From 00290ce7418c850325d84025d0dd519f1422732c Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 8 Apr 2025 15:25:36 -0700 Subject: [PATCH 01/48] Tune l4 --- src/main/java/frc/robot/subsystems/ExtensionKinematics.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java index 3d32ba0b..176a9092 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java +++ b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java @@ -50,7 +50,7 @@ public class ExtensionKinematics { Rotation2d.fromRadians(2.427)); public static final Pose2d L3_POSE = solveFK(L3_EXTENSION); public static final Pose2d L4_POSE = - new Pose2d(new Translation2d(0.23, 2.05), Rotation2d.fromDegrees(110.0)); + new Pose2d(new Translation2d(0.20, 2.03), Rotation2d.fromDegrees(110.0)); public static final ExtensionState L4_EXTENSION = solveIK(L4_POSE); From 051b2aaa76edb0d051e54fe96b55eb790571079e Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Tue, 8 Apr 2025 15:32:03 -0700 Subject: [PATCH 02/48] reenable auto release --- src/main/java/frc/robot/Robot.java | 42 +++++++++++++++--------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 241386b2..b2f43b55 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -440,27 +440,27 @@ public static enum AlgaeScoreTarget { .debounce(0.15)) // .or(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .or(() -> Autos.autoScore && DriverStation.isAutonomous()) - // .or( - // new Trigger( - // () -> - // AutoAim.isInToleranceCoral( - // swerve.getPose(), - // Units.inchesToMeters(1.0), - // Units.degreesToRadians(1.0)) - // && MathUtil.isNear( - // 0, - // Math.hypot( - // swerve.getVelocityRobotRelative().vxMetersPerSecond, - // swerve.getVelocityRobotRelative().vyMetersPerSecond), - // AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) - // && MathUtil.isNear( - // 0.0, - // swerve.getVelocityRobotRelative().omegaRadiansPerSecond, - // 3.0) - // && currentTarget != ReefTarget.L4) - // .debounce(0.08) - // .and(() -> swerve.hasFrontTags)) - , + .or( + new Trigger( + () -> + AutoAim.isInToleranceCoral( + swerve.getPose(), + Units.inchesToMeters(1.0), + Units.degreesToRadians(1.0)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, + swerve.getVelocityRobotRelative().omegaRadiansPerSecond, + 3.0) + && currentTarget != ReefTarget.L4 + && currentTarget != ReefTarget.L1) + .debounce(0.08) + .and(() -> swerve.hasFrontTags)), driver .rightTrigger() .or(() -> Autos.autoPreScore && DriverStation.isAutonomous()) From 28120edb4248e9d6b1a909ba6508d564be080d94 Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Tue, 8 Apr 2025 15:51:15 -0700 Subject: [PATCH 03/48] L1 autoalign (#106) * Add target lines * Initial testing, nonworking * Make it mostly work * Allow driver to move along the line --- src/main/java/frc/robot/Robot.java | 36 ++++++- .../java/frc/robot/utils/autoaim/AutoAim.java | 88 +++++++++++++++ .../frc/robot/utils/autoaim/L1Targets.java | 100 ++++++++++++++++++ 3 files changed, 223 insertions(+), 1 deletion(-) create mode 100644 src/main/java/frc/robot/utils/autoaim/L1Targets.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b2f43b55..3a383694 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -25,6 +25,7 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rectangle2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; @@ -79,6 +80,7 @@ import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CageTargets; import frc.robot.utils.autoaim.CoralTargets; +import frc.robot.utils.autoaim.L1Targets; import java.util.HashMap; import java.util.Optional; import java.util.Set; @@ -805,7 +807,7 @@ public Robot() { driver .rightBumper() .or(driver.leftBumper()) - .and(() -> superstructure.stateIsCoralAlike()) + .and(() -> superstructure.stateIsCoralAlike() && currentTarget != ReefTarget.L1) .whileTrue( Commands.parallel( AutoAim.autoAimWithIntermediatePose( @@ -825,6 +827,32 @@ public Robot() { AutoAim.INITIAL_REEF_KEEPOFF_DISTANCE_METERS, 0.0, Rotation2d.kZero)), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + + driver + .rightBumper() + .or(driver.leftBumper()) + .and(() -> superstructure.stateIsCoralAlike() && currentTarget == ReefTarget.L1) + .whileTrue( + Commands.parallel( + AutoAim.alignToLine( + swerve, + () -> + modifyJoystick(driver.getLeftY()) + * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), + () -> + modifyJoystick(driver.getLeftX()) + * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), + () -> L1Targets.getNearestLine(swerve.getPose())), + Commands.waitUntil( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + new Pose2d( + L1Targets.getNearestLine(swerve.getPose()) + .nearest(swerve.getPose().getTranslation()), + L1Targets.getNearestLine(swerve.getPose()).getRotation()))) + .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + driver .rightBumper() .and( @@ -1093,6 +1121,12 @@ public Robot() { Stream.of(CageTargets.values()) .map((target) -> target.getLocation()) .toArray(Pose2d[]::new)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Targets/L1", + Stream.of(L1Targets.values()) + .map((target) -> L1Targets.getRobotTargetLine(target.line)) + .toArray(Rectangle2d[]::new)); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "AutoAim/Targets/Algae", diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 078fa79b..f989da2e 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rectangle2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; @@ -39,6 +40,8 @@ public class AutoAim { public static Pose2d RED_PROCESSOR_POS = ChoreoAllianceFlipUtil.flip(BLUE_PROCESSOR_POS); public static List PROCESSOR_POSES = List.of(BLUE_PROCESSOR_POS, RED_PROCESSOR_POS); + public static final double L1_TROUGH_WIDTH_METERS = 0.935; + public static final double TRANSLATION_TOLERANCE_METERS = Units.inchesToMeters(2.0); public static final double ROTATION_TOLERANCE_RADIANS = Units.degreesToRadians(2.0); public static final double VELOCITY_TOLERANCE_METERSPERSECOND = 0.5; @@ -223,6 +226,91 @@ public static Command translateToXCoord( })); } + public static Command alignToLine( + SwerveSubsystem swerve, + DoubleSupplier xVel, + DoubleSupplier yVel, + Supplier line) { + final Pose2d cachedTarget[] = {new Pose2d()}; + final ProfiledPIDController headingController = + // assume we can accelerate to max in 2/3 of a second + new ProfiledPIDController( + Robot.ROBOT_HARDWARE.swerveConstants.getHeadingVelocityKP(), + 0.0, + 0.0, + new TrapezoidProfile.Constraints(MAX_ANGULAR_SPEED, MAX_ANGULAR_ACCELERATION)); + headingController.enableContinuousInput(-Math.PI, Math.PI); + final ProfiledPIDController vxController = + new ProfiledPIDController( + 10.0, + 0.01, + 0.02, + new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); + final ProfiledPIDController vyController = + new ProfiledPIDController( + 10.0, + 0.01, + 0.02, + new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); + return Commands.runOnce( + () -> { + cachedTarget[0] = + new Pose2d( + line.get().nearest(swerve.getPose().getTranslation()), + line.get().getRotation()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + headingController.reset(swerve.getPose().getRotation().getRadians(), 0.0); + vxController.reset(swerve.getPose().getX(), 0.0); + vyController.reset(swerve.getPose().getY(), 0.0); + }) + .andThen( + swerve.driveVelocityFieldRelative( + () -> { + Supplier target = + () -> + new Pose2d( + line.get().nearest(swerve.getPose().getTranslation()), + line.get().getRotation()); + final var diff = swerve.getPose().minus(target.get()); + var driverReqSpeedsRobotRelative = + ChassisSpeeds.fromFieldRelativeSpeeds( + xVel.getAsDouble(), yVel.getAsDouble(), 0.0, swerve.getRotation()); + driverReqSpeedsRobotRelative.vxMetersPerSecond = 0; + final var speeds = + MathUtil.isNear(0.0, diff.getX(), Units.inchesToMeters(0.25)) + && MathUtil.isNear(0.0, diff.getY(), Units.inchesToMeters(0.25)) + && MathUtil.isNear(0.0, diff.getRotation().getDegrees(), 0.5) + ? new ChassisSpeeds() + : new ChassisSpeeds( + vxController.calculate( + swerve.getPose().getX(), target.get().getX()) + + vxController.getSetpoint().velocity, + // Use the inputted y velocity target + vyController.calculate( + swerve.getPose().getY(), target.get().getY()) + + vyController.getSetpoint().velocity, + headingController.calculate( + swerve.getPose().getRotation().getRadians(), + target.get().getRotation().getRadians()) + + headingController.getSetpoint().velocity) + .plus( + ChassisSpeeds.fromRobotRelativeSpeeds( + driverReqSpeedsRobotRelative, swerve.getRotation()) + .times(1.2)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Target Pose", + new Pose2d( + vxController.getSetpoint().position, + vyController.getSetpoint().position, + Rotation2d.fromRadians(headingController.getSetpoint().position))); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Target Speeds", speeds); + return speeds; + })); + } + public static Command approachAlgae( SwerveSubsystem swerve, Supplier target, double approachSpeed) { // This feels like a horrible way of getting around lambda final requirements diff --git a/src/main/java/frc/robot/utils/autoaim/L1Targets.java b/src/main/java/frc/robot/utils/autoaim/L1Targets.java new file mode 100644 index 00000000..d06bbfe9 --- /dev/null +++ b/src/main/java/frc/robot/utils/autoaim/L1Targets.java @@ -0,0 +1,100 @@ +package frc.robot.utils.autoaim; + +import choreo.util.ChoreoAllianceFlipUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rectangle2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import frc.robot.Robot; +import java.util.Arrays; +import java.util.List; + +public enum L1Targets { + BLUE_AB( + new Rectangle2d( + new Pose2d(3.64, 4.03, Rotation2d.fromDegrees(180)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_CD( + new Rectangle2d( + new Pose2d(4.06, 3.31, Rotation2d.fromDegrees(240)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_EF( + new Rectangle2d( + new Pose2d(4.89, 3.31, Rotation2d.fromDegrees(300)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_GH( + new Rectangle2d( + new Pose2d(5.31, 4.03, Rotation2d.fromDegrees(0)), 0.0, AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_IJ( + new Rectangle2d( + new Pose2d(4.89, 4.75, Rotation2d.fromDegrees(60)), 0.0, AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_KL( + new Rectangle2d( + new Pose2d(4.06, 4.75, Rotation2d.fromDegrees(120)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + + RED_AB( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_AB.