERANCE_RPM = 1000; + public static final double ERROR_TOLERANCE_RPM = 2000; } public static class Pivot { @@ -204,7 +204,7 @@ public static class Elevator { public static final double CHAIN_HEIGHT_METERS = Units.inchesToMeters(28.25); public static final double MINIMUM_HEIGHT = Units.inchesToMeters(-2); //TODO: Does this make it angry? public static final double CLIMBING_HOOKS_MINIMUM_HEIGHT = Units.inchesToMeters(12.0); - public static final double MAX_HEIGHT = 0.5; //TODO: Fix these constants to be more accurate + public static final double MAX_HEIGHT = 0.52; //TODO: Fix these constants to be more accurate public static final double CLIMBING_HOOKS_MAX_HEIGHT = CLIMBING_HOOKS_MINIMUM_HEIGHT + MAX_HEIGHT - MINIMUM_HEIGHT; public static final double GEAR_RATIO = 11.571; diff --git a/src/main/java/org/team1540/robot2024/Robot.java b/src/main/java/org/team1540/robot2024/Robot.java index 50f54fc4..fb4843c9 100644 --- a/src/main/java/org/team1540/robot2024/Robot.java +++ b/src/main/java/org/team1540/robot2024/Robot.java @@ -163,14 +163,17 @@ public void enabledInit() { */ @Override public void autonomousInit() { - enabledInit(); + // robotContainer.leds.setPatternAll(LedPatternFlame::new, Leds.PatternCriticality.HIGH); robotContainer.drivetrain.blockTags(); + autonomousCommand = robotContainer.getAutonomousCommand(); + // schedule the autonomous command (example) if (autonomousCommand != null) { autonomousCommand.schedule(); } + } /** diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java index ec98aade..f2c4fb5e 100644 --- a/src/main/java/org/team1540/robot2024/RobotContainer.java +++ b/src/main/java/org/team1540/robot2024/RobotContainer.java @@ -253,20 +253,25 @@ private void configureAutoRoutines() { autos.add(new AutoCommand("WheelRadiusChar", new WheelRadiusCharacterization(drivetrain, WheelRadiusCharacterization.Direction.COUNTER_CLOCKWISE))); } autos.addDefault(new AutoCommand("Dwayne :skull:")); - autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); - autos.add(new DriveSinglePath("Taxi", drivetrain)); - autos.add(new DriveSinglePath("Sprint", drivetrain)); - autos.add(new DriveSinglePath("CenterLaneSprint", drivetrain, true, true)); - autos.add(new AmpLanePADESprint(drivetrain, shooter, indexer)); - autos.add(new CenterLanePSubSprint(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBADSprint(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBAFSprint(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); - autos.add(new CenterLanePBDA(drivetrain, shooter, indexer)); - autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); - autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); + autos.add(new AmpLanePADEF(drivetrain, shooter, indexer)); + autos.add(new CenterLanePDEABC(drivetrain, shooter, indexer)); + autos.add(new SourceLanePGHF(drivetrain, shooter, indexer)); + autos.add(new AmpLanepdChaos(drivetrain, shooter, indexer)); + autos.add(new SoureLanephChaos(drivetrain, shooter, indexer)); +// autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); +// autos.add(new DriveSinglePath("Taxi", drivetrain)); +// autos.add(new DriveSinglePath("Sprint", drivetrain)); +// autos.add(new DriveSinglePath("CenterLaneSprint", drivetrain, true, true)); +// autos.add(new AmpLanePADESprint(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePSubSprint(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePCBADSprint(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePCBAFSprint(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePBDA(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); autos.add(new SourceLanePGHSprint(drivetrain, shooter, indexer)); // autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); } diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePADEF.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePADEF.java new file mode 100644 index 00000000..8254ab4a --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePADEF.java @@ -0,0 +1,74 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; +import org.team1540.robot2024.commands.drivetrain.DriveWithTargetingCommand; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.indexer.IntakeCommand; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.commands.shooter.AutoShootPrepareWhileMoving; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class AmpLanePADEF extends AutoCommand { + + public AmpLanePADEF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!AmpLanePADEF"); + + addPath( + PathHelper.fromChoreoPath("AmpLanePADEF.1", true, true), + PathHelper.fromChoreoPath("AmpLanePADEF.2"), + PathHelper.fromChoreoPath("AmpLanePADEF.3"), + PathHelper.fromChoreoPath("AmpLanePADEF.4"), + PathHelper.fromChoreoPath("AmpLanePADEF.5") + ); + + addCommands( +// Commands.runOnce(drivetrain::unblockTags), + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), +// Commands.sequence( +// Commands.deadline( +// getPath(0).getCommand(drivetrain), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder), +// Commands.waitSeconds(1), +// IntakeAndFeed.withDefaults(indexer).withTimeout(2), +// new