From e7f52f15724d2f4d4bfa808dcdda89e1fba399c6 Mon Sep 17 00:00:00 2001 From: Simon Weil <113215817+WeilSimon@users.noreply.github.com> Date: Tue, 26 Mar 2024 13:06:54 -0700 Subject: [PATCH] feat: default shooter behavior and auto pruning --- paths.chor | 48215 ++++++++-------- .../deploy/choreo/AmpLanePABCSprint.1.traj | 139 - .../deploy/choreo/AmpLanePABCSprint.2.traj | 148 - .../deploy/choreo/AmpLanePABCSprint.3.traj | 148 - .../deploy/choreo/AmpLanePABCSprint.4.traj | 454 - .../deploy/choreo/AmpLanePADESprint.1.traj | 311 +- .../deploy/choreo/AmpLanePADESprint.2.traj | 149 +- .../deploy/choreo/AmpLanePADESprint.3.traj | 1049 +- .../deploy/choreo/AmpLanePADESprint.4.traj | 1355 +- .../deploy/choreo/AmpLanePADESprint.5.traj | 383 +- src/main/deploy/choreo/AmpLanePADESprint.traj | 3155 +- src/main/deploy/choreo/AmpLanePADEf.1.traj | 130 - src/main/deploy/choreo/AmpLanePADEf.2.traj | 103 - src/main/deploy/choreo/AmpLanePADEf.3.traj | 463 - src/main/deploy/choreo/AmpLanePADEf.4.traj | 661 - src/main/deploy/choreo/AmpLanePADEf.5.traj | 373 - src/main/deploy/choreo/AmpLanePADEf.traj | 1678 - .../choreo/AmpLanePAmpAAmpSprint.1.traj | 391 - .../deploy/choreo/AmpLanePAmpAAmpSprint.traj | 391 - src/main/deploy/choreo/AmpLanePSprint.1.traj | 148 - src/main/deploy/choreo/AmpLanePSprint.2.traj | 301 - .../choreo/AmpLanePSubASubDSubESub.1.traj | 707 +- .../choreo/AmpLanePSubASubDSubESub.2.traj | 1319 +- .../choreo/AmpLanePSubASubDSubESub.3.traj | 1715 +- .../choreo/AmpLanePSubASubDSubESub.traj | 3695 +- src/main/deploy/choreo/AmpLaneSprint.1.traj | 238 - src/main/deploy/choreo/AmpLaneSprint.traj | 238 - src/main/deploy/choreo/AmpLaneTaxi.1.traj | 139 - src/main/deploy/choreo/AmpLaneTaxi.traj | 139 - src/main/deploy/choreo/CenterLanePBDA.1.traj | 239 +- src/main/deploy/choreo/CenterLanePBDA.2.traj | 1031 +- src/main/deploy/choreo/CenterLanePBDA.3.traj | 545 +- src/main/deploy/choreo/CenterLanePBDA.traj | 1769 +- src/main/deploy/choreo/CenterLanePBc.1.traj | 256 - src/main/deploy/choreo/CenterLanePBc.2.traj | 220 - src/main/deploy/choreo/CenterLanePBc.3.traj | 220 - src/main/deploy/choreo/CenterLanePBc.4.traj | 283 - src/main/deploy/choreo/CenterLanePCBA.1.traj | 617 +- src/main/deploy/choreo/CenterLanePCBA.2.traj | 185 +- src/main/deploy/choreo/CenterLanePCBA.3.traj | 383 +- src/main/deploy/choreo/CenterLanePCBA.traj | 1139 +- src/main/deploy/choreo/CenterLanePCBAD.1.traj | 328 - src/main/deploy/choreo/CenterLanePCBAD.2.traj | 103 - src/main/deploy/choreo/CenterLanePCBAD.3.traj | 202 - src/main/deploy/choreo/CenterLanePCBAD.4.traj | 526 - src/main/deploy/choreo/CenterLanePCBAD.5.traj | 202 - src/main/deploy/choreo/CenterLanePCBAD.traj | 1309 - .../deploy/choreo/CenterLanePCBADEF.1.traj | 157 - .../deploy/choreo/CenterLanePCBADEF.2.traj | 211 - .../deploy/choreo/CenterLanePCBADEF.3.traj | 157 - .../deploy/choreo/CenterLanePCBADEF.4.traj | 427 - .../deploy/choreo/CenterLanePCBADEF.5.traj | 436 - .../deploy/choreo/CenterLanePCBADEF.6.traj | 589 - .../choreo/CenterLanePCBADSprint.1.traj | 617 +- .../choreo/CenterLanePCBADSprint.2.traj | 185 +- .../choreo/CenterLanePCBADSprint.3.traj | 383 +- .../choreo/CenterLanePCBADSprint.4.traj | 1013 +- .../choreo/CenterLanePCBADSprint.5.traj | 383 +- .../deploy/choreo/CenterLanePCBADSprint.traj | 2552 +- .../deploy/choreo/CenterLanePCBAFE.1.traj | 599 +- .../deploy/choreo/CenterLanePCBAFE.2.traj | 194 +- .../deploy/choreo/CenterLanePCBAFE.3.traj | 374 +- .../deploy/choreo/CenterLanePCBAFE.4.traj | 1418 +- .../deploy/choreo/CenterLanePCBAFE.5.traj | 1265 +- src/main/deploy/choreo/CenterLanePCBAFE.traj | 3758 +- .../choreo/CenterLanePCBAFSprint.1.traj | 617 +- .../choreo/CenterLanePCBAFSprint.2.traj | 203 +- .../choreo/CenterLanePCBAFSprint.3.traj | 419 +- .../choreo/CenterLanePCBAFSprint.4.traj | 1733 +- .../choreo/CenterLanePCBAFSprint.5.traj | 761 +- .../deploy/choreo/CenterLanePCBAFSprint.traj | 3641 +- .../deploy/choreo/CenterLanePCBFSprint.1.traj | 617 +- .../deploy/choreo/CenterLanePCBFSprint.2.traj | 203 +- .../deploy/choreo/CenterLanePCBFSprint.3.traj | 1625 +- .../deploy/choreo/CenterLanePCBFSprint.4.traj | 761 +- .../deploy/choreo/CenterLanePCBFSprint.traj | 3137 +- .../choreo/CenterLanePSubCSubBSubAS.1.traj | 337 - .../choreo/CenterLanePSubCSubBSubAS.2.traj | 229 - .../choreo/CenterLanePSubCSubBSubAS.3.traj | 337 - .../choreo/CenterLanePSubCSubBSubAS.4.traj | 508 - .../CenterLanePSubCSubBSubASubFSub.1.traj | 635 +- .../CenterLanePSubCSubBSubASubFSub.2.traj | 455 +- .../CenterLanePSubCSubBSubASubFSub.3.traj | 671 +- .../CenterLanePSubCSubBSubASubFSub.4.traj | 1859 +- .../CenterLanePSubCSubBSubASubFSub.traj | 3551 +- .../CenterLanePSubCSubBSubASubSprint.1.traj | 635 +- .../CenterLanePSubCSubBSubASubSprint.2.traj | 419 +- .../CenterLanePSubCSubBSubASubSprint.3.traj | 635 +- .../CenterLanePSubCSubBSubASubSprint.4.traj | 941 +- .../CenterLanePSubCSubBSubASubSprint.traj | 2561 +- .../deploy/choreo/CenterLaneSprint.1.traj | 815 +- src/main/deploy/choreo/CenterLaneSprint.traj | 815 +- .../choreo/CenterLaneSprintBonus.1.traj | 499 - .../choreo/CenterLaneSprintBonus.2.traj | 391 - src/main/deploy/choreo/CenterLaneTaxi.1.traj | 139 - src/main/deploy/choreo/CenterLaneTaxi.traj | 139 - src/main/deploy/choreo/New Path (1).1.traj | 373 - src/main/deploy/choreo/New Path (1).2.traj | 679 - src/main/deploy/choreo/SQUARFE (1).1.traj | 211 - src/main/deploy/choreo/SQUARFE (1).2.traj | 211 - src/main/deploy/choreo/SQUARFE (1).3.traj | 211 - src/main/deploy/choreo/SQUARFE (1).4.traj | 211 - src/main/deploy/choreo/SQUARFE.1.traj | 805 - .../deploy/choreo/SourceLanePGCSprint.1.traj | 365 +- .../deploy/choreo/SourceLanePGCSprint.2.traj | 1679 +- .../deploy/choreo/SourceLanePGCSprint.3.traj | 635 +- .../deploy/choreo/SourceLanePGCSprint.4.traj | 779 +- .../deploy/choreo/SourceLanePGCSprint.traj | 3389 +- .../deploy/choreo/SourceLanePGHSprint.1.traj | 356 +- .../deploy/choreo/SourceLanePGHSprint.2.traj | 1580 +- .../deploy/choreo/SourceLanePGHSprint.3.traj | 1508 +- .../deploy/choreo/SourceLanePGHSprint.4.traj | 689 +- .../deploy/choreo/SourceLanePGHSprint.traj | 4064 +- src/main/deploy/choreo/SourceLanePHG.1.traj | 760 - src/main/deploy/choreo/SourceLanePHG.2.traj | 751 - src/main/deploy/choreo/SourceLanePHG.traj | 1498 - .../deploy/choreo/SourceLanePHGFSprint.1.traj | 427 - .../deploy/choreo/SourceLanePHGFSprint.2.traj | 400 - .../deploy/choreo/SourceLanePHGFSprint.3.traj | 355 - .../deploy/choreo/SourceLanePHGFSprint.4.traj | 193 - .../choreo/SourceLanePHGSprint (1).1.traj | 184 - .../choreo/SourceLanePHGSprint (1).2.traj | 814 - .../choreo/SourceLanePHGSprint (1).3.traj | 787 - .../choreo/SourceLanePHGSprint (1).4.traj | 355 - .../choreo/SourceLanePHGSprint (1).traj | 2101 - .../deploy/choreo/SourceLanePHGSprint.1.traj | 184 - .../deploy/choreo/SourceLanePHGSprint.2.traj | 841 - .../deploy/choreo/SourceLanePHGSprint.3.traj | 319 - .../deploy/choreo/SourceLanePHGSprint.4.traj | 391 - .../choreo/SourceLanePSubHSubGSub.1.traj | 1805 +- .../choreo/SourceLanePSubHSubGSub.2.traj | 1859 +- .../deploy/choreo/SourceLanePSubHSubGSub.traj | 3641 +- .../choreo/SourceLanePSubHSubSprint.1.traj | 1805 +- .../choreo/SourceLanePSubHSubSprint.2.traj | 887 +- .../choreo/SourceLanePSubHSubSprint.traj | 2669 +- .../deploy/choreo/SourceLaneSprint.1.traj | 238 - src/main/deploy/choreo/SourceLaneSprint.traj | 238 - src/main/deploy/choreo/SourceLaneTaxi.1.traj | 139 - src/main/deploy/choreo/SourceLaneTaxi.traj | 139 - src/main/deploy/choreo/Sprint.1.traj | 239 + src/main/deploy/choreo/Sprint.traj | 239 + src/main/deploy/choreo/StraightForward.1.traj | 634 - src/main/deploy/choreo/StraightForward.2.traj | 634 - src/main/deploy/choreo/StraightForward.3.traj | 454 - src/main/deploy/choreo/StraightForward.4.traj | 454 - src/main/deploy/choreo/StraightForward.5.traj | 535 - src/main/deploy/choreo/StraightForward.6.traj | 535 - src/main/deploy/choreo/Tag14.1.traj | 230 +- src/main/deploy/choreo/Tag14.2.traj | 104 +- src/main/deploy/choreo/Tag14.traj | 311 +- src/main/deploy/choreo/Tag15.1.traj | 230 +- src/main/deploy/choreo/Tag15.2.traj | 104 +- src/main/deploy/choreo/Tag15.traj | 311 +- src/main/deploy/choreo/Tag16.1.traj | 230 +- src/main/deploy/choreo/Tag16.2.traj | 104 +- src/main/deploy/choreo/Tag16.traj | 311 +- src/main/deploy/choreo/Taxi.1.traj | 140 + src/main/deploy/choreo/Taxi.traj | 140 + src/main/deploy/pathplanner/navgrid.json | 2 +- .../team1540/robot2024/RobotContainer.java | 49 +- .../robot2024/commands/autos/ATestAuto.java | 58 + .../commands/autos/AmpLanePABCSprint.java | 37 - .../commands/autos/AmpLanePSprint.java | 24 - .../commands/autos/CenterLaneSprintBonus.java | 26 - .../commands/autos/PathVisualising.java | 21 - .../commands/autos/SourceLanePHG.java | 32 - .../commands/autos/SourceLanePHGFSprint.java | 26 - .../commands/autos/StraightForward.java | 32 - .../commands/shooter/AutoShootPrepare.java | 10 +- .../commands/shooter/LeadingShootPrepare.java | 43 + .../shooter/OverStageShootPrepare.java | 8 +- 171 files changed, 69269 insertions(+), 101461 deletions(-) delete mode 100644 src/main/deploy/choreo/AmpLanePABCSprint.1.traj delete mode 100644 src/main/deploy/choreo/AmpLanePABCSprint.2.traj delete mode 100644 src/main/deploy/choreo/AmpLanePABCSprint.3.traj delete mode 100644 src/main/deploy/choreo/AmpLanePABCSprint.4.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.1.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.2.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.3.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.4.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.5.traj delete mode 100644 src/main/deploy/choreo/AmpLanePADEf.traj delete mode 100644 src/main/deploy/choreo/AmpLanePAmpAAmpSprint.1.traj delete mode 100644 src/main/deploy/choreo/AmpLanePAmpAAmpSprint.traj delete mode 100644 src/main/deploy/choreo/AmpLanePSprint.1.traj delete mode 100644 src/main/deploy/choreo/AmpLanePSprint.2.traj delete mode 100644 src/main/deploy/choreo/AmpLaneSprint.1.traj delete mode 100644 src/main/deploy/choreo/AmpLaneSprint.traj delete mode 100644 src/main/deploy/choreo/AmpLaneTaxi.1.traj delete mode 100644 src/main/deploy/choreo/AmpLaneTaxi.traj delete mode 100644 src/main/deploy/choreo/CenterLanePBc.1.traj delete mode 100644 src/main/deploy/choreo/CenterLanePBc.2.traj delete mode 100644 src/main/deploy/choreo/CenterLanePBc.3.traj delete mode 100644 src/main/deploy/choreo/CenterLanePBc.4.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.1.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.2.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.3.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.4.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.5.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBAD.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.1.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.2.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.3.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.4.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.5.traj delete mode 100644 src/main/deploy/choreo/CenterLanePCBADEF.6.traj delete mode 100644 src/main/deploy/choreo/CenterLanePSubCSubBSubAS.1.traj delete mode 100644 src/main/deploy/choreo/CenterLanePSubCSubBSubAS.2.traj delete mode 100644 src/main/deploy/choreo/CenterLanePSubCSubBSubAS.3.traj delete mode 100644 src/main/deploy/choreo/CenterLanePSubCSubBSubAS.4.traj delete mode 100644 src/main/deploy/choreo/CenterLaneSprintBonus.1.traj delete mode 100644 src/main/deploy/choreo/CenterLaneSprintBonus.2.traj delete mode 100644 src/main/deploy/choreo/CenterLaneTaxi.1.traj delete mode 100644 src/main/deploy/choreo/CenterLaneTaxi.traj delete mode 100644 src/main/deploy/choreo/New Path (1).1.traj delete mode 100644 src/main/deploy/choreo/New Path (1).2.traj delete mode 100644 src/main/deploy/choreo/SQUARFE (1).1.traj delete mode 100644 src/main/deploy/choreo/SQUARFE (1).2.traj delete mode 100644 src/main/deploy/choreo/SQUARFE (1).3.traj delete mode 100644 src/main/deploy/choreo/SQUARFE (1).4.traj delete mode 100644 src/main/deploy/choreo/SQUARFE.1.