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0.28756163998295975, - "velocityY": 2.2700373334672657, - "timestamp": 5.711806239281481 - }, - { - "x": 8.44819450378418, - "y": 6.821402072906494, - "heading": 3.7101172753280305, - "angularVelocity": -3.8079033562623543, - "velocityX": 0.16144759887806323, - "velocityY": 2.350675491432431, - "timestamp": 5.739217185361397 - }, - { - "x": 8.442296007576482, - "y": 7.005937519917937, - "heading": 3.5641292983287713, - "angularVelocity": -1.9075537985667739, - "velocityX": -0.07707277734850891, - "velocityY": 2.41123481640327, - "timestamp": 5.815748697662097 - }, - { - "x": 8.41659744566655, - "y": 7.180425726585724, - "heading": 3.5626950047371615, - "angularVelocity": -0.01874121585334014, - "velocityX": -0.3357905931475581, - "velocityY": 2.279952419889553, - "timestamp": 5.892280209962797 - }, - { - "x": 8.38385523357143, - "y": 7.320664328992628, - "heading": 3.601572492187995, - "angularVelocity": 0.5079931949871856, - "velocityX": -0.4278265398241839, - "velocityY": 1.8324295207429526, - "timestamp": 5.968811722263497 - }, - { - "x": 8.354355980334272, - "y": 7.424774646283286, - "heading": 3.6482652707450245, - "angularVelocity": 0.6101117977855888, - "velocityX": -0.38545237576453223, - "velocityY": 1.3603588137863938, - "timestamp": 6.045343234564196 - }, - { - "x": 8.33265202622526, - "y": 7.4934610231290915, - "heading": 3.6869536728033228, - "angularVelocity": 0.5055225082484697, - "velocityX": -0.2835949984071486, - "velocityY": 0.8974914356315113, - "timestamp": 6.121874746864896 - }, - { - "x": 8.321097373962402, - "y": 7.527496814727783, - "heading": 3.709032536356956, - "angularVelocity": 0.2884937575371967, - "velocityX": -0.15097901394471921, - "velocityY": 0.44472911321759667, - "timestamp": 6.198406259165596 - }, - { - "x": 8.321097373962402, - "y": 7.527496814727783, - "heading": 3.709032536356956, - "angularVelocity": -5.082729725441752e-29, - "velocityX": 4.680465584518782e-28, - "velocityY": 3.556470741173404e-29, - "timestamp": 6.274937771466296 - } - ], - "eventMarkers": [] -} \ 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 0e355ae..89ad890 100644 --- a/src/main/java/org/team1540/robot2024/RobotContainer.java +++ b/src/main/java/org/team1540/robot2024/RobotContainer.java @@ -262,10 +262,7 @@ private void configureAutoRoutines() { } autos.addDefault(new AutoCommand("Dwayne :skull:")); 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 AmpLanePAEDF(drivetrain, shooter, indexer)); // autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); // autos.add(new DriveSinglePath("Taxi", drivetrain)); // autos.add(new DriveSinglePath("Sprint", drivetrain)); @@ -274,12 +271,17 @@ private void configureAutoRoutines() { // 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 CenterLanePCBAFE(drivetrain, shooter, indexer)); + autos.add(new CenterLanePDEABC(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAFG(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAEF(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAGF(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 SourceLanePHGF(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/AmpLanePAEDF.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java new file mode 100644 index 0000000..dd20fd7 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java @@ -0,0 +1,68 @@ +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.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 AmpLanePAEDF extends AutoCommand { + + public AmpLanePAEDF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("AmpLanePAEDF"); + + addPath( + PathHelper.fromChoreoPath("AmpLanePAEDF.1", true, true), + PathHelper.fromChoreoPath("AmpLanePAEDF.2"), + PathHelper.fromChoreoPath("AmpLanePAEDF.3"), + PathHelper.fromChoreoPath("AmpLanePAEDF.4"), + PathHelper.fromChoreoPath("AmpLanePAEDF.5") + ); + + addCommands( +// Commands.runOnce(drivetrain::unblockTags), + Commands.parallel( + new AutoShootPrepare(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/CenterLanePCBAEF.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java new file mode 100644 index 0000000..acd6304 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java @@ -0,0 +1,48 @@ +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.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 CenterLanePCBAEF extends AutoCommand { + + public CenterLanePCBAEF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAEF"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAEF.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAEF.2"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.3"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.4"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java index 1e3b3b5..544cecc 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java @@ -1,7 +1,9 @@ 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.commands.shooter.LeadingShootPrepare; import org.team1540.robot2024.commands.shooter.ShootSequence; import org.team1540.robot2024.subsystems.drive.Drivetrain; import org.team1540.robot2024.subsystems.indexer.Indexer; @@ -12,7 +14,7 @@ public class CenterLanePCBAFE extends AutoCommand { public CenterLanePCBAFE(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { - super("!CenterLanePCBAFE"); + super("CenterLanePCBAFE"); addPath( PathHelper.fromChoreoPath("CenterLanePCBAFE.1", false, true), PathHelper.fromChoreoPath("CenterLanePCBAFE.2"), @@ -23,16 +25,22 @@ public CenterLanePCBAFE(Drivetrain drivetrain, Shooter shooter, Indexer indexer) ); addCommands( - ShootSequence.forAutoSubwoofer(shooter, indexer), Commands.parallel( - new AutoShootPrepare(drivetrain, shooter), + new LeadingShootPrepare(drivetrain, shooter), Commands.sequence( - 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), - createSegmentSequence(drivetrain, shooter, indexer, 4, false, false, true) + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) ) ) ); diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java new file mode 100644 index 0000000..b7d692a --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java @@ -0,0 +1,48 @@ +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.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 CenterLanePCBAFG extends AutoCommand { + + public CenterLanePCBAFG(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAFG"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAFG.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAFG.2"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.3"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.4"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java new file mode 100644 index 0000000..f2800b6 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java @@ -0,0 +1,48 @@ +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.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 CenterLanePCBAGF extends AutoCommand { + + public CenterLanePCBAGF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAGF"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAGF.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAGF.2"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.3"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.4"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java similarity index 92% rename from src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java rename to src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java index 25cce31..b53fd7c 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java @@ -8,9 +8,9 @@ import org.team1540.robot2024.util.auto.AutoCommand; import org.team1540.robot2024.util.auto.PathHelper; -public class SourceLanePGHF extends AutoCommand { +public class SourceLanePHGF extends AutoCommand { private static final double SHOT_WAIT = 0.2; - public SourceLanePGHF(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ + public SourceLanePHGF(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ super("!SourceLanePHGF"); addPath( PathHelper.fromChoreoPath("SourceLanePHGF.1", true, true),