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_CD( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_CD.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_EF( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_EF.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_GH( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_GH.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_IJ( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_IJ.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_KL( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_KL.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)); + + public Rectangle2d line; + + private L1Targets(Rectangle2d line) { + this.line = line; + } + + private static final List transformedLines = + Arrays.stream(values()) + .map( + (L1Targets targets) -> { + return L1Targets.getRobotTargetLine(targets.line); + }) + .toList(); + + public static Rectangle2d getRobotTargetLine(Rectangle2d original) { + return original.transformBy( + new Transform2d( + Robot.ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2, + 0, + Rotation2d.fromDegrees(180.0))); + } + + public static Rectangle2d getNearestLine(Pose2d pose) { + // It feels like there should be a better way to do this + return new Rectangle2d( + pose.nearest(transformedLines.stream().map(line -> line.getCenter()).toList()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS); + } +} From fbe08e5eb818b3d7b2606f71a116725da038f664 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Tue, 8 Apr 2025 16:23:00 -0700 Subject: [PATCH 04/48] L1 tuning at loom --- src/main/java/frc/robot/Robot.java | 4 +-- .../robot/subsystems/ExtensionKinematics.java | 2 +- .../frc/robot/subsystems/Superstructure.java | 28 ++++++++++++------- .../java/frc/robot/utils/autoaim/AutoAim.java | 2 +- 4 files changed, 22 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3a383694..5858986e 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -447,8 +447,8 @@ public static enum AlgaeScoreTarget { () -> AutoAim.isInToleranceCoral( swerve.getPose(), - Units.inchesToMeters(1.0), - Units.degreesToRadians(1.0)) + Units.inchesToMeters(1.5), + Units.degreesToRadians(1.5)) && MathUtil.isNear( 0, Math.hypot( diff --git a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java index 176a9092..c9f6d3ce 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java +++ b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java @@ -35,7 +35,7 @@ public class ExtensionKinematics { // Not super accurate bc of whack public static final Pose2d L1_POSE = - new Pose2d(0.26, 0.4, Rotation2d.fromDegrees(15.0)); // solveFK(L1_EXTENSION); + new Pose2d(0.33, 0.50, Rotation2d.fromDegrees(20.0)); // solveFK(L1_EXTENSION); public static final ExtensionState L1_EXTENSION = solveIK(L1_POSE); public static final ExtensionState L2_EXTENSION = new ExtensionState( diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index bcdfd0cd..6244b939 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -23,8 +23,8 @@ import frc.robot.subsystems.wrist.WristSubsystem; import frc.robot.utils.autoaim.AlgaeIntakeTargets; import frc.robot.utils.autoaim.AutoAim; -import frc.robot.utils.autoaim.CoralTargets; import frc.robot.utils.autoaim.HumanPlayerTargets; +import frc.robot.utils.autoaim.L1Targets; import java.util.HashMap; import java.util.List; import java.util.Map; @@ -416,6 +416,9 @@ private void configureStateTransitionCommands() { // PRE_L{1-4} logic + -> SCORE_CORAL stateTriggers .get(SuperState.PRE_L1) + .and( + () -> + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) // .whileTrue( // this.extendWithClearance( // ElevatorSubsystem.L1_EXTENSION_METERS, @@ -428,10 +431,21 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L1_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L1_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())); + + stateTriggers + .get(SuperState.PRE_L1) .and(() -> elevator.isNearExtension(ElevatorSubsystem.L1_EXTENSION_METERS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_L1_POS)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L1_POS)) + .whileTrue( + this.extendWithClearance( + () -> + killVisionIK.getAsBoolean() + ? ExtensionKinematics.L1_EXTENSION + : ExtensionKinematics.getPoseCompensatedExtension( + pose.get(), ExtensionKinematics.L1_EXTENSION))) + .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -569,10 +583,7 @@ private void configureStateTransitionCommands() { .and(() -> !intakeAlgaeReq.getAsBoolean() || !intakeTargetOnReef()) .and( () -> - CoralTargets.getClosestTarget(pose.get()) - .getTranslation() - .getDistance(pose.get().getTranslation()) - > 0.3) + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) .debounce(0.15) .onTrue(forceState(SuperState.IDLE)); @@ -583,10 +594,7 @@ private void configureStateTransitionCommands() { .and(killVisionIK) .and( () -> - CoralTargets.getClosestTarget(pose.get()) - .getTranslation() - .getDistance(pose.get().getTranslation()) - > 0.3) + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) .onTrue(forceState(SuperState.IDLE)); stateTriggers diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index f989da2e..12139d67 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -297,7 +297,7 @@ public static Command alignToLine( .plus( ChassisSpeeds.fromRobotRelativeSpeeds( driverReqSpeedsRobotRelative, swerve.getRotation()) - .times(1.2)); + .times(1.5)); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "AutoAim/Target Pose", From 830acc9a4e51dc2136b85333620df2db314d2b9e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Tue, 8 Apr 2025 20:41:57 -0700 Subject: [PATCH 05/48] Algae autos fr (#113) * added new auto command for circling the reef * added steps for auto command * updated auto path and scoring in auto command * updated auto command, scoring in auto, and intake in auto * updated auto commands * reintroduce handedness * add adjustable speed for different scoring levels * updated auto commands * changed runpath to use start/middle/end locations instead, turned off module force ff in sim * why did i do that * make autoaim start with velocity when that axis is towards the goal * i don't even know anymore * add starting locations * added starting paths and stuff * 4.5 L Outside * 4.5 L Outside completed * added autos 4.5 L Outside and 4.5 R Outside * added autos 4.5 L Outside and 4.5 R Outside * added autos 4.5 L Outside and 4.5 R Outside * score preload autos. also i messed up the command sequence lol * regenerate all choreo paths * fix demo cycle * added li to k, not done yet (need to pull petro changes) * respond to feedback * regen paths with correct torque and a few other fixes * feedback * change force ff back to its own thing * make outtake use volts * loom testing, things are not working! * remove dead autos, rename test * adjust test paths, regen all paths * remove removed auto from robot.java * run scoreinauto tests * make test routine use routines * adjust indexing to not spit when reenabled * lm to h works * move debug auto to LM to H * adjust choreo moi this time for sure * adjust alpha swerve tuning and choreo settings * reenable module force ff * bound elevator extension, upped i for autoaim * adjust command bindings in auto, regen auto trajs * adjust score in auto * started making auto use superstructure(??) * auto works in sim * improved autos in sim * make chooser work when disabled, extend elevator a bit later * premature optimization was the root of all evil * updated auto commands by adding run path to simplify trajectory code * added all 4.5 inner and outer routines * added bind elevator extension to autos * premature optimization was the root of all evil part 2 * standardize naming * added the push auto and updated run path command * finish merge * started adding algae auto commands * add algae reef locations * delete new path * started adding booleans for algae and scoring/intaking algae in auto commands * updating autos to include algae commands and intake/outake (still in progress) * whar * changed some algae intake logic, need to fix elevator extension binding to work for algae intake * please don't be terrible * move scoring and intaking to actually be in sequence * actually check algae * adjust coral g and h and add cmtog traj * more tuning --------- Co-authored-by: vivi-o Co-authored-by: Lewis-Seiden Co-authored-by: petropapahadjopoulos --- notes/algaeLocations.PNG | Bin 0 -> 38607 bytes notes/fieldLocations.md | 5 + src/main/deploy/choreo/CMtoG.traj | 76 +++++++ src/main/deploy/choreo/GHtoNI.traj | 65 ++++++ src/main/deploy/choreo/IJtoNI.traj | 80 +++++++ src/main/deploy/choreo/NItoEF.traj | 106 +++++++++ src/main/deploy/choreo/NItoIJ.traj | 80 +++++++ src/main/deploy/choreo/Sprint Test.traj | 158 -------------- src/main/deploy/choreo/Triangle Test.traj | 128 ----------- src/main/deploy/choreo/choreo.chor | 46 +++- .../choreo/starting location tester.traj | 206 ------------------ src/main/java/frc/robot/Autos.java | 198 +++++++++++++++-- src/main/java/frc/robot/Robot.java | 39 +++- .../subsystems/ManipulatorSubsystem.java | 6 +- .../swerve/KelpieSwerveConstants.java | 4 +- .../java/frc/robot/utils/autoaim/AutoAim.java | 14 +- .../frc/robot/utils/autoaim/CoralTargets.java | 4 +- 17 files changed, 678 insertions(+), 537 deletions(-) create mode 100644 notes/algaeLocations.PNG create mode 100644 src/main/deploy/choreo/CMtoG.traj create mode 100644 src/main/deploy/choreo/GHtoNI.traj create mode 100644 src/main/deploy/choreo/IJtoNI.traj create mode 100644 src/main/deploy/choreo/NItoEF.traj create mode 100644 src/main/deploy/choreo/NItoIJ.traj delete mode 100644 src/main/deploy/choreo/Sprint Test.traj delete mode 100644 src/main/deploy/choreo/Triangle Test.traj delete mode 100644 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zi)|BaN6MkdC{rotb@}&!pZUd<%h1;=cV1@nM$FFF+#q(4uRe>OqU1$=8naIBCV}v5 zpm^W`8|AcEN*J7ll3um{~`G6`7@v?