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edit autos to include note filtering stuff
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@davidchen20
davidchen20 committed Aug 16, 2024
1 parent 37cc387 commit d321e3f
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Showing 12 changed files with 123 additions and 15 deletions.
18 changes: 18 additions & 0 deletions src/main/deploy/pathplanner/autos/$a!p-b1-c1-c2.auto
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Expand Up @@ -29,6 +29,12 @@
"pathName": "get the note"
}
},
{
"type": "named",
"data": {
"name": "B1"
}
},
{
"type": "named",
"data": {
Expand All @@ -53,6 +59,12 @@
"pathName": "$apb1c(12)!score b1 c1"
}
},
{
"type": "named",
"data": {
"name": "C1"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -83,6 +95,12 @@
"pathName": "$apb1c(12)!c2"
}
},
{
"type": "named",
"data": {
"name": "C2"
}
},
{
"type": "named",
"data": {
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18 changes: 18 additions & 0 deletions src/main/deploy/pathplanner/autos/$a!p-b1-c2-c3.auto
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Expand Up @@ -29,6 +29,12 @@
"pathName": "get the note"
}
},
{
"type": "named",
"data": {
"name": "B1"
}
},
{
"type": "named",
"data": {
Expand All @@ -53,6 +59,12 @@
"pathName": "$apb1c(23)!c2"
}
},
{
"type": "named",
"data": {
"name": "C2"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -83,6 +95,12 @@
"pathName": "$apb1c(23)!c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$c!p-b2-c3.auto
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Expand Up @@ -11,6 +11,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "B2"
}
},
{
"type": "sequential",
"data": {
Expand Down Expand Up @@ -78,6 +84,12 @@
"pathName": "$cpb2c3!c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$s!p-c3-c4.auto
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Expand Up @@ -23,6 +23,12 @@
"pathName": "$spc(34)!p-c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -53,6 +59,12 @@
"pathName": "$spc(34)!c4"
}
},
{
"type": "named",
"data": {
"name": "C4"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$s!p-c3-c5.auto
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Expand Up @@ -23,6 +23,12 @@
"pathName": "$spc(35)!p-c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -53,6 +59,12 @@
"pathName": "$spc(35)!c5"
}
},
{
"type": "named",
"data": {
"name": "C5"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$s!p-c4-c3.auto
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Expand Up @@ -23,6 +23,12 @@
"pathName": "$spc(43)!p-c4"
}
},
{
"type": "named",
"data": {
"name": "C4"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -53,6 +59,12 @@
"pathName": "$spc(43)!c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$s!p-c4-c5.auto
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Expand Up @@ -23,6 +23,12 @@
"pathName": "$spc(45)!p-c4"
}
},
{
"type": "named",
"data": {
"name": "C4"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -53,6 +59,12 @@
"pathName": "$spc(45)!c5"
}
},
{
"type": "named",
"data": {
"name": "C5"
}
},
{
"type": "named",
"data": {
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12 changes: 12 additions & 0 deletions src/main/deploy/pathplanner/autos/$s!p-c5-c3.auto
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Expand Up @@ -23,6 +23,12 @@
"pathName": "$spc(53)!p-c5"
}
},
{
"type": "named",
"data": {
"name": "C5"
}
},
{
"type": "named",
"data": {
Expand Down Expand Up @@ -53,6 +59,12 @@
"pathName": "$spc(53)!c3"
}
},
{
"type": "named",
"data": {
"name": "C3"
}
},
{
"type": "named",
"data": {
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10 changes: 5 additions & 5 deletions src/main/java/frc/robot/BuildConstants.java
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Expand Up @@ -5,12 +5,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2024RobotCode";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 320;
public static final String GIT_SHA = "7e4a0469a390a05483a79d80ab72f641679887d4";
public static final String GIT_DATE = "2024-08-16 13:52:21 EDT";
public static final int GIT_REVISION = 321;
public static final String GIT_SHA = "37cc387fc312ccfeee5787b06b5d201dc503fda5";
public static final String GIT_DATE = "2024-08-16 14:13:15 EDT";
public static final String GIT_BRANCH = "note-filtering";
public static final String BUILD_DATE = "2024-08-16 14:12:54 EDT";
public static final long BUILD_UNIX_TIME = 1723831974633L;
public static final String BUILD_DATE = "2024-08-16 14:41:26 EDT";
public static final long BUILD_UNIX_TIME = 1723833686448L;
public static final int DIRTY = 1;