IntakeCommand(indexer, () -> false, 1) +// ) +// ), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder) +// ), +// drivetrain.commandCopyVisionPose(), +// Commands.parallel( +// new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4), +// Commands.sequence( +// new ParallelDeadlineGroup( +// Commands.sequence( +// Commands.waitUntil(()->!indexer.isNoteStaged()), +// Commands.waitSeconds(0.2) +// ).withTimeout(1), +// IntakeAndFeed.withDefaults(indexer) +// ) +// ) +// ), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + createSegmentSequence(drivetrain, shooter, indexer, 4) + ) +// ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanepdChaos.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanepdChaos.java new file mode 100644 index 00000000..ee213674 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanepdChaos.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.indexer.IntakeCommand; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class AmpLanepdChaos extends AutoCommand { + + public AmpLanepdChaos(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!AmpLanepdChaos"); + + addPath( + PathHelper.fromChoreoPath("AmpLanepdChaos.1", true, true) + ); + + addCommands( + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), + getPath(0).getCommand(drivetrain), + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.runOnce(shooter::zeroPivotToCancoder), + IntakeAndFeed.withDefaults(indexer).withTimeout(0.5), + new IntakeCommand(indexer, ()->false, 1) + ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePDEABC.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePDEABC.java new file mode 100644 index 00000000..f982d442 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePDEABC.java @@ -0,0 +1,72 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.*; +import org.team1540.robot2024.commands.drivetrain.DriveWithTargetingCommand; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.indexer.IntakeCommand; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.commands.shooter.AutoShootPrepareWhileMoving; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class CenterLanePDEABC extends AutoCommand { + + public CenterLanePDEABC(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!CenterLanePDEABC"); + + addPath( + PathHelper.fromChoreoPath("CenterLanePDEABC.1", true, true), + PathHelper.fromChoreoPath("CenterLanePDEABC.2"), + PathHelper.fromChoreoPath("CenterLanePDEABC.3"), + PathHelper.fromChoreoPath("CenterLanePDEABC.4"), + PathHelper.fromChoreoPath("CenterLanePDEABC.5") + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.runOnce(drivetrain::unblockTags), +// drivetrain.commandCopyVisionPose(), +// Commands.deadline( +// Commands.waitSeconds(0.2).andThen(getPath(0).getCommand(drivetrain)), + Commands.sequence( +// Commands.waitSeconds(0.25), +// Commands.waitSeconds(0.05), + IntakeAndFeed.withDefaults(indexer).withTimeout(0.2) +// new IntakeCommand(indexer, () -> false, 1) + ), +// ) +// , +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder) +// ), +// drivetrain.commandCopyVisionPose(), +// Commands.parallel( +// new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4), +// Commands.sequence( +// new ParallelDeadlineGroup( +// Commands.sequence( +// Commands.waitUntil(()->!indexer.isNoteStaged()), +// Commands.waitSeconds(0.2) +// ).withTimeout(1), +// IntakeAndFeed.withDefaults(indexer) +// ) +// ) +// ), + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + Commands.runOnce(drivetrain::blockTags), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + createSegmentSequence(drivetrain, shooter, indexer, 4) + ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java new file mode 100644 index 00000000..25cce318 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class SourceLanePGHF extends AutoCommand { + private static final double SHOT_WAIT = 0.2; + public SourceLanePGHF(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ + super("!SourceLanePHGF"); + addPath( + PathHelper.fromChoreoPath("SourceLanePHGF.1", true, true), + PathHelper.fromChoreoPath("SourceLanePHGF.2"), + PathHelper.fromChoreoPath("SourceLanePHGF.3"), + PathHelper.fromChoreoPath("SourceLanePHGF.4") + ); + + addCommands( + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), + Commands.sequence( + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0) + ) + ) + ); + } + +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SoureLanephChaos.java b/src/main/java/org/team1540/robot2024/commands/autos/SoureLanephChaos.java new file mode 100644 index 00000000..4d77198e --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/SoureLanephChaos.