|ae Oh^@8b*+>5*CjJ+4{m$tC literal 0 HcmV?d00001 diff --git a/notes/fieldLocations.md b/notes/fieldLocations.md index 3ea8ec40..d9730e2f 100644 --- a/notes/fieldLocations.md +++ b/notes/fieldLocations.md @@ -10,6 +10,11 @@ These names should be used for naming auto paths and other tasks which require r Each scoring location on the reef should be identified by the letter shown in the diagram above. If there is ambiguity about what the letter refers to, it may be notated as ReefN where N is the letter for that location on the reef. +## Algae Reef Locations +![Map of the field with algae locations labeled](algaeLocations.PNG) + +Each algae removal site is identified by the letters of the two reef branches adjacent to it in alphabetical order. + ## Coral Station Locations ![A map of the field with locations marked around the coral stations](coralStationLabels.png) diff --git a/src/main/deploy/choreo/CMtoG.traj b/src/main/deploy/choreo/CMtoG.traj new file mode 100644 index 00000000..693771cb --- /dev/null +++ b/src/main/deploy/choreo/CMtoG.traj @@ -0,0 +1,76 @@ +{ + "name":"CMtoG", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.228332996368408, "y":3.8562123775482178, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.813863277435303, "y":3.8562123775482178, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":1, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":0, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"CM.x", "val":7.228332996368408}, "y":{"exp":"G.y", "val":3.8562123775482178}, "heading":{"exp":"CM.heading", 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- {"t":3.06323, "x":0.90115, "y":3.06316, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/choreo.chor b/src/main/deploy/choreo/choreo.chor index 6f163365..b8c97aea 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -55,6 +55,20 @@ "val":1.0349851207246612 } }, + "CM":{ + "x":{ + "exp":"7.228332996368408 m", + "val":7.228332996368408 + }, + "y":{ + "exp":"GH.y", + "val":4.017168045043945 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "D":{ "x":{ "exp":"3.967747211456299 m", @@ -111,6 +125,20 @@ "val":3.141592653589793 } }, + "GH":{ + "x":{ + "exp":"5.806319713592529 m", + "val":5.806319713592529 + }, + "y":{ + "exp":"4.017168045043945 m", + "val":4.017168045043945 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "H":{ "x":{ "exp":"5.808465480804443 m", @@ -237,6 +265,20 @@ "val":1.5940473094638272 } }, + "N":{ + "x":{ + "exp":"8.08 m", + "val":8.08 + }, + "y":{ + "exp":"5 m", + "val":5.0 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "PL":{ "x":{ "exp":"7.814075469970703 m", @@ -473,8 +515,8 @@ "val":0.0508 }, "vmax":{ - "exp":"4800 RPM", - "val":502.6548245743669 + "exp":"5000 RPM", + "val":523.5987755982989 }, "tmax":{ "exp":"0.65 N * m", diff --git a/src/main/deploy/choreo/starting location tester.traj b/src/main/deploy/choreo/starting location tester.traj deleted file mode 100644 index 4d0d178e..00000000 --- a/src/main/deploy/choreo/starting location tester.traj +++ /dev/null @@ -1,206 +0,0 @@ -{ - "name":"starting location tester", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.1, "y":7.216524124145508, "heading":-2.095116885713791, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.1, "y":5.889204978942871, 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"fy":[41.19058,-62.76664,44.77577,80.95341]}, - {"t":2.47574, "x":7.07746, "y":1.47823, "heading":0.95836, "vx":-0.06168, "vy":-2.5468, "omega":2.04225, "ax":1.172, "ay":2.70447, "alpha":14.38994, "fx":[-59.34451,77.95032,58.87988,-0.8455], "fy":[54.64301,-14.15667,55.42572,80.93953]}, - {"t":2.49979, "x":7.07632, "y":1.41777, "heading":1.00747, "vx":-0.0335, "vy":-2.48177, "omega":2.38828, "ax":0.93273, "ay":4.06812, "alpha":8.43313, "fx":[-45.27618,59.02152,48.41762,-1.16984], "fy":[66.75545,53.58508,64.75825,80.92532]}, - {"t":2.52383, "x":7.07578, "y":1.35927, "heading":1.0649, "vx":-0.01107, "vy":-2.38394, "omega":2.59106, "ax":0.63192, "ay":4.60065, "alpha":5.16098, "fx":[-29.00093,34.20889,36.94248,-0.82738], "fy":[75.30376,72.69472,71.9297,80.91916]}, - {"t":2.54788, "x":7.0757, "y":1.30327, "heading":1.12721, "vx":0.00412, "vy":-2.27332, "omega":2.71516, "ax":0.50486, "ay":4.82008, "alpha":2.93896, "fx":[-13.69108,20.69689,25.49731,0.51089], "fy":[79.59228,77.94382,76.74859,80.91188]}, - {"t":2.57193, "x":7.07594, "y":1.25, "heading":1.1925, "vx":0.01626, "vy":-2.15741, "omega":2.78583, "ax":0.43298, "ay":4.91042, "alpha":1.22127, "fx":[-1.53349,12.03358,14.78857,3.02491], "fy":[80.82293,79.90847,79.52415,80.84866]}, - {"t":2.59597, "x":7.07646, "y":1.19955, "heading":1.25949, "vx":0.02668, "vy":-2.03933, "omega":2.8152, "ax":0.37619, "ay":4.93434, "alpha":-0.15046, "fx":[7.12394,5.54953,5.16151,6.7652], "fy":[80.59429,80.71997,80.73744,80.6168]}, - {"t":2.62002, "x":7.07721, "y":1.15193, "heading":1.32718, "vx":0.03572, "vy":-1.92068, "omega":2.81158, "ax":0.3275, "ay":4.92142, "alpha":-1.29802, "fx":[12.88832,0.20008,-3.29548,11.62288], "fy":[79.93645,80.97793,80.84843,80.06085]}, - {"t":2.64406, "x":7.07816, "y":1.10717, "heading":1.39479, "vx":0.0436, "vy":-1.80234, "omega":2.78037, "ax":0.28624, "ay":4.88555, "alpha":-2.31166, "fx":[16.5186,-4.47493,-10.63298,17.30704], "fy":[79.31616,80.90269,80.22494,79.03387]}, - {"t":2.66811, "x":7.0793, "y":1.06524, "heading":1.46165, "vx":0.05048, "vy":-1.68486, "omega":2.72478, "ax":0.2501, "ay":4.83373, "alpha":-3.24053, "fx":[18.63556,-8.69851,-16.95902,23.37682], "fy":[78.8865,80.59419,79.138,77.47017]}, - {"t":2.69216, "x":7.08058, "y":1.02613, "heading":1.52717, "vx":0.05649, "vy":-1.56862, "omega":2.64686, "ax":0.21488, "ay":4.77096, "alpha":-4.09801, "fx":[19.68995,-12.58597,-22.39582,29.34358], "fy":[78.66319,80.10722,77.77998,75.43425]}, - {"t":2.7162, "x":7.082, "y":0.98979, "heading":1.59082, "vx":0.06166, "vy":-1.4539, "omega":2.54832, "ax":0.17646, "ay":4.70208, "alpha":-4.87653, "fx":[19.99972,-16.19935,-27.06135,34.79995], "fy":[78.61215,79.47773,76.28495,73.10512]}, - {"t":2.74025, "x":7.08354, "y":0.95618, "heading":1.65209, "vx":0.06591, "vy":-1.34083, "omega":2.43106, "ax":0.1324, "ay":4.63159, "alpha":-5.56384, "fx":[19.79065,-19.57286,-31.06358,39.50377], "fy":[78.68743,78.7332,74.74448,70.70542]}, - {"t":2.7643, "x":7.08516, "y":0.92528, "heading":1.71055, "vx":0.06909, "vy":-1.22946, "omega":2.29727, "ax":0.08232, "ay":4.56303, "alpha":-6.15364, "fx":[19.22623,-22.72599,-34.50056,43.38314], "fy":[78.84585,77.89691,73.21851,68.42633]}, - {"t":2.78834, "x":7.08684, "y":0.89704, "heading":1.76579, "vx":0.07107, "vy":-1.11974, "omega":2.14929, "ax":0.02725, "ay":4.49858, "alpha":-6.64857, "fx":[18.42745,-25.67043,-37.4626,46.48753], "fy":[79.05201,76.98987,71.74225,66.38848]}, - {"t":2.81239, "x":7.08856, "y":0.87141, "heading":1.81748, "vx":0.07172, "vy":-1.01156, "omega":1.98942, "ax":-0.03112, "ay":4.43907, "alpha":-7.05865, "fx":[17.48564,-28.41402,-40.03535,48.92851], "fy":[79.27893,76.03143,70.33029,64.64093]}, - {"t":2.83644, "x":7.09028, "y":0.84837, "heading":1.86531, "vx":0.07098, "vy":-0.90482, "omega":1.81969, "ax":-0.09113, "ay":4.38439, "alpha":-7.39815, "fx":[16.4709,-30.96275,-42.30302,50.83564], "fy":[79.50734,75.03961,68.97869,63.18008]}, - {"t":2.86048, "x":7.09196, "y":0.82788, "heading":1.90907, "vx":0.06878, "vy":-0.79939, "omega":1.64179, "ax":-0.15145, "ay":4.33372, "alpha":-7.68312, "fx":[15.43786,-33.32172,-44.3517,52.3322], "fy":[79.72423,74.03125,67.66555,61.97147]}, - {"t":2.88453, "x":7.09357, "y":0.80991, "heading":1.94855, "vx":0.06514, "vy":-0.69518, "omega":1.45704, "ax":-0.21123, "ay":4.28583, "alpha":-7.92996, "fx":[14.42969,-35.49556,-46.27243,53.5253], "fy":[79.92147,73.02205,66.35024,60.9666]}, - {"t":2.90857, "x":7.09507, "y":0.79443, "heading":1.98359, "vx":0.06006, "vy":-0.59212, "omega":1.26635, "ax":-0.27017, "ay":4.23912, "alpha":-8.15481, "fx":[13.48108,-37.48841,-48.16359,54.50399], "fy":[80.09453,72.02679,64.97148,60.11338]}, - {"t":2.93262, "x":7.09644, "y":0.78142, "heading":2.01404, "vx":0.05357, "vy":-0.49019, "omega":1.07026, "ax":-0.32839, "ay":4.19172, "alpha":-8.37362, "fx":[12.6204,-39.30385,-50.13166,55.34091], "fy":[80.2414,71.05947,63.44427,59.36164]}, - {"t":2.95667, "x":7.09763, "y":0.77085, "heading":2.03977, "vx":0.04567, "vy":-0.38939, "omega":0.8689, "ax":-0.38639, "ay":4.14141, "alpha":-8.60246, "fx":[11.87145,-40.94463,-52.28875,56.09505], "fy":[80.36166,70.13355,61.65614,58.66531]}, - {"t":2.98071, "x":7.09862, "y":0.76268, "heading":2.06067, "vx":0.03638, "vy":-0.2898, "omega":0.66204, "ax":-0.44481, "ay":4.08557, "alpha":-8.85792, "fx":[11.25486,-42.41244,-54.74389,56.81458], "fy":[80.45578,69.26217,59.46417,57.98274]}, - {"t":3.00476, "x":7.09937, "y":0.75689, "heading":2.07659, "vx":0.02568, "vy":-0.19156, "omega":0.44904, "ax":-0.50409, "ay":4.02119, "alpha":-9.15714, "fx":[10.78923,-43.70757,-57.58438,57.53928], "fy":[80.52449,68.45844,56.69651,57.27603]}, - {"t":3.02881, "x":7.09984, "y":0.75345, "heading":2.08739, "vx":0.01356, "vy":-0.09487, "omega":0.22885, "ax":-0.56395, "ay":3.94512, "alpha":-9.51688, "fx":[10.49208,-44.82845,-60.84391,58.30244], "fy":[80.56826,67.73578,53.16646,56.51]}, - {"t":3.05285, "x":7.1, "y":0.75231, "heading":2.09289, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index