diff --git a/src/main/deploy/pathplanner/Blue Bottom 1 Balance.path b/src/main/deploy/pathplanner/Blue Bottom 1 Balance.path index 2b7aa8a..7b193dc 100644 --- a/src/main/deploy/pathplanner/Blue Bottom 1 Balance.path +++ b/src/main/deploy/pathplanner/Blue Bottom 1 Balance.path @@ -17,12 +17,12 @@ "isStopPoint": false, "stopEvent": { "names": [ - "MidPlace", + "HighPlace", "Base" ], "executionBehavior": "sequential", "waitBehavior": "after", - "waitTime": 0.01 + "waitTime": 0.05 } }, { @@ -92,7 +92,8 @@ "isStopPoint": false, "stopEvent": { "names": [ - "Balance" + "Balance", + "Base" ], "executionBehavior": "parallel", "waitBehavior": "none", diff --git a/src/main/deploy/pathplanner/Blue Top 1 Balance.path b/src/main/deploy/pathplanner/Blue Top 1 Balance.path index 2bef0ef..d917415 100644 --- a/src/main/deploy/pathplanner/Blue Top 1 Balance.path +++ b/src/main/deploy/pathplanner/Blue Top 1 Balance.path @@ -17,12 +17,12 @@ "isStopPoint": false, "stopEvent": { "names": [ - "MidPlace", + "HighPlace", "Base" ], "executionBehavior": "sequential", "waitBehavior": "after", - "waitTime": 0.01 + "waitTime": 0.05 } }, { @@ -92,9 +92,10 @@ "isStopPoint": false, "stopEvent": { "names": [ - "Balance" + "Balance", + "Base" ], - "executionBehavior": "sequential", + "executionBehavior": "parallel", "waitBehavior": "none", "waitTime": 0.01 } diff --git a/src/main/deploy/pathplanner/Red Bottom 1 Balance.path b/src/main/deploy/pathplanner/Red Bottom 1 Balance.path index 790109d..6368f2c 100644 --- a/src/main/deploy/pathplanner/Red Bottom 1 Balance.path +++ b/src/main/deploy/pathplanner/Red Bottom 1 Balance.path @@ -16,9 +16,12 @@ "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", + "names": [ + "HighPlace", + "Base2" + ], + "executionBehavior": "sequential", + "waitBehavior": "after", "waitTime": 0.01 } }, @@ -89,10 +92,11 @@ "isStopPoint": false, "stopEvent": { "names": [ - "Balance" + "Balance", + "Base" ], "executionBehavior": "parallel", - "waitBehavior": "none", + "waitBehavior": "after", "waitTime": 0.01 } } diff --git a/src/main/deploy/pathplanner/Red Top 1 Balance.path b/src/main/deploy/pathplanner/Red Top 1 Balance.path index 6672943..e291e63 100644 --- a/src/main/deploy/pathplanner/Red Top 1 Balance.path +++ b/src/main/deploy/pathplanner/Red Top 1 Balance.path @@ -17,8 +17,8 @@ "isStopPoint": false, "stopEvent": { "names": [ - "MidPlace", - "Base" + "HighPlace", + "Base2" ], "executionBehavior": "sequential", "waitBehavior": "after", @@ -79,12 +79,12 @@ }, { "anchorPoint": { - "x": 12.729878838229899, - "y": 2.7803488714616322 + "x": 12.769252665241442, + "y": 2.7737962316202402 }, "prevControl": { - "x": 12.713787178442411, - "y": 2.7840311071247146 + "x": 12.753161005453954, + "y": 2.7774784672833226 }, "nextControl": null, "holonomicAngle": 180.0, @@ -94,9 +94,10 @@ "isStopPoint": false, "stopEvent": { "names": [ - "Balance" + "Balance", + "Base2" ], - 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\ No newline at end of file diff --git a/src/main/kotlin/frc/robot/RobotContainer.kt b/src/main/kotlin/frc/robot/RobotContainer.kt index 5d41e3d..8046969 100644 --- a/src/main/kotlin/frc/robot/RobotContainer.kt +++ b/src/main/kotlin/frc/robot/RobotContainer.kt @@ -113,7 +113,7 @@ class RobotContainer { private fun Discovery() { - JoystickButton(primaryController, XboxController.Button.kRightBumper.value).whileTrue( + JoystickButton(primaryController, XboxController.Button.kLeftBumper.value).whileTrue( StandardDrive(swerveSubsystem, { primaryController.leftY * DrivetrainConstants.drivingSpeedScalar / 2.0 }, { primaryController.leftX * DrivetrainConstants.drivingSpeedScalar / 2.0 }, @@ -359,7 +359,7 @@ class RobotContainer { ) ) autoCommandChooser.addOption( - "Just Place Cube Moid", + "Just Place Cube Mid", SequentialCommandGroup( AutoPlaceCubeMid(pickAndPlace).withTimeout(4.0), AutoBase(pickAndPlace) @@ -388,6 +388,22 @@ class RobotContainer { "Blue Right Place Cube High Leave", testTrajectories.BlueBottom1() ) + autoCommandChooser.addOption( + "Red Left Cone Right Place Leave", + testTrajectories.RedLeftConeRightPlaceLeave() + ) + autoCommandChooser.addOption( + "Red Left Cone Left Place Leave", + testTrajectories.RedLeftConeLeftPlaceLeave() + ) + autoCommandChooser.addOption( + "Red Right Cone Right Place Leave", + testTrajectories.RedRightConeRightPlaceLeave() + ) + autoCommandChooser.addOption( + "Red Right Cone Left Place Leave", + testTrajectories.RedRightConeLeftPlaceLeave() + ) autoCommandChooser.addOption( "Red Left Place Cube High Leave and Balance", testTrajectories.RedBottom1Balance() diff --git a/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt b/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt index 1b78e7d..84eca34 100644 --- a/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt +++ b/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt @@ -24,7 +24,7 @@ class AutoTrajectories(val pnp: PickAndPlaceSubsystem, val swerveSubsystem: Swer val pathGroup: List = PathPlanner.loadPathGroup( pathName, firstConstraint, *pathConstraints ) - println("Auto Running") + //println("Auto Running") //It might be this for the line above: val pathGroup: ArrayList = arrayListOf() // PathPlanner.loadPathGroup("Red Top 1 Get Balance", PathConstraints(1.0, 0.5)).toCollection(pathGroup) @@ -35,6 +35,7 @@ class AutoTrajectories(val pnp: PickAndPlaceSubsystem, val swerveSubsystem: Swer "PickUpCube" to AutoPickCube(pnp), "HighPlace" to AutoPlaceCubeHigh(pnp), "MidCone" to AutoPlaceConeMid(pnp), + "Base2" to AutoBase2(pnp), "Balance" to Balancer(swerveSubsystem) ) // val eventMap = hashMapOf() @@ -116,6 +117,30 @@ class AutoTrajectories(val pnp: PickAndPlaceSubsystem, val swerveSubsystem: Swer PathConstraints(4.00, 3.00) ) } + fun RedLeftConeRightPlaceLeave(): Command { + return base("Red Left Cone Right Place Leave", + PathConstraints(3.00,1.50), + PathConstraints(2.00, 1.00) + ) + } + fun RedLeftConeLeftPlaceLeave(): Command { + return base("Red Left Cone Left Place Leave", + PathConstraints(3.00,1.50), + PathConstraints(2.00, 1.00) + ) + } + fun RedRightConeLeftPlaceLeave(): Command { + return base("Red Right Cone Left Place Leave", + PathConstraints(3.00,1.50), + PathConstraints(3.00, 1.00) + ) + } + fun RedRightConeRightPlaceLeave(): Command { + return base("Red Right Cone