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHG.1.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHG.2.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHG.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGFSprint.1.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGFSprint.2.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGFSprint.3.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGFSprint.4.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint (1).1.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint (1).2.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint (1).3.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint (1).4.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint (1).traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint.1.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint.2.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint.3.traj delete mode 100644 src/main/deploy/choreo/SourceLanePHGSprint.4.traj delete mode 100644 src/main/deploy/choreo/SourceLaneSprint.1.traj delete mode 100644 src/main/deploy/choreo/SourceLaneSprint.traj delete mode 100644 src/main/deploy/choreo/SourceLaneTaxi.1.traj delete mode 100644 src/main/deploy/choreo/SourceLaneTaxi.traj create mode 100644 src/main/deploy/choreo/Sprint.1.traj create mode 100644 src/main/deploy/choreo/Sprint.traj delete mode 100644 src/main/deploy/choreo/StraightForward.1.traj delete mode 100644 src/main/deploy/choreo/StraightForward.2.traj delete mode 100644 src/main/deploy/choreo/StraightForward.3.traj delete mode 100644 src/main/deploy/choreo/StraightForward.4.traj delete mode 100644 src/main/deploy/choreo/StraightForward.5.traj delete mode 100644 src/main/deploy/choreo/StraightForward.6.traj create mode 100644 src/main/deploy/choreo/Taxi.1.traj create mode 100644 src/main/deploy/choreo/Taxi.traj create mode 100644 src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/AmpLanePSprint.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/CenterLaneSprintBonus.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/PathVisualising.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHG.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java delete mode 100644 src/main/java/org/team1540/robot2024/commands/autos/StraightForward.java create mode 100644 src/main/java/org/team1540/robot2024/commands/shooter/LeadingShootPrepare.java diff --git a/paths.chor b/paths.chor index 2db800e9..f4fa6b27 100644 --- a/paths.chor +++ b/paths.chor @@ -1,9 +1,9 @@ { - "version": "v0.2.2", + "version": "v0.3", "robotConfiguration": { "mass": 61.73998083590995, "rotationalInertia": 3.6816072891155396, - "motorMaxTorque": 0.6, + "motorMaxTorque": 0.5, "motorMaxVelocity": 4864, "gearing": 6.746, "wheelbase": 0.4762497428251389, @@ -13,7 +13,7 @@ "wheelRadius": 0.0500888 }, "paths": { - "SourceLaneTaxi": { + "Taxi": { "waypoints": [ { "x": 1.468971848487854, @@ -40,338 +40,143 @@ "y": 1.9215065240859983, "heading": 0, "angularVelocity": 0, - "velocityX": 0, - "velocityY": -6.616666962933087e-41, + "velocityX": -2.4295253407291496e-19, + "velocityY": 0, "timestamp": 0 }, { "x": 1.5097881789229493, "y": 1.9215065240859983, - "heading": 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\ No newline at end of file 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\ No newline at end of file diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java index 1d14b117..443084b9 100644 --- a/src/main/java/org/team1540/robot2024/RobotContainer.java +++ b/src/main/java/org/team1540/robot2024/RobotContainer.java @@ -1,5 +1,6 @@ package org.team1540.robot2024; +import com.pathplanner.lib.util.GeometryUtil; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; @@ -8,6 +9,7 @@ import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.ConditionalCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; import org.team1540.robot2024.commands.FeedForwardCharacterization; @@ -106,27 +108,6 @@ public RobotContainer() { } } - // Set up FF characterization routines - AutoManager.getInstance().add( - new