f6cdaa9e..1f28e41c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -17,11 +17,16 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Robot.AlgaeScoreTarget; import frc.robot.Robot.ReefTarget; import frc.robot.Robot.RobotType; import frc.robot.subsystems.FunnelSubsystem; import frc.robot.subsystems.ManipulatorSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.shoulder.ShoulderSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; +import frc.robot.subsystems.wrist.WristSubsystem; +import frc.robot.utils.autoaim.AlgaeIntakeTargets; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CoralTargets; import java.util.HashMap; @@ -35,15 +40,28 @@ public class Autos { private final ManipulatorSubsystem manipulator; private final FunnelSubsystem funnel; private final AutoFactory factory; + private final ElevatorSubsystem elevator; + private final ShoulderSubsystem shoulder; + private final WristSubsystem wrist; @AutoLogOutput public static boolean autoPreScore = true; @AutoLogOutput public static boolean autoScore = false; // TODO perhaps this should not be static - @AutoLogOutput public static boolean autoGroundIntake = false; + @AutoLogOutput public static boolean autoGroundCoralIntake = false; + @AutoLogOutput public static boolean autoAlgaeIntake = false; - public Autos(SwerveSubsystem swerve, ManipulatorSubsystem manipulator, FunnelSubsystem funnel) { + public Autos( + SwerveSubsystem swerve, + ManipulatorSubsystem manipulator, + FunnelSubsystem funnel, + ElevatorSubsystem elevator, + ShoulderSubsystem shoulder, + WristSubsystem wrist) { this.swerve = swerve; this.manipulator = manipulator; this.funnel = funnel; + this.elevator = elevator; + this.shoulder = shoulder; + this.wrist = wrist; factory = new AutoFactory( swerve::getPose, @@ -91,7 +109,7 @@ public Command LMtoH() { final var traj = routine.trajectory("LMtoH"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); bindElevatorExtension(routine); - routine.observe(traj.done()).onTrue(scoreInAuto()); + routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -100,11 +118,11 @@ public Command RMtoG() { final var traj = routine.trajectory("RMtoG"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); bindElevatorExtension(routine); - routine.observe(traj.done()).onTrue(scoreInAuto()); + routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } - public void runPath( + public void runCoralPath( AutoRoutine routine, String startPos, String endPos, @@ -120,10 +138,10 @@ public void runPath( .onTrue( Commands.sequence( endPos.length() == 3 - ? intakeInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) + ? intakeCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) : Commands.sequence( endPos.length() == 1 - ? scoreInAuto( + ? scoreCoralInAuto( () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) : AutoAim.translateToPose( swerve, @@ -164,7 +182,7 @@ public Command LOtoJ() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final var groundTraj = routine.trajectory("LtoAGround"); @@ -212,7 +230,7 @@ public Command ROtoE() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } routine @@ -245,10 +263,10 @@ public Command LItoK() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PLItoB").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PLItoB").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -275,10 +293,10 @@ public Command RItoD() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PRItoA").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PRItoA").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -306,14 +324,93 @@ public Command PMtoPL() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PLOtoL").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PLOtoL").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } - public Command scoreInAuto(Supplier trajEndPose) { + public Command CMtoGH() { + final var routine = factory.newRoutine("CM to GH"); + bindElevatorExtension(routine, 2.0); + HashMap steps = + new HashMap(); // key - name of path, value - traj + String[] stops = { + "CM", "G", "GH", "NI", "IJ", "NI", "EF" // each stop we are going to, in order + }; + for (int i = 0; i < stops.length - 1; i++) { + String name = stops[i] + "to" + stops[i + 1]; // concatenate the names of the stops + steps.put( + name, routine.trajectory(name)); // and puts that name + corresponding traj to the map + } + routine + // run first path + .active() + .whileTrue(Commands.sequence(steps.get("CMtoG").resetOdometry(), steps.get("CMtoG").cmd())); + + routine + .observe(steps.get("CMtoG").done()) + .onTrue(Commands.sequence(scoreCoralInAuto(() -> steps.get("CMtoG").getFinalPose().get()))); + routine + .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + .onTrue( + Commands.sequence( + swerve.driveTeleop(() -> new ChassisSpeeds(-0.3, 0, 0)).withTimeout(0.2), + Commands.runOnce( + () -> { + autoAlgaeIntake = true; + Robot.setCurrentAlgaeIntakeTarget( + AlgaeIntakeTargets.getClosestTarget( + steps.get("CMtoG").getFinalPose().get()) + .height); + }), + AutoAim.translateToPose( + swerve, + () -> + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose( + steps.get("CMtoG").getFinalPose().get()))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose( + swerve.getPose())), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(1.0), + Units.degreesToRadians(1.0)) + && elevator.isNearTarget() + && shoulder.isNearAngle( + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) + && wrist.isNearAngle( + WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), + AutoAim.approachAlgae( + swerve, + () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), + 1) + .withTimeout(2)) + .andThen( + Commands.runOnce( + () -> { + autoAlgaeIntake = false; + }), + steps.get("GHtoNI").cmd())); + routine.observe(steps.get("GHtoNI").done()).onTrue(scoreAlgaeInAuto()); + // for (int i = 0; i < stops.length - 2; i++) { + // String startPos = stops[i]; + // String endPos = stops[i + 1]; + // String nextPos = stops[i + 2]; + // runAlgaePath(routine, startPos, endPos, nextPos, steps); + // } + // routine + // .observe(steps.get("NItoEF").done()) + // .onTrue(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose())); + return routine.cmd(); + } + + public Command scoreCoralInAuto(Supplier trajEndPose) { return Commands.sequence( Commands.waitUntil( new Trigger( @@ -356,15 +453,10 @@ public Command scoreInAuto(Supplier trajEndPose) { swerve, () -> CoralTargets.getClosestTarget(trajEndPose.get()), ChassisSpeeds::new, - new Constraints(1.5, 2.0))); - } - - // TODO: REMOVE THIS OVERLOAD - public Command scoreInAuto() { - return scoreInAuto(() -> swerve.getPose()); + new Constraints(1.5, 1.0))); } - public Command intakeInAuto(Supplier> pose) { + public Command intakeCoralInAuto(Supplier> pose) { if (!pose.get().isPresent()) { return Commands.none(); } else { @@ -410,4 +502,64 @@ public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { .whileTrue(Commands.run(() -> autoPreScore = true)) .whileFalse(Commands.run(() -> autoPreScore = false)); } + + public void runAlgaePath( + AutoRoutine routine, + String startPos, + String endPos, + String nextPos, + HashMap steps) { + routine + .observe(steps.get(startPos + "to" + endPos).done()) + .onTrue( + Commands.sequence( + endPos.equals("NI") + ? scoreAlgaeInAuto() + : intakeAlgaeInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()), + steps.get(endPos + "to" + nextPos).cmd())); + } + + public Command intakeAlgaeInAuto(Supplier> pose) { + if (!pose.get().isPresent()) { + return Commands.none(); + } else { + return Commands.sequence( + Commands.runOnce( + () -> { + autoAlgaeIntake = true; + Robot.setCurrentAlgaeIntakeTarget( + AlgaeIntakeTargets.getClosestTarget(pose.get().get()).height); // are you serios + }), + Commands.waitUntil(() -> manipulator.hasAlgae()) + .alongWith( + Robot.isSimulation() + ? Commands.runOnce(() -> manipulator.setHasAlgae(true)) + : Commands.none()), + Commands.runOnce( + () -> { + autoAlgaeIntake = false; + })); + } + } + + public Command scoreAlgaeInAuto() { + return Commands.runOnce( + () -> { + autoScore = true; + Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); + }) + .andThen( + Commands.waitUntil( + () -> !manipulator.hasAlgae()) // TODO maybe check state directly instead + .alongWith( + Robot.isSimulation() + ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) + : Commands.none()) + .andThen( + Commands.runOnce( + () -> { + autoScore = false; + autoPreScore = false; + }))); + } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 5858986e..a3ec268d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -189,8 +189,8 @@ public static enum AlgaeScoreTarget { } private static ReefTarget currentTarget = ReefTarget.L4; - private AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.STACK; - private AlgaeScoreTarget algaeScoreTarget = AlgaeScoreTarget.NET; + private static AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.STACK; + private static AlgaeScoreTarget algaeScoreTarget = AlgaeScoreTarget.NET; private boolean leftHandedTarget = false; @AutoLogOutput private boolean killVisionIK = true; @@ -479,8 +479,8 @@ public static enum AlgaeScoreTarget { .getNorm() < 3.25 && DriverStation.isAutonomous()), - driver.leftTrigger(), - driver.leftBumper().or(() -> Autos.autoGroundIntake && DriverStation.isAutonomous()), + driver.leftTrigger().or(() -> Autos.autoAlgaeIntake && DriverStation.isAutonomous()), + driver.leftBumper().or(() -> Autos.autoGroundCoralIntake && DriverStation.isAutonomous()), driver .x() .and(driver.pov(-1).negate()) @@ -594,7 +594,7 @@ public Robot() { carriageLigament.append(shoulderLigament); shoulderLigament.append(wristLigament); - autos = new Autos(swerve, manipulator, funnel); + autos = new Autos(swerve, manipulator, funnel, elevator, shoulder, wrist); autoChooser.addDefaultOption("None", autos.getNoneAuto()); SmartDashboard.putData( @@ -700,7 +700,7 @@ public Robot() { .onTrue(Commands.runOnce(() -> Autos.autoPreScore = false)); new Trigger(() -> DriverStation.isEnabled() && DriverStation.isTeleop()) - .onTrue(Commands.runOnce(() -> Autos.autoGroundIntake = false)); + .onTrue(Commands.runOnce(() -> Autos.autoGroundCoralIntake = false)); new Trigger(() -> DriverStation.isAutonomousEnabled() && !wrist.hasZeroed) .onTrue( @@ -1157,6 +1157,7 @@ private void addAutos() { autoChooser.addOption("4.5 L Inside", autos.LItoK()); autoChooser.addOption("4.5 R Inside", autos.RItoD()); autoChooser.addOption("Push Auto", autos.PMtoPL()); + autoChooser.addDefaultOption("Algae auto", autos.CMtoGH()); } /** Scales a joystick value for teleop driving */ @@ -1314,6 +1315,8 @@ public void robotPeriodic() { if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Mechanism/Elevator", elevatorMech2d); superstructure.periodic(); + Logger.recordOutput("Autos/Coral Pre Score", Autos.autoPreScore); + Logger.recordOutput("Autos/Coral Score", Autos.autoScore); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Autos/Pre Score", Autos.autoPreScore); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Autos/Score", Autos.autoScore); @@ -1331,6 +1334,30 @@ public void robotPeriodic() { state = superstructure::getState; } + public static void setCurrentCoralTarget(ReefTarget target) { + currentTarget = target; + } + + public ReefTarget getCurrentCoralTarget() { + return currentTarget; + } + + public static void setCurrentAlgaeIntakeTarget(AlgaeIntakeTarget target) { + algaeIntakeTarget = target; + } + + public AlgaeIntakeTarget getCurrentAlgaeIntakeTarget() { + return algaeIntakeTarget; + } + + public static void setCurrentAlgaeScoreTarget(AlgaeScoreTarget target) { + algaeScoreTarget = target; + } + + public AlgaeScoreTarget getCurrentAlgaeScoreTarget() { + return algaeScoreTarget; + } + public static void setCurrentTarget(ReefTarget target) { currentTarget = target; } diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index 4dae0079..a99c15ca 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -14,12 +14,14 @@ import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Robot; import frc.robot.Robot.RobotType; +import frc.robot.subsystems.Superstructure.SuperState; import frc.robot.subsystems.beambreak.BeambreakIO; import frc.robot.subsystems.beambreak.BeambreakIOInputsAutoLogged; import frc.robot.subsystems.roller.RollerIO; import frc.robot.subsystems.roller.RollerSubsystem; import frc.robot.utils.Tracer; import java.util.function.DoubleSupplier; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; public class ManipulatorSubsystem extends RollerSubsystem { @@ -42,7 +44,7 @@ public class ManipulatorSubsystem extends RollerSubsystem { private boolean bb1 = false; private boolean bb2 = false; - private boolean hasAlgae = false; + @AutoLogOutput private boolean hasAlgae = false; private LinearFilter currentFilter = LinearFilter.movingAverage(20); private double currentFilterValue = 0.0; @@ -205,6 +207,6 @@ public void setHasAlgae(boolean state) { } public boolean hasAlgae() { - return hasAlgae; + return hasAlgae || Robot.state.get() == SuperState.READY_ALGAE; } } diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index b3b441bd..e4d032c0 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -251,9 +251,7 @@ public VisionConstants[] getVisionConstants() { new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(-30))), FRONT_LEFT_CAMERA_MATRIX, FRONT_LEFT_DIST_COEFFS); - return new VisionConstants[] { - backLeftCamConstants, frontRightCamConstants, frontLeftCamConstants - }; + return new VisionConstants[] {frontRightCamConstants, frontLeftCamConstants}; } @Override diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 12139d67..5b625042 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -150,13 +150,13 @@ public static Command translateToPose( cachedTarget[0].getRotation().getRadians()) + headingController.getSetpoint().velocity) .plus(speedsModifier.get()); - if (Robot.ROBOT_TYPE != RobotType.REAL) - Logger.recordOutput( - "AutoAim/Target Pose", - new Pose2d( - vxController.getSetpoint().position, - vyController.getSetpoint().position, - Rotation2d.fromRadians(headingController.getSetpoint().position))); + // if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Target Pose", + new Pose2d( + vxController.getSetpoint().position, + vyController.getSetpoint().position, + Rotation2d.fromRadians(headingController.getSetpoint().position))); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("AutoAim/Target Speeds", speeds); return speeds; diff --git a/src/main/java/frc/robot/utils/autoaim/CoralTargets.java b/src/main/java/frc/robot/utils/autoaim/CoralTargets.java index 8937c9bf..04893800 100644 --- a/src/main/java/frc/robot/utils/autoaim/CoralTargets.java +++ b/src/main/java/frc/robot/utils/autoaim/CoralTargets.java @@ -18,8 +18,8 @@ public enum CoralTargets { BLUE_D(new Pose2d(4.35, 3.49, Rotation2d.fromDegrees(240)), false), BLUE_E(new Pose2d(4.60, 3.50, Rotation2d.fromDegrees(300)), false), BLUE_F(new Pose2d(4.88, 3.66, Rotation2d.fromDegrees(300)), true), - BLUE_G(new Pose2d(5.00, 3.90, Rotation2d.fromDegrees(0)), false), - BLUE_H(new Pose2d(5.00, 4.20, Rotation2d.fromDegrees(0)), true), + BLUE_G(new Pose2d(5.00, 3.86, Rotation2d.fromDegrees(0)), false), + BLUE_H(new Pose2d(5.00, 4.18, Rotation2d.fromDegrees(0)), true), BLUE_I(new Pose2d(4.88, 4.41, Rotation2d.fromDegrees(60)), false), BLUE_J(new Pose2d(4.60, 4.57, Rotation2d.fromDegrees(60)), true), BLUE_K(new Pose2d(4.36, 4.57, Rotation2d.fromDegrees(120)), true), From 593d27e756b637f1002ddb2433101e0c1ab39cf8 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Tue, 8 Apr 2025 20:46:06 -0700 Subject: [PATCH 06/48] steepen barge shot angle again --- src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java index bb0fae39..853f00b2 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java @@ -40,7 +40,7 @@ public class WristSubsystem extends SubsystemBase { public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_RETRACT_POS = Rotation2d.fromDegrees(-20.0); - public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(105); + public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(100); public static final Rotation2d WRIST_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(-30.0); public static MotionMagicConfigs DEFAULT_MOTION_MAGIC = From 3a83f517e37f0c752ffd33f03a0aa329482ac59d Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Tue, 8 Apr 2025 21:15:19 -0700 Subject: [PATCH 07/48] reintroduce toss, use vel threshold --- src/main/java/frc/robot/subsystems/Superstructure.java | 10 +++++++--- .../robot/subsystems/shoulder/ShoulderSubsystem.java | 6 +++++- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 6244b939..5d5dfde8 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -791,10 +791,10 @@ private void configureStateTransitionCommands() { Commands.parallel( elevator.setExtensionSlow(ElevatorSubsystem.ALGAE_NET_EXTENSION), // Make it initially extend to the full 90 degrees - shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS), + shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS), wrist.setSlowTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS))) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) + .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .and(scoreReq) .onTrue(forceState(SuperState.SCORE_ALGAE_NET)); @@ -802,7 +802,11 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.SCORE_ALGAE_NET) .onTrue(Commands.runOnce(() -> stateTimer.reset())) - .whileTrue(manipulator.setVoltage(-13.0)) + .whileTrue( + manipulator + .hold() + .until(() -> shoulder.getVelocity() > 0.4) + .andThen(manipulator.setVoltage(-13.0))) .