private BuildConstants() {}
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/commands/AimbotStatic.java
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Expand Up @@ -258,5 +258,6 @@ public boolean isFinished() {
Logger.recordOutput("i am currently this angle", drive.getRotation().getDegrees());
return pid.atSetpoint() && shooter.atFlywheelSetpoints() && pivot.atGoal()
|| (Timer.getFPGATimestamp() - startTime > 1.323);
// return true;
}
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/commands/AlignToNoteAuto.java
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Expand Up @@ -50,7 +50,7 @@ public void initialize() {
led.setState(LED_STATE.FLASHING_RED);
intake.runRollers(12);
shooter.setFeedersRPM(500);
pivot.setPivotGoal(Constants.PivotConstants.INTAKE_SETPOINT_DEG);
pivot.setPivotGoal(Constants.PivotConstants.STOW_SETPOINT_DEG);
targetNoteLocation = drive.getTargetNoteLocation();

generatedPathCommand =
Expand Down Expand Up @@ -85,7 +85,7 @@ public boolean isFinished() {
Logger.recordOutput("isFinished align note", shooter.seesNote());
// return false;
return shooter.seesNote() == NoteState.SENSOR
|| shooter.seesNote() == NoteState.CURRENT
|| finished;
|| shooter.seesNote() == NoteState.CURRENT
|| finished;
}
}
13 changes: 6 additions & 7 deletions src/main/java/frc/robot/subsystems/drive/Drive.java
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Expand Up @@ -59,6 +59,7 @@
import frc.robot.util.LimelightHelpers.PoseEstimate;
import frc.robot.util.LimelightHelpers.RawFiducial;
import frc.robot.util.LocalADStarAK;

import java.util.HashMap;
import java.util.List;
import java.util.Optional;
Expand Down Expand Up @@ -734,27 +735,25 @@ public Translation2d getTargetNoteLocation() {
Translation2d fieldCoords = noteLocations.get(getNote());
boolean useVisionNoteCoords =
getCachedNoteLocation().getDistance(fieldCoords) < 1.25
&& getCachedNoteLocation() != null
&& getCachedNoteTime() != -1
&& noteImageIsNew();
&& getCachedNoteLocation() != null && getCachedNoteTime() != -1 && noteImageIsNew();

Logger.recordOutput(
"cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
"cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
Logger.recordOutput("use vision note coords", useVisionNoteCoords);

if (useVisionNoteCoords) return visionCoords;
return fieldCoords;
}

public PathPlannerPath generateTrajectoryToNote(
public PathPlannerPath generateTrajectoryToNote(
Translation2d target,
double maxVelMetersPerSec,
double maxAccelMetersPerSecSquared,
double maxAngVelDegPerSec,
double maxAngAccelDegPerSecSquared,
double endVelMetersPerSec) {
Rotation2d targetRotation =
new Rotation2d(target.getX() - getPose().getX(), target.getY() - getPose().getY());
AllianceFlipUtil.apply(new Rotation2d(target.getX() - getPose().getX(), target.getY() - getPose().getY()));

Logger.recordOutput("Target Note Pose3d", new Pose3d(new Pose2d(target, new Rotation2d())));
List<Translation2d> points =
Expand All @@ -771,7 +770,7 @@ public PathPlannerPath generateTrajectoryToNote(
Units.degreesToRadians(maxAngAccelDegPerSecSquared)),
new GoalEndState(endVelMetersPerSec, targetRotation, true));

path.preventFlipping = true;
path.preventFlipping = false;

return path;
}
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