AutoCommand( - "Drive FF Characterization", - new FeedForwardCharacterization( - drivetrain, drivetrain::runCharacterizationVolts, drivetrain::getCharacterizationVelocity - ) - ) - ); - - AutoManager.getInstance().add( - new AutoCommand( - "Flywheels FF Characterization", - new FeedForwardCharacterization( - shooter, volts -> shooter.setFlywheelVolts(volts, volts), () -> shooter.getLeftFlywheelSpeed() / 60 - ) - ) - ); - - AutoManager.getInstance().addDefault(new AmpLanePABCSprint(drivetrain, shooter, indexer)); - AutoManager.getInstance().add(new SourceLanePHGFSprint(drivetrain)); configureAutoRoutines(); // Configure the button bindings @@ -145,12 +126,25 @@ private void configureLedBindings() { private void configureButtonBindings() { Command manualPivotCommand = new ManualPivotCommand(shooter, copilot); + Command defaultShooterCommand = new ConditionalCommand( + Commands.either( + new LeadingShootPrepare(drivetrain, shooter, 7000*0.75, 3000*0.75), + new LeadingShootPrepare(drivetrain, shooter, 0, 0), + indexer::isNoteStaged + ), + new OverStageShootPrepare(drivetrain::getPose, shooter, 0, 0), + ()->{ + Pose2d pose = DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue ? drivetrain.getPose() : GeometryUtil.flipFieldPose(drivetrain.getPose()); + return pose.getTranslation().getX() < Units.inchesToMeters(231.2); + } + + ); drivetrain.setDefaultCommand(new SwerveDriveCommand(drivetrain, driver)); // drivetrain.setDefaultCommand(new OverStageShootPrepareWithTargeting(driver.getHID(), drivetrain, shooter)); // drivetrain.setDefaultCommand(new AutoShootPrepareWhileMoving(driver.getHID(), drivetrain, shooter)); // drivetrain.setDefaultCommand(new DriveWithAmpSideLock(drivetrain, driver.getHID())); elevator.setDefaultCommand(new ElevatorManualCommand(elevator, copilot)); - shooter.setDefaultCommand(manualPivotCommand); + shooter.setDefaultCommand(defaultShooterCommand); driver.b().onTrue(Commands.runOnce(drivetrain::stopWithX, drivetrain)); // driver.y().toggleOnTrue(new DriveWithSpeakerTargetingCommand(drivetrain, driver)); driver.y().onTrue(Commands.runOnce(() -> { @@ -268,11 +262,10 @@ private void configureAutoRoutines() { } autos.addDefault(new AutoCommand("Dwayne :skull:")); autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); - autos.add(new DriveSinglePath("AmpLaneTaxi", drivetrain)); - autos.add(new DriveSinglePath("AmpLaneSprint", drivetrain)); - autos.add(new AmpLanePADESprint(drivetrain, shooter, indexer)); - autos.add(new DriveSinglePath("CenterLaneTaxi", drivetrain)); + 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)); @@ -282,10 +275,8 @@ private void configureAutoRoutines() { autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); // autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); - autos.add(new DriveSinglePath("SourceLaneTaxi", drivetrain)); - autos.add(new DriveSinglePath("SourceLaneSprint", drivetrain)); autos.add(new SourceLanePGHSprint(drivetrain, shooter, indexer)); - autos.add(new SourceLanePHG(drivetrain, shooter, indexer)); +// autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); } diff --git a/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java b/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java new file mode 100644 index 00000000..a2146f03 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java @@ -0,0 +1,58 @@ +package org.team1540.robot2024.commands.autos; + +import com.pathplanner.lib.auto.AutoBuilder; +import edu.wpi.first.wpilibj2.command.*; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.commands.shooter.ShootSequence; +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 ATestAuto extends AutoCommand { + + public ATestAuto(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!ATestAuto"); + addPath( + PathHelper.fromChoreoPath("CenterLaneSprint.1", true, true), + PathHelper.fromChoreoPath("CenterLaneSprint.1", false, true) + ); + + addCommands( + ShootSequence.forAutoSubwoofer(shooter, indexer), + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), + Commands.sequence( + drivetrain.commandCopyVisionPose(), +// Commands.deadline( + Commands.race( + getPath(0).getCommand(drivetrain), + Commands.sequence( + Commands.waitSeconds(1), + Commands.either( +// Commands.waitSeconds(0), + Commands.runOnce(()->{}), + Commands.waitSeconds(100), + ()->false + ) + ) + ), +// Commands.print("YO YO DIGGITY DAWG"), +// Commands.runOnce(drivetrain::stop) +// Commands.sequence( +// Commands.waitSeconds(1) +// Commands.runOnce(()->CommandScheduler.getInstance().cancelAll()) +// ) +// ), +// Commands.runOnce(drivetrain::stop) + drivetrain.commandStop(), + getPath(1).getCommand(drivetrain,true) + + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java deleted file mode 100644 index ddcf9f85..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java +++ /dev/null @@ -1,37 +0,0 @@ -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.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 AmpLanePABCSprint extends AutoCommand { - public AmpLanePABCSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ - super("!AmpLanePABCSprint"); - - addPath( - PathHelper.fromChoreoPath("AmpLanePABCSprint.1", true, true), - PathHelper.fromChoreoPath("AmpLanePABCSprint.2"), - PathHelper.fromChoreoPath("AmpLanePABCSprint.3"), - PathHelper.fromChoreoPath("AmpLanePABCSprint.4") -// PathHelper.fromChoreoPath("AmpLanePABCSprint.4") - ); - - addCommands( - Commands.parallel( - new AutoShootPrepare(drivetrain, shooter), - Commands.sequence( - createSegmentSequence(drivetrain, shooter, indexer, 0), - IntakeAndFeed.withDefaults(indexer).withTimeout(2), - createSegmentSequence(drivetrain, shooter, indexer, 1), - createSegmentSequence(drivetrain, shooter, indexer, 2) - ) - ), - getPath(3).getCommand(drivetrain) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePSprint.java deleted file mode 100644 index a9c3e5b1..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePSprint.java +++ /dev/null @@ -1,24 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import org.team1540.robot2024.commands.shooter.ShootSequence; -import org.team1540.robot2024.subsystems.indexer.Indexer; -import org.team1540.robot2024.util.auto.AutoCommand; -import org.team1540.robot2024.subsystems.drive.Drivetrain; -import org.team1540.robot2024.subsystems.shooter.Shooter; -import org.team1540.robot2024.util.auto.PathHelper; - -public class AmpLanePSprint extends AutoCommand { - public AmpLanePSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { - super("AmpLanePSprint"); - - addPath( - PathHelper.fromChoreoPath("AmpLanePSprint.1", true, true), - PathHelper.fromChoreoPath("AmpLanePSprint.2")); - - addCommands( - getPath(0).getCommand(drivetrain), - new ShootSequence(shooter, indexer), - getPath(1).getCommand(drivetrain) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLaneSprintBonus.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLaneSprintBonus.java deleted file mode 100644 index 5fba986d..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/CenterLaneSprintBonus.java +++ /dev/null @@ -1,26 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import edu.wpi.first.wpilibj2.command.Commands; -import org.team1540.robot2024.subsystems.drive.Drivetrain; -import org.team1540.robot2024.util.auto.AutoCommand; -import org.team1540.robot2024.util.auto.PathHelper; - -public class CenterLaneSprintBonus extends AutoCommand { - public CenterLaneSprintBonus(Drivetrain drivetrain){ - super("CenterLaneSprintBonus"); - - addPath( - PathHelper.fromChoreoPath("CenterLaneSprintBonus.1", true, true), - PathHelper.fromChoreoPath("CenterLaneSprintBonus.2") - ); - - addCommands( - getPath(0).getCommand(drivetrain), - Commands.waitSeconds(2), - drivetrain.commandCopyVisionPose(), - Commands.waitSeconds(2), - getPath(1).getCommand(drivetrain), - Commands.runOnce(drivetrain::stop) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/PathVisualising.java b/src/main/java/org/team1540/robot2024/commands/autos/PathVisualising.java deleted file mode 100644 index 5c074e6b..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/PathVisualising.