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .whileTrue(shoulder.setTargetAngleSlow(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 5ed27160..341edec3 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -45,7 +45,7 @@ public class ShoulderSubsystem extends SubsystemBase { ExtensionKinematics.L1_EXTENSION.shoulderAngle(); public static final Rotation2d SHOULDER_SCORE_L4_POS = ExtensionKinematics.L4_EXTENSION.shoulderAngle(); - public static final Rotation2d SHOULDER_PRE_NET_POS = Rotation2d.fromDegrees(40); + public static final Rotation2d SHOULDER_PRE_NET_POS = Rotation2d.fromDegrees(30); public static final Rotation2d SHOULDER_SHOOT_NET_POS = Rotation2d.fromDegrees(90); public static final Rotation2d SHOULDER_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(60.0); public static final Rotation2d SHOULDER_CLEARANCE_POS = Rotation2d.fromDegrees(80.0); @@ -158,4 +158,8 @@ public boolean isNearAngle(Rotation2d target, Rotation2d tolerance) { public ShoulderIOInputsAutoLogged getInputs() { return inputs; } + + public double getVelocity() { + return inputs.angularVelocityRPS; + } } From 261c5bbdc3f96aa4a7724c533288afd3cca6bf06 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Tue, 8 Apr 2025 21:20:25 -0700 Subject: [PATCH 08/48] add algae intaking to graph --- .../frc/robot/subsystems/ExtensionPathing.java | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/ExtensionPathing.java b/src/main/java/frc/robot/subsystems/ExtensionPathing.java index 50c47e74..345dc6ce 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionPathing.java +++ b/src/main/java/frc/robot/subsystems/ExtensionPathing.java @@ -110,6 +110,22 @@ public class ExtensionPathing { final var l1 = ExtensionKinematics.L1_EXTENSION; graph.addNode(l1); graph.putEdge(l1, betweenTucked); + + final var algaeLow = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); + graph.addNode(algaeLow); + graph.putEdge(untucked, algaeLow); + + final var algaeHigh = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); + graph.addNode(algaeHigh); + graph.putEdge(untucked, algaeHigh); } private ExtensionPathing() {} From 00ba4e604b276605156279d9b68d9ded27b02031 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Wed, 9 Apr 2025 12:35:05 -0700 Subject: [PATCH 09/48] tune accel/vel constraints, extend elevator earlier --- src/main/deploy/choreo/LOtoJ.traj | 138 ++++++------- src/main/deploy/choreo/PLMtoA.traj | 184 +++++++++--------- src/main/deploy/choreo/PLOtoK.traj | 129 ++++++------ src/main/deploy/choreo/PLOtoL.traj | 131 +++++++------ src/main/deploy/choreo/PRMtoB.traj | 139 ++++++------- src/main/deploy/choreo/PROtoC.traj | 114 +++++------ src/main/deploy/choreo/PROtoD.traj | 110 +++++------ src/main/deploy/choreo/ROtoE.traj | 106 +++++----- src/main/deploy/choreo/choreo.chor | 11 +- src/main/java/frc/robot/Autos.java | 6 +- .../shoulder/ShoulderSubsystem.java | 2 +- 11 files changed, 553 insertions(+), 517 deletions(-) diff --git a/src/main/deploy/choreo/LOtoJ.traj b/src/main/deploy/choreo/LOtoJ.traj index 8c038d3c..3c2a93e5 100644 --- a/src/main/deploy/choreo/LOtoJ.traj +++ b/src/main/deploy/choreo/LOtoJ.traj @@ -4,31 +4,31 @@ "snapshot":{ "waypoints":[ {"x":7.111314296722412, "y":6.2355637550354, "heading":-2.356194490192345, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.7510480880737305, "y":5.597940921783447, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.7510480880737305, "y":5.597940921783447, "heading":0.0, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":5.004220962524414, "y":5.243917942047119, "heading":-2.095116885713791, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":4.484625190496445, "y":4.0126113295555115, "r":3.25}}, "enabled":false}, - {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}, + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"7.111314296722412 m", "val":7.111314296722412}, "y":{"exp":"6.2355637550354 m", "val":6.2355637550354}, "heading":{"exp":"-135 deg", "val":-2.356194490192345}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.7510480880737305 m", "val":5.7510480880737305}, "y":{"exp":"5.597940921783447 m", "val":5.597940921783447}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.7510480880737305 m", "val":5.7510480880737305}, "y":{"exp":"5.597940921783447 m", "val":5.597940921783447}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"J.x", "val":5.004220962524414}, "y":{"exp":"J.y", "val":5.243917942047119}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"4.484625190496445 m", "val":4.484625190496445}, "y":{"exp":"4.0126113295555115 m", "val":4.0126113295555115}, "r":{"exp":"3.25 m", "val":3.25}}}, "enabled":false}, - {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.25}}}, "enabled":true}, + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"2 m / s ^ 2", "val":2.0}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"slowaccel", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -36,68 +36,72 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.9336,1.90766], + "waypoints":[0.0,0.94616,2.04867], "samples":[ - {"t":0.0, "x":7.11131, "y":6.23556, "heading":-2.35619, "vx":0.0, 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"data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -25,8 +26,9 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 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b/src/main/deploy/choreo/PLOtoK.traj index ec584baa..aef7eecf 100644 --- a/src/main/deploy/choreo/PLOtoK.traj +++ b/src/main/deploy/choreo/PLOtoK.traj @@ -4,25 +4,25 @@ "snapshot":{ "waypoints":[ {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.4653401374816895, "y":5.783571720123291, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.4653401374816895, "y":5.783571720123291, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.9681568145751953, "y":5.253054141998291, "heading":-1.0455529770312977, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, 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"props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.25}}}, "enabled":true}], + {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -30,60 +30,60 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.29973,1.85258], + "waypoints":[0.0,1.31406,1.89238], "samples":[ - {"t":0.0, "x":1.63334, "y":0.62468, "heading":0.942, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.37099, "ay":3.15195, "alpha":0.00824, "fx":[55.08474,55.14519,55.13385,55.07345], "fy":[51.55463,51.49,51.50228,51.56683]}, - {"t":0.03823, "x":1.6358, "y":0.62698, "heading":0.942, "vx":0.12886, "vy":0.12049, "omega":0.00032, 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b/src/main/deploy/choreo/ROtoE.traj @@ -10,7 +10,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -22,7 +22,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.25}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -30,58 +30,58 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.98844,1.5904], + "waypoints":[0.0,1.00084,1.63262], "samples":[ - {"t":0.0, "x":7.04659, "y":1.88187, "heading":2.35619, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.29685, "ay":1.68221, "alpha":-0.03642, "fx":[-70.14995,-70.28385,-70.34056,-70.20685], "fy":[27.74423,27.40376,27.25669,27.59874]}, - {"t":0.03408, "x":7.0441, "y":1.88284, "heading":2.35619, "vx":-0.14645, "vy":0.05734, "omega":-0.00124, "ax":-4.29649, "ay":1.68224, "alpha":-0.03731, "fx":[-70.14166,-70.27889,-70.33696,-70.19994], "fy":[27.75069,27.40188,27.25118,27.60166]}, - {"t":0.06817, "x":7.03661, "y":1.88578, "heading":2.35615, "vx":-0.2929, "vy":0.11467, "omega":-0.00251, 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"fx":[-66.89976,-68.84361,-69.51674,-67.59543], "fy":[31.18114,26.74191,24.61414,29.34469]}, + {"t":0.62121, "x":6.21873, "y":2.20725, "heading":2.34368, "vx":-2.65796, "vy":1.04915, "omega":-0.07132, "ax":3.49335, "ay":-0.85471, "alpha":-3.91224, "fx":[60.79332,50.30297,52.76413,64.57815], "fy":[11.24046,-20.85936,-35.41451,-10.85812]}, + {"t":0.65573, "x":6.12908, "y":2.24295, "heading":2.34121, "vx":-2.5374, "vy":1.01966, "omega":-0.20633, "ax":4.24078, "ay":-1.59601, "alpha":-0.36007, "fx":[70.21131,68.95447,68.434,69.7149], "fy":[-23.64346,-26.99822,-28.46873,-25.25644]}, + {"t":0.69024, "x":6.04404, "y":2.27719, "heading":2.33409, "vx":-2.39104, "vy":0.96458, "omega":-0.21876, "ax":4.27044, "ay":-1.63749, "alpha":-0.17626, "fx":[70.26263,69.63598,69.36141,69.99409], "fy":[-25.57339,-27.21022,-27.94899,-26.34702]}, + {"t":0.72475, "x":5.96406, "y":2.3095, "heading":2.32654, "vx":-2.24366, "vy":0.90806, "omega":-0.22484, "ax":4.2808, "ay":-1.65232, "alpha":-0.11081, "fx":[70.2696,69.87393,69.69492,70.09312], "fy":[-26.25912,-27.28458,-27.75847,-26.74677]}, + {"t":0.75926, "x":5.88918, "y":2.33986, "heading":2.31878, "vx":-2.09592, "vy":0.85104, "omega":-0.22867, "ax":4.28607, "ay":-1.65993, "alpha":-0.07724, "fx":[70.27078,69.99486,69.86674,70.14396], "fy":[-26.61072,-27.32292,-27.65935,-26.95379]}, + {"t":0.79377, "x":5.8194, "y":2.36824, "heading":2.31089, "vx":-1.948, "vy":0.79375, "omega":-0.23133, "ax":4.28926, "ay":-1.66456, "alpha":-0.05681, "fx":[70.27063,70.06794,69.97157,70.17501], "fy":[-26.82472,-27.3466,-27.59842,-27.08009]}, + {"t":0.82829, "x":5.75472, "y":2.39464, "heading":2.30291, "vx":-1.79997, "vy":0.7363, "omega":-0.23329, "ax":4.2914, "ay":-1.66768, "alpha":-0.04306, "fx":[70.27012,70.11679,70.04225,70.19603], "fy":[-26.96878,-27.36291,-27.55707,-27.16497]}, + {"t":0.8628, "x":5.69516, "y":2.41906, "heading":2.29486, "vx":-1.65187, "vy":0.67875, "omega":-0.23478, "ax":4.29294, "ay":-1.66992, "alpha":-0.03318, "fx":[70.26952,70.15168,70.09314,70.21127], "fy":[-27.07245,-27.37497,-27.5271,-27.22576]}, + {"t":0.89731, "x":5.6407, "y":2.44149, "heading":2.28675, "vx":-1.50371, "vy":0.62112, "omega":-0.23593, "ax":4.2941, "ay":-1.67161, "alpha":-0.02574, "fx":[70.26892,70.1778,70.13157,70.22287], "fy":[-27.15068,-27.3844,-27.50432,-27.27131]}, + {"t":0.93182, "x":5.59137, "y":2.46193, "heading":2.27861, "vx":-1.35551, "vy":0.56343, "omega":-0.23681, "ax":4.295, "ay":-1.67293, "alpha":-0.01992, "fx":[70.26834,70.19803,70.16162,70.23204], "fy":[-27.21185,-27.39206,-27.48639,-27.3066]}, + {"t":0.96633, "x":5.54714, "y":2.48038, "heading":2.27044, "vx":-1.20728, "vy":0.50569, "omega":-0.2375, "ax":4.29572, "ay":-1.67399, "alpha":-0.01526, "fx":[70.2678,70.21414,70.18578,70.23951], "fy":[-27.26102,-27.39848,-27.47188,-27.33466]}, + {"t":1.00084, "x":5.50803, "y":2.49684, "heading":2.26224, "vx":-1.05903, "vy":0.44792, "omega":-0.23803, "ax":1.68569, "ay":3.4484, "alpha":-0.99455, "fx":[26.19758,21.62206,29.31377,33.09796], "fy":[58.3778,58.70455,54.32137,54.09533]}, + {"t":1.03243, "x":5.47542, "y":2.51271, "heading":2.25472, "vx":-1.00578, "vy":0.55685, "omega":-0.26944, "ax":0.72588, "ay":1.25179, "alpha":-3.54213, "fx":[12.64877,-2.99851,11.82359,25.99334], "fy":[32.83909,23.49966,6.76474,18.7539]}, + {"t":1.06402, "x":5.44401, "y":2.53092, "heading":2.24621, "vx":-0.98285, "vy":0.59639, "omega":-0.38134, "ax":0.10653, "ay":0.17446, "alpha":-3.33855, "fx":[3.32058,-11.27119,0.22741,14.68949], "fy":[15.68283,4.2605,-10.16662,1.63159]}, + {"t":1.09561, "x":5.41302, "y":2.54985, "heading":2.23417, "vx":-0.97948, "vy":0.6019, "omega":-0.4868, "ax":0.01356, "ay":0.02205, "alpha":-2.38042, "fx":[1.4525,-9.01463,-1.00522,9.45416], "fy":[9.56442,1.39974,-8.85563,-0.66653]}, + {"t":1.1272, "x":5.38209, "y":2.56887, "heading":2.21879, "vx":-0.97906, "vy":0.6026, "omega":-0.56199, "ax":0.00167, "ay":0.00272, "alpha":-1.38122, "fx":[0.82268,-5.32096,-0.76784,5.3755], "fy":[5.37668,0.72632,-5.28834,-0.63696]}, + {"t":1.15879, "x":5.35116, "y":2.58791, "heading":2.20104, "vx":-0.979, "vy":0.60268, "omega":-0.60562, "ax":0.0002, "ay":0.00033, "alpha":-0.36453, "fx":[0.23815,-1.40478,-0.23153,1.4114], "fy":[1.40879,0.21031,-1.39804,-0.19955]}, + {"t":1.19038, "x":5.32023, "y":2.60695, "heading":2.18191, "vx":-0.979, "vy":0.60269, "omega":-0.61714, "ax":0.00002, "ay":0.00004, "alpha":0.65683, "fx":[-0.47104,2.53002,0.47183,-2.52923], "fy":[-2.51952,-0.41707,2.52081,0.41836]}, + {"t":1.22197, "x":5.28931, "y":2.62598, "heading":2.16241, "vx":-0.979, "vy":0.6027, "omega":-0.59639, "ax":0.0, "ay":0.0, "alpha":1.66979, "fx":[-1.3231,6.40897,1.32319,-6.40887], "fy":[-6.38214,-1.18699,6.38229,1.18715]}, + {"t":1.25355, "x":5.25838, "y":2.64502, "heading":2.14357, "vx":-0.979, "vy":0.6027, "omega":-0.54364, "ax":0.0, "ay":0.0, "alpha":2.66203, "fx":[-2.30068,10.1798,2.3007,-10.17979], "fy":[-10.13313,-2.08458,10.13315,2.08461]}, + {"t":1.28514, "x":5.22746, "y":2.66406, "heading":2.1264, "vx":-0.979, "vy":0.6027, "omega":-0.45955, "ax":0.0, "ay":0.0, "alpha":3.62288, "fx":[-3.36746,13.80342,3.36748,-13.8034], "fy":[-13.73486,-3.07449,13.7349,3.07453]}, + {"t":1.31673, "x":5.19653, "y":2.6831, "heading":2.11188, "vx":-0.979, "vy":0.6027, "omega":-0.34511, "ax":0.00001, "ay":0.00001, "alpha":4.54403, "fx":[-4.47323,17.25535,4.4734,-17.25518], "fy":[-17.16386,-4.10701,17.16411,4.1073]}, + {"t":1.34832, "x":5.16561, "y":2.70214, "heading":2.10098, "vx":-0.979, "vy":0.6027, "omega":-0.20157, "ax":0.00106, "ay":-0.00057, "alpha":5.4197, "fx":[-5.53933,20.54166,5.57709,-20.51006], "fy":[-20.42158,-5.13198,20.40289,5.11341]}, + {"t":1.37991, "x":5.13468, "y":2.72118, "heading":2.09461, "vx":-0.97896, "vy":0.60268, "omega":-0.03037, "ax":3.5464, "ay":-2.18338, "alpha":0.71716, "fx":[55.57178,59.18125,60.38504,56.76953], "fy":[-39.77801,-34.78412,-31.39744,-36.81688]}, + {"t":1.4115, "x":5.10553, "y":2.73912, "heading":2.09365, "vx":-0.86694, "vy":0.53371, "omega":-0.00771, "ax":3.89898, "ay":-2.40031, "alpha":0.07329, "fx":[63.45939,63.83199,64.02219,63.65011], "fy":[-39.69877,-39.1033,-38.77926,-39.38039]}, + {"t":1.44309, "x":5.08009, "y":2.75479, "heading":2.09341, "vx":-0.74377, "vy":0.45789, "omega":-0.0054, "ax":3.91577, "ay":-2.41065, "alpha":0.0435, "fx":[63.84726,64.06844,64.18342,63.96245], "fy":[-39.68281,-39.32674,-39.13511,-39.4932]}, + {"t":1.47468, "x":5.05855, "y":2.76805, "heading":2.09324, "vx":-0.62008, "vy":0.38174, "omega":-0.00403, "ax":3.92172, "ay":-2.41431, "alpha":0.03296, "fx":[63.98505,64.15262,64.24032,64.07286], "fy":[-39.67686,-39.40639,-39.26137,-39.53301]}, + {"t":1.50626, "x":5.04092, "y":2.7789, "heading":2.09311, "vx":-0.4962, "vy":0.30547, "omega":-0.00298, "ax":3.92477, "ay":-2.41619, "alpha":0.02757, "fx":[64.05564,64.19579,64.26939,64.12933], "fy":[-39.67376,-39.44724,-39.32602,-39.55335]}, + {"t":1.53785, "x":5.0272, "y":2.78735, "heading":2.09302, "vx":-0.37222, "vy":0.22915, "omega":-0.00211, "ax":3.92662, "ay":-2.41733, "alpha":0.02429, "fx":[64.09856,64.22205,64.28704,64.16361], "fy":[-39.67185,-39.4721,-39.36531,-39.5657]}, + {"t":1.56944, "x":5.0174, "y":2.79338, "heading":2.09295, "vx":-0.24818, "vy":0.15279, "omega":-0.00135, "ax":3.92787, "ay":-2.4181, "alpha":0.02209, "fx":[64.1274,64.2397,64.29889,64.18664], "fy":[-39.67056,-39.48881,-39.39172,-39.57399]}, + {"t":1.60103, "x":5.01152, "y":2.797, "heading":2.09291, "vx":-0.1241, "vy":0.0764, "omega":-0.00065, "ax":3.92876, "ay":-2.41865, "alpha":0.02051, "fx":[64.14812,64.25238,64.30739,64.20318], "fy":[-39.66963,-39.50082,-39.41068,-39.57995]}, + {"t":1.63262, "x":5.00956, "y":2.7982, "heading":2.09289, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/choreo.chor b/src/main/deploy/choreo/choreo.chor index b8c97aea..fc2f4d8f 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -7,8 +7,15 @@ "slow":{ "dimension":"LinVel", "var":{ - "exp":"1.25 m / s", - "val":1.25 + "exp":"1.15 m / s", + "val":1.15 + } + }, + "slowaccel":{ + "dimension":"LinAcc", + "var":{ + "exp":"1.5 m / s ^ 2", + "val":1.5 } } }, diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 1f28e41c..82181798 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -134,7 +134,7 @@ public void runCoralPath( .get(startPos + "to" + endPos) .atTime( steps.get(startPos + "to" + endPos).getRawTrajectory().getTotalTime() - - (endPos.length() == 1 ? 0.1 : 0.0))) + - (endPos.length() == 1 ? 0.3 : 0.0))) .onTrue( Commands.sequence( endPos.length() == 3 @@ -431,7 +431,7 @@ public Command scoreCoralInAuto(Supplier trajEndPose) { 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) - .debounce(0.10)), + .debounce(0.06)), Commands.print("Scoring!"), Commands.runOnce( () -> { @@ -482,7 +482,7 @@ public Command intakeCoralInAuto(Supplier> pose) { } public void bindElevatorExtension(AutoRoutine routine) { - bindElevatorExtension(routine, 3.5); // TODO tune + bindElevatorExtension(routine, 3.75); // TODO tune } public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 341edec3..d4b5755c 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -52,7 +52,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final Rotation2d SHOULDER_TUCKED_CLEARANCE_POS = Rotation2d.fromDegrees(35.0); private static final MotionMagicConfigs DEFAULT_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(4.0); + new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); private static final MotionMagicConfigs TOSS_CONFIGS = new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.5).withMotionMagicAcceleration(4.0); From fe7d418f5a4ddc0ca18e91b6fb4e48cbd77399c1 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Wed, 9 Apr 2025 13:30:10 -0700 Subject: [PATCH 10/48] increase accel --- src/main/deploy/choreo/AtoPLO.traj | 99 ++++++++-------- src/main/deploy/choreo/JtoPLO.traj | 176 ++++++++++++++--------------- src/main/deploy/choreo/KtoPLO.traj | 81 +++++++------ src/main/deploy/choreo/LOtoJ.traj | 135 +++++++++++----------- src/main/deploy/choreo/LtoPLM.traj | 82 +++++++------- src/main/deploy/choreo/PLMtoA.traj | 174 ++++++++++++++-------------- src/main/deploy/choreo/PLOtoK.traj | 138 +++++++++++----------- src/main/deploy/choreo/PLOtoL.traj | 139 +++++++++++------------ src/main/deploy/choreo/choreo.chor | 4 +- src/main/java/frc/robot/Autos.java | 16 +-- 10 files changed, 514 insertions(+), 530 deletions(-) diff --git a/src/main/deploy/choreo/AtoPLO.traj b/src/main/deploy/choreo/AtoPLO.traj index ed1b3476..5fe806fb 100644 --- a/src/main/deploy/choreo/AtoPLO.traj +++ b/src/main/deploy/choreo/AtoPLO.