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.indexer.IntakeCommand; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class SoureLanephChaos extends AutoCommand { + + public SoureLanephChaos(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!SourceLanephChaos"); + + addPath( + PathHelper.fromChoreoPath("SourceLanephChaos.1", true, true) + ); + + addCommands( + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), + getPath(0).getCommand(drivetrain), + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.runOnce(shooter::zeroPivotToCancoder), + IntakeAndFeed.withDefaults(indexer).withTimeout(0.5), + new IntakeCommand(indexer, ()->false, 1) + ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/climb/ClimbAlignment.java b/src/main/java/org/team1540/robot2024/commands/climb/ClimbAlignment.java index dc93164d..fec1bb68 100644 --- a/src/main/java/org/team1540/robot2024/commands/climb/ClimbAlignment.java +++ b/src/main/java/org/team1540/robot2024/commands/climb/ClimbAlignment.java @@ -72,6 +72,6 @@ else if(amp < source){ else{ pathCmd= AutoBuilder.pathfindThenFollowPath(PathHelper.fromChoreoPath("Tag16." + index).getPath(), STAGE_PATH_CONSTRAINTS); } - return Commands.runOnce(drivetrain::blockTags).andThen(pathCmd).andThen(Commands.runOnce(drivetrain::unblockTags)); + return Commands.runOnce(drivetrain::unblockTags).andThen(pathCmd).andThen(Commands.runOnce(drivetrain::unblockTags)); } } diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java index 77cce713..7e9a7abe 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java +++ b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java @@ -22,6 +22,7 @@ import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotState; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -354,7 +355,7 @@ public void addVisionMeasurement(EstimatedVisionPose visionPose) { Matrix stdDevs = visionPose.getStdDevs(); visionPoseEstimator.setVisionMeasurementStdDevs(stdDevs); visionPoseEstimator.addVisionMeasurement(visionPose.poseMeters.toPose2d(), visionPose.timestampSecs); - if (!blockTags) { + if (!blockTags && (!RobotState.isAutonomous() || getSpeakerDistanceMeters() < 4.5)) { poseEstimator.setVisionMeasurementStdDevs(stdDevs); poseEstimator.addVisionMeasurement(visionPose.poseMeters.toPose2d(), visionPose.timestampSecs); } diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java index 1b9adbdf..7c9eb6a0 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java +++ b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java @@ -66,6 +66,9 @@ public void periodic() { if (kP.hasChanged(hashCode()) || kI.hasChanged(hashCode()) || kD.hasChanged(hashCode())) { io.configPID(kP.get(), kI.get(), kD.get()); } + if(getPosition() > 0.31){ + setFlipper(false); + } } public void setElevatorPosition(double positionMeters) { diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java index 84976249..cf17f292 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java +++ b/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java @@ -133,14 +133,6 @@ public Command commandRunIntake(double percent) { ); } - public Command setIntakeAndFeeder(double intakePercent, double feederVelocity) { - return Commands.startEnd( - () -> {setIntakePercent(intakePercent); setFeederVelocity(feederVelocity);}, - () -> {setIntakePercent(0); setFeederVelocity(0);}, - this - ); - } - public void setIntakeNeutralMode(boolean isBrake) { io.setIntakeNeutralMode(isBrake); } 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 3948e432..22e9f6ce 100644 --- a/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java +++ b/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java @@ -97,7 +97,6 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, ).onlyIf(()->shouldZeroCancoder), drivetrain.commandCopyVisionPose().onlyIf(()->shouldResetOdometry), Commands.parallel( - new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4).onlyIf(()->shouldRealignYaw), Commands.sequence( // Commands.waitUntil(()->drivetrain.getPose().getRotation().minus(drivetrain.getTargetPose().getRotation()).getDegrees()<10).onlyIf(()->shouldRealignYaw), new ParallelDeadlineGroup( @@ -106,9 +105,11 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Commands.waitUntil(()->!indexer.isNoteStaged()), Commands.waitSeconds(0.2) ).withTimeout(1+extraPreShotWait), - IntakeAndFeed.withDefaults(indexer) + Commands.waitSeconds(extraPreShotWait).andThen(IntakeAndFeed.withDefaults(indexer)) ) - ) + ), + new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4).onlyIf(()->shouldRealignYaw) + ) ); }