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -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 PathVisualising extends AutoCommand { - - public PathVisualising(Drivetrain drivetrain){ - super("PathVisualising"); - - addPath( - PathHelper.fromChoreoPath("AmpLanePADESprint", true, true) - ); - addCommands( - getPath(0).getCommand(drivetrain) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHG.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHG.java deleted file mode 100644 index 5bf93935..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHG.java +++ /dev/null @@ -1,32 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import edu.wpi.first.wpilibj2.command.Commands; -import org.team1540.robot2024.commands.shooter.AutoShootPrepare; -import org.team1540.robot2024.commands.shooter.ShootSequence; -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 SourceLanePHG extends AutoCommand { - public SourceLanePHG(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ - super("!SourceLanePHG"); - - addPath( - PathHelper.fromChoreoPath("SourceLanePHG.1", true, true), - PathHelper.fromChoreoPath("SourceLanePHG.2") - ); - - addCommands( - ShootSequence.forAutoSubwoofer(shooter, indexer), - Commands.parallel( - new AutoShootPrepare(drivetrain, shooter), - Commands.sequence( - createSegmentSequence(drivetrain, shooter, indexer, 0), - createSegmentSequence(drivetrain, shooter, indexer, 1) - ) - ) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java deleted file mode 100644 index 07141c4e..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGFSprint.java +++ /dev/null @@ -1,26 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import edu.wpi.first.wpilibj2.command.PrintCommand; -import org.team1540.robot2024.subsystems.drive.Drivetrain; -import org.team1540.robot2024.util.auto.AutoCommand; -import org.team1540.robot2024.util.auto.PathHelper; - -public class SourceLanePHGFSprint extends AutoCommand { - public SourceLanePHGFSprint(Drivetrain drivetrain){ - super("SourceLanePHGFSprint"); - - addPath( - PathHelper.fromChoreoPath("SourceLanePHGFSprint.1", true, true), - PathHelper.fromChoreoPath("SourceLanePHGFSprint.2"), - PathHelper.fromChoreoPath("SourceLanePHGFSprint.3"), - PathHelper.fromChoreoPath("SourceLanePHGFSprint.4") - ); - - addCommands( - getPath(0).getCommand(drivetrain, true), - getPath(1).getCommand(drivetrain), - getPath(2).getCommand(drivetrain), - getPath(3).getCommand(drivetrain) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/StraightForward.java b/src/main/java/org/team1540/robot2024/commands/autos/StraightForward.java deleted file mode 100644 index a5bf78ac..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/StraightForward.java +++ /dev/null @@ -1,32 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import edu.wpi.first.wpilibj2.command.Commands; -import org.team1540.robot2024.subsystems.drive.Drivetrain; -import org.team1540.robot2024.util.auto.AutoCommand; -import org.team1540.robot2024.util.auto.PathHelper; - -public class StraightForward extends AutoCommand { - public StraightForward(Drivetrain drivetrain){ - super("StraightForward"); - - addPath( - PathHelper.fromChoreoPath("StraightForward.1", true, true), - PathHelper.fromChoreoPath("StraightForward.2", true, true), - PathHelper.fromChoreoPath("StraightForward.3"), - PathHelper.fromChoreoPath("StraightForward.4"), - PathHelper.fromChoreoPath("StraightForward.5"), - PathHelper.fromChoreoPath("StraightForward.6") - ); - - addCommands( -// getPath(0).getCommand(drivetrain) -// Commands.waitSeconds(35), - getPath(1).getCommand(drivetrain) -// getPath(2).getCommand(drivetrain), -// getPath(3).getCommand(drivetrain), -// getPath(4).getCommand(drivetrain), -// getPath(5).getCommand(drivetrain), -// Commands.runOnce(drivetrain::stop) - ); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/AutoShootPrepare.java b/src/main/java/org/team1540/robot2024/commands/shooter/AutoShootPrepare.java index dced6d9a..74ff9556 100644 --- a/src/main/java/org/team1540/robot2024/commands/shooter/AutoShootPrepare.java +++ b/src/main/java/org/team1540/robot2024/commands/shooter/AutoShootPrepare.java @@ -20,7 +20,7 @@ public AutoShootPrepare(Drivetrain drivetrain, Shooter shooter) { double C = -0.4942; double D = 1.491; - public AutoShootPrepare(Supplier positionSupplier, Shooter shooter) { + public AutoShootPrepare(Supplier positionSupplier, Shooter shooter, double leftSetpoint, double rightSetpoint) { addCommands( new PrepareShooterCommand(shooter, () -> //new ShooterSetpoint( // Rotation2d.fromRadians( @@ -36,10 +36,14 @@ public AutoShootPrepare(Supplier positionSupplier, Shooter shooter) { Rotation2d.fromRadians( A * Math.atan(B * (positionSupplier.get().getTranslation().getDistance(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.SPEAKER_CENTER).toPose2d().getTranslation())) + C) + D ), - 7000, - 3000 + leftSetpoint, + rightSetpoint ) ) ); } + + public AutoShootPrepare(Supplier positionSupplier, Shooter shooter){ + this(positionSupplier, shooter, 7000, 3000); + } } diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/LeadingShootPrepare.java b/src/main/java/org/team1540/robot2024/commands/shooter/LeadingShootPrepare.java new file mode 100644 index 00000000..2154d5b9 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/shooter/LeadingShootPrepare.java @@ -0,0 +1,43 @@ +package org.team1540.robot2024.commands.shooter; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.vision.AprilTagsCrescendo; + +import java.util.function.Supplier; + +import static org.team1540.robot2024.Constants.Targeting.SPEAKER_CENTER_HEIGHT; + +public class LeadingShootPrepare extends SequentialCommandGroup { + + + public LeadingShootPrepare(Drivetrain drivetrain, Shooter shooter, double leftSetpoint, double rightSetpoint){ + Supplier modifiedPosition = ()->{ + Pose3d speakerPose3d = new Pose3d( + AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.SPEAKER_CENTER).toPose2d().getX(), + AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.SPEAKER_CENTER).toPose2d().getY(), + SPEAKER_CENTER_HEIGHT, + new Rotation3d()); + double flightDistance = speakerPose3d.getTranslation().getDistance(new Translation3d(drivetrain.getPose().getX(), drivetrain.getPose().getY(), Constants.Shooter.Pivot.PIVOT_HEIGHT)); +// double NOTE_VELOCITY = 6000.0*1.5*2.0*Math.PI*2.54/100.0/60.0; + double NOTE_VELOCITY = 12.18; + double time = flightDistance/NOTE_VELOCITY; + Translation2d modifier = new Translation2d(drivetrain.getChassisSpeeds().vxMetersPerSecond * time,drivetrain.getChassisSpeeds().vyMetersPerSecond*time); + return modifier; + + }; + addCommands( + new AutoShootPrepare(()-> + drivetrain.getPose().plus(new Transform2d(modifiedPosition.get().getX(), modifiedPosition.get().getY(), new Rotation2d())), + shooter, leftSetpoint, rightSetpoint) + ); + + } + + public LeadingShootPrepare(Drivetrain drivetrain, Shooter shooter){ + this(drivetrain, shooter, 7000, 3000); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java b/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java index 09291aa7..09be37ee 100644 --- a/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java +++ b/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java @@ -15,7 +15,7 @@ public class OverStageShootPrepare extends SequentialCommandGroup { public OverStageShootPrepare(Drivetrain drivetrain, Shooter shooter) { this(drivetrain::getPose, shooter); } - public OverStageShootPrepare(Supplier positionSupplier, Shooter shooter) { + public OverStageShootPrepare(Supplier positionSupplier, Shooter shooter, double leftSetpoint, double rightSetpoint) { addCommands( new PrepareShooterCommand(shooter, () -> new ShooterSetpoint( Rotation2d.fromRadians( @@ -25,8 +25,12 @@ public OverStageShootPrepare(Supplier positionSupplier, Shooter shooter) ) ) ).minus(Constants.Shooter.Pivot.REAL_ZEROED_ANGLE), - 3500, 3500) + leftSetpoint, rightSetpoint) ) ); } + + public OverStageShootPrepare(Supplier positionSupplier, Shooter shooter){ + this(positionSupplier, shooter, 3500, 3500); + } }