Right Place Leave", + PathConstraints(3.00,1.50), + PathConstraints(2.00, 1.00) + ) + } fun BlueCenter1Balance(): Command { return base("Blue Center 1 Balance", PathConstraints(1.00,0.50), @@ -149,16 +174,16 @@ class AutoTrajectories(val pnp: PickAndPlaceSubsystem, val swerveSubsystem: Swer fun RedTop1Balance(): Command { return base("Red Top 1 Balance", PathConstraints(3.00,1.50), - PathConstraints(2.00, 1.00), - PathConstraints(1.00, 0.50) + PathConstraints(3.00, 1.50), + PathConstraints(2.00, 1.00) ) } fun RedBottom1Balance(): Command { println("Running The Path") return base("Red Bottom 1 Balance", - PathConstraints(3.00,1.50), - PathConstraints(2.00, 1.00), - PathConstraints(1.00, 0.50) + PathConstraints(4.00,2.50), + PathConstraints(3.50, 1.75), + PathConstraints(1.20, 0.70) ) } fun BlueTop1GetBalance(): Command { diff --git a/src/main/kotlin/frc/robot/commands/LEDCommands.kt b/src/main/kotlin/frc/robot/commands/LEDCommands.kt index cbaa076..8f786c1 100644 --- a/src/main/kotlin/frc/robot/commands/LEDCommands.kt +++ b/src/main/kotlin/frc/robot/commands/LEDCommands.kt @@ -14,10 +14,13 @@ class SetLEDValueConeCube(val subsystem: BlinkinLEDSubsystem): CommandBase() { if (CommandValues.auto) { if (CommandValues.balanced) { subsystem.setLED(0.59) + println("Balanced") } else if (CommandValues.balancing) { - subsystem.setLED(0.57) + subsystem.setLED(-0.31) + println("Balancing") } else { - subsystem.setLED(0.73) + subsystem.setLED(-0.29) + println("Auto LEDs") } } else if (CommandValues.visionIsMovingRobot) { subsystem.setLED(0.73) @@ -27,7 +30,7 @@ class SetLEDValueConeCube(val subsystem: BlinkinLEDSubsystem): CommandBase() { } else if (!CommandValues.cube) { subsystem.setLED(0.69) } else { - subsystem.setLED(-0.29) + subsystem.setLED(0.93) } } } diff --git a/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt b/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt index 1af6038..36568d0 100644 --- a/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt +++ b/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt @@ -187,6 +187,18 @@ fun AutoBase(pnp: PickAndPlaceSubsystem): Command { ) ) } +fun AutoBase2(pnp: PickAndPlaceSubsystem): Command { + return SequentialCommandGroup( + SetPickAndPlacePosition( + false, + pnp, + ArmConstants.elevatorMinHeight, // elevator + Math.toRadians(70.0), // elbow + Math.toRadians(80.0), // wrist + { 1.5 } // intake + ) + ) +} //TODO:Test fun FloorPlace(pnp: PickAndPlaceSubsystem, controller: XboxController): Command { return SequentialCommandGroup( @@ -204,7 +216,7 @@ fun FloorPlace(pnp: PickAndPlaceSubsystem, controller: XboxController): Command ArmConstants.elevatorMinHeight, // elevator Math.toRadians(66.0), // elbow Math.toRadians(-25.0), // wrist - { if (controller.leftBumper) -5.0 else 1.5 } // intake + { if (controller.rightBumper) -6.0 else 1.5 } // intake ) ) @@ -226,7 +238,7 @@ fun MidPlaceCube(pnp: PickAndPlaceSubsystem, controller: XboxController): Comman 0.2, // elevator Math.toRadians(60.0), // elbow 0.0, // wrist - { if (controller.leftBumper) -3.0 else 2.0 } // intake + { if (controller.rightBumper) -6.0 else 2.0 } // intake ) ) @@ -249,7 +261,7 @@ fun HighPlaceCube(pnp: PickAndPlaceSubsystem, controller: XboxController): Comma 0.6, // elevator Math.toRadians(60.0), // elbow Math.toRadians(-5.0), // wrist - { if (controller.leftBumper) -3.0 else 2.0 } + { if (controller.rightBumper) -5.0 else 2.0 } ) ) } @@ -259,19 +271,19 @@ fun MidPlaceCone(pnp: PickAndPlaceSubsystem, controller: XboxController): Comman SetPickAndPlacePosition( false, pnp, - 0.4, // elevator + 0.47, // elevator Math.toRadians(53.0), // elbow - Math.toRadians(-25.0), // wrist + Math.toRadians(-33.0), // wrist { 1.0 } // intake ), SetPickAndPlacePosition( true, pnp, - 0.4, // elevator + 0.47, // elevator Math.toRadians(53.0), // elbow - Math.toRadians(-25.0), // wrist - { if (controller.leftBumper) -6.0 else 1.0 } // intake + Math.toRadians(-33.0), // wrist + { if (controller.rightBumper) -6.0 else 1.0 } // intake ) ) } @@ -301,7 +313,7 @@ fun HighPlaceCone(pnp: PickAndPlaceSubsystem, controller: XboxController): Comma 0.945, // elevator Math.toRadians(20.0), // elbow Math.toRadians(-29.0), // wrist - { if (controller.leftBumper) -6.0 else 1.0 } + { if (controller.rightBumper) -6.0 else 1.0 } ) ) } @@ -357,8 +369,8 @@ fun ChutePick(pnp: PickAndPlaceSubsystem): Command { pnp, ArmConstants.elevatorMinHeight , // elevator - 1.03475, // elbow - 0.99999, // wrist + 1.13475, // elbow + 0.83999, // wrist { 2.5 } // intake ) ) @@ -392,7 +404,7 @@ fun AutoPlaceCubeMid(pnp: PickAndPlaceSubsystem): Command { 0.2, // elevator Math.toRadians(60.0), // elbow 0.0, // wrist - { -3.0 } // intake + { -8.0 } // intake ) ) } @@ -414,7 +426,7 @@ fun AutoPlaceCubeHigh(pnp: PickAndPlaceSubsystem): Command { 0.6, // elevator Math.toRadians(60.0), // elbow Math.toRadians(-5.0), // wrist - { -5.0 } + { -9.0 } ) ) } @@ -435,7 +447,7 @@ fun AutoPlaceConeMid(pnp: PickAndPlaceSubsystem): Command { 0.4, // elevator Math.toRadians(53.0), // elbow Math.toRadians(-25.0), // wrist - { -6.0 } // intake + { -9.0 } // intake ) ) } diff --git a/src/main/kotlin/frc/robot/constants/ArmConstants.kt b/src/main/kotlin/frc/robot/constants/ArmConstants.kt index 7ec30e5..c0c0b3e 100644 --- a/src/main/kotlin/frc/robot/constants/ArmConstants.kt +++ b/src/main/kotlin/frc/robot/constants/ArmConstants.kt @@ -64,5 +64,5 @@ object ArmConstants { val elbowEncoderPosOffset = 2.088 val wristEncoderPosOffset = 2.767 - val elevatorZeroingVoltage = 0.0 //-1.0 + val elevatorZeroingVoltage = -1.0 //-1.0 } diff --git a/src/main/kotlin/frc/robot/subsystems/PickAndPlaceSubsystem.kt b/src/main/kotlin/frc/robot/subsystems/PickAndPlaceSubsystem.kt index 99aa53c..1c1e40a 100644 --- a/src/main/kotlin/frc/robot/subsystems/PickAndPlaceSubsystem.kt +++ b/src/main/kotlin/frc/robot/subsystems/PickAndPlaceSubsystem.kt @@ -188,18 +188,14 @@ class PickAndPlaceSubsystem : SubsystemBase(){ super.periodic() if (!elevatorZeroed) { elevatorMotor.setVoltage(ArmConstants.elevatorZeroingVoltage) - println("Zeroing") } // These are the voltages we set and will be sent to the elevator and elbow. - if(bottomHit) - { - println("Zeroed") + if(bottomHit) { if (!elevatorZeroed) { elevatorEncoder.position = 0.0 } elevatorZeroed = true - } else if(topHit) {