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,55 +26,54 @@ }, "trajectory":{ 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"K.x", "val":3.9681568145751953}, "y":{"exp":"K.y", "val":5.253054141998291}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"K.x", "val":3.9681568145751953}, "y":{"exp":"K.y", "val":5.253054141998291}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, 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"intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"L.x", "val":3.691657066345215}, "y":{"exp":"L.y", "val":5.089337348937988}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"L.x", "val":3.691657066345215}, "y":{"exp":"L.y", "val":5.089337348937988}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLM.x", "val":1.0301326513290403}, "y":{"exp":"PLM.y", "val":6.979412078857422}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, 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"split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.183215618133545 m", "val":3.183215618133545}, "y":{"exp":"5.706628799438477 m", "val":5.706628799438477}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"PLO.x", "val":1.550151228904724}, 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"fx":[-15.78636,-15.39971,-15.62176,-16.01866], "fy":[18.47149,18.75804,19.15258,18.86521]}, + {"t":1.54556, "x":3.51332, "y":5.30775, "heading":-0.98271, "vx":0.58307, "vy":-0.71101, "omega":-0.13455, "ax":-0.9592, "ay":1.15206, "alpha":-0.05966, "fx":[-15.74056,-15.44673,-15.62259,-15.91477], "fy":[18.60836,18.8061,19.05363,18.86811]}, + {"t":1.57783, "x":3.53164, "y":5.2854, "heading":-0.98705, "vx":0.55211, "vy":-0.67383, "omega":-0.13647, "ax":-0.95779, "ay":1.15329, "alpha":-0.02875, "fx":[-15.67933,-15.5617,-15.63204,-15.7593], "fy":[18.73387,18.82928,18.97491,18.87848]}, + {"t":1.61011, "x":3.54896, "y":5.26425, "heading":-0.99145, "vx":0.52119, "vy":-0.6366, "omega":-0.1374, "ax":-0.95651, "ay":1.15441, "alpha":-0.00256, "fx":[-15.63481,-15.62362,-15.64004,-15.64987], "fy":[18.8621,18.87366,18.8772,18.87655]}, + {"t":1.64239, "x":3.56528, "y":5.2443, "heading":-0.99589, "vx":0.49032, "vy":-0.59934, "omega":-0.13748, "ax":-0.95533, "ay":1.15543, "alpha":0.02806, "fx":[-15.5771,-15.73321,-15.65438,-15.50682], "fy":[18.98978,18.89672,18.78866,18.88091]}, + {"t":1.67467, "x":3.58061, "y":5.22556, "heading":-1.00033, "vx":0.45948, "vy":-0.56204, "omega":-0.13658, "ax":-0.95425, "ay":1.15636, "alpha":0.05534, "fx":[-15.53209,-15.80981,-15.66936,-15.38975], "fy":[19.11164,18.93848,18.69178,18.87516]}, + {"t":1.70694, "x":3.59495, "y":5.20802, "heading":-1.00473, "vx":0.42868, "vy":-0.52472, "omega":-0.13479, "ax":-0.95326, "ay":1.15722, "alpha":0.08604, "fx":[-15.47692,-15.91476,-15.68769,-15.25668], "fy":[19.24349,18.96257,18.59316,18.8739]}, + {"t":1.73922, "x":3.60829, "y":5.19169, "heading":-1.00908, "vx":0.39791, "vy":-0.48737, "omega":-0.13202, "ax":-0.95234, "ay":1.15801, "alpha":0.11464, "fx":[-15.43004,-16.00599,-15.70961,-15.1304], "fy":[19.36064,19.00235,18.49675,18.8651]}, + {"t":1.7715, "x":3.62063, "y":5.17656, "heading":-1.01335, "vx":0.36717, "vy":-0.44999, "omega":-0.12831, "ax":-0.95149, "ay":1.15874, "alpha":0.14583, "fx":[-15.37665,-16.10745,-15.73134,-15.00498], "fy":[19.4987,19.02839,18.38722,18.85839]}, + {"t":1.80378, "x":3.63199, "y":5.16264, "heading":-1.01749, "vx":0.33646, "vy":-0.41259, "omega":-0.12361, "ax":-0.9507, "ay":1.15942, "alpha":0.17597, "fx":[-15.3269,-16.21333,-15.76026,-14.86822], "fy":[19.61246,19.06661,18.29086,18.84718]}, + {"t":1.83605, "x":3.64236, "y":5.14992, "heading":-1.02148, "vx":0.30577, "vy":-0.37517, "omega":-0.11793, "ax":-0.94997, "ay":1.16005, "alpha":0.20809, "fx":[-15.2747,-16.31263,-15.785,-14.74822], "fy":[19.7588,19.09532,18.16922,18.83509]}, + {"t":1.86833, "x":3.65173, "y":5.13842, "heading":-1.02528, "vx":0.27511, "vy":-0.33772, "omega":-0.11121, "ax":-0.94928, "ay":1.16064, "alpha":0.23956, "fx":[-15.22104,-16.43606,-15.8198,-14.59866], "fy":[19.87138,19.11869,18.07877,18.82815]}, + {"t":1.90061, "x":3.66012, "y":5.12812, "heading":-1.02887, "vx":0.24447, "vy":-0.30026, "omega":-0.10348, "ax":-0.94863, "ay":1.16119, "alpha":0.27347, "fx":[-15.16984,-16.53199,-15.84849,-14.48311], "fy":[20.02706,19.16416,17.93724,18.80458]}, + {"t":1.93289, "x":3.66751, "y":5.11904, "heading":-1.03221, "vx":0.21385, "vy":-0.26278, "omega":-0.09465, "ax":-0.94803, "ay":1.16171, "alpha":0.30694, "fx":[-15.11195,-16.67085,-15.89055,-14.32055], "fy":[20.13844,19.18724,17.84526,18.79589]}, + {"t":1.96517, "x":3.67392, "y":5.11116, "heading":-1.03527, "vx":0.18325, "vy":-0.22528, "omega":-0.08474, "ax":-0.94746, "ay":1.16219, "alpha":0.34266, "fx":[-15.06118,-16.76756,-15.92168,-14.20635], "fy":[20.30675,19.23538,17.68894,18.76748]}, + {"t":1.99744, "x":3.67934, "y":5.10449, "heading":-1.038, "vx":0.15267, "vy":-0.18777, "omega":-0.07368, "ax":-0.94693, "ay":1.16265, "alpha":0.37844, "fx":[-14.99863,-16.92295,-15.97106,-14.02914], "fy":[20.41827,19.25788,17.59461,18.75763]}, + {"t":2.02972, "x":3.68378, "y":5.09904, "heading":-1.04038, "vx":0.1221, "vy":-0.15024, "omega":-0.06147, "ax":-0.94642, "ay":1.16308, "alpha":0.41643, "fx":[-14.94813,-17.02178,-16.00442,-13.91445], "fy":[20.60134,19.30911,17.4216,18.72447]}, + {"t":2.062, "x":3.68723, "y":5.09479, "heading":-1.04237, "vx":0.09156, "vy":-0.1127, "omega":-0.04803, "ax":-0.94594, "ay":1.16349, "alpha":0.45488, "fx":[-14.88067,-17.19519,-16.06115,-13.72059], "fy":[20.7145,19.33086,17.32371,18.714]}, + {"t":2.09428, "x":3.68969, "y":5.09176, "heading":-1.04392, "vx":0.06102, "vy":-0.07515, "omega":-0.03335, "ax":-0.94549, "ay":1.16387, "alpha":0.49559, "fx":[-14.83038,-17.29762,-16.09649,-13.60358], "fy":[20.91454,19.38516,17.13199,18.67651]}, + {"t":2.12655, "x":3.69116, "y":5.08994, "heading":-1.04499, "vx":0.0305, "vy":-0.03758, "omega":-0.01735, "ax":-0.94507, "ay":1.16423, "alpha":0.53749, "fx":[-14.76976,-17.44474,-16.14592,-13.43969], "fy":[21.07939,19.42386,16.97768,18.65104]}, + {"t":2.15883, "x":3.69166, "y":5.08934, "heading":-1.04555, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/choreo.chor b/src/main/deploy/choreo/choreo.chor index fc2f4d8f..28c1259a 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -526,8 +526,8 @@ "val":523.5987755982989 }, "tmax":{ - "exp":"0.65 N * m", - "val":0.65 + "exp":"0.75 N * m", + "val":0.75 }, "cof":{ "exp":"1.5", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 82181798..be439ac8 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -465,14 +465,14 @@ public Command intakeCoralInAuto(Supplier> pose) { ? Commands.runOnce(() -> manipulator.setSecondBeambreak(true)) : Commands.none(), Commands.print("intake - 2nd bb" + manipulator.getSecondBeambreak()), - // AutoAim.translateToPose( - // swerve, - // () -> pose.get().get(), - // () -> - // ChassisSpeeds.fromRobotRelativeSpeeds( - // new ChassisSpeeds(-0.5, 0.0, 0.0), swerve.getRotation())) - swerve - .driveVoltage(() -> new ChassisSpeeds(-0.0, 0.0, 0.0)) + AutoAim.translateToPose( + swerve, + () -> pose.get().get(), + () -> + ChassisSpeeds.fromRobotRelativeSpeeds( + new ChassisSpeeds(-0.5, 0.0, 0.0), swerve.getRotation())) + // swerve + // .driveVoltage(() -> new ChassisSpeeds(-0.0, 0.0, 0.0)) .until( () -> manipulator.getSecondBeambreak() From d43e0f5feaed6b5f3a1d1df85c2fabd4224e68fa Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Wed, 9 Apr 2025 13:53:39 -0700 Subject: [PATCH 11/48] turn off current limits in auto --- src/main/deploy/choreo/JtoPLO.traj | 166 +++++++++++++-------------- src/main/deploy/choreo/KtoPLO.traj | 77 ++++++------- src/main/deploy/choreo/LOtoJ.traj | 130 +++++++++++---------- src/main/deploy/choreo/LtoPLM.traj | 76 ++++++------- src/main/deploy/choreo/PLMtoA.traj | 174 ++++++++++++++--------------- src/main/deploy/choreo/PLOtoK.traj | 133 +++++++++++----------- src/main/deploy/choreo/PLOtoL.traj | 134 +++++++++++----------- src/main/deploy/choreo/choreo.chor | 4 +- src/main/java/frc/robot/Robot.java | 7 +- 9 files changed, 443 insertions(+), 458 deletions(-) diff --git a/src/main/deploy/choreo/JtoPLO.traj b/src/main/deploy/choreo/JtoPLO.traj index 2ddd5bd3..11b842e4 100644 --- a/src/main/deploy/choreo/JtoPLO.traj +++ b/src/main/deploy/choreo/JtoPLO.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.004220962524414, "y":5.243917942047119, "heading":-2.095116885713791, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.807075500488281, "y":5.671792030334473, "heading":-1.7084131860016765, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":1.906598448753357, "y":7.005744457244873, "heading":-1.3217094862895618, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.004220962524414, "y":5.243917942047119, "heading":-2.095116885713791, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.807075500488281, "y":5.671792030334473, "heading":-1.7084131860016765, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.906598448753357, "y":7.005744457244873, "heading":-1.3217094862895618, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"J.x", "val":5.004220962524414}, "y":{"exp":"J.y", "val":5.243917942047119}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.807075500488281 m", "val":4.807075500488281}, "y":{"exp":"5.671792030334473 m", "val":5.671792030334473}, "heading":{"exp":"-1.7084131860016765 rad", "val":-1.7084131860016765}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"1.906598448753357 m", "val":1.906598448753357}, "y":{"exp":"7.005744457244873 m", "val":7.005744457244873}, "heading":{"exp":"-1.3217094862895618 rad", "val":-1.3217094862895618}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"J.x", "val":5.004220962524414}, "y":{"exp":"J.y", "val":5.243917942047119}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.807075500488281 m", "val":4.807075500488281}, "y":{"exp":"5.671792030334473 m", "val":5.671792030334473}, "heading":{"exp":"-1.7084131860016765 rad", "val":-1.7084131860016765}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"1.906598448753357 m", "val":1.906598448753357}, "y":{"exp":"7.005744457244873 m", "val":7.005744457244873}, "heading":{"exp":"-1.3217094862895618 rad", "val":-1.3217094862895618}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,87 +30,81 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.43931,1.44395,1.94358], + "waypoints":[0.0,0.40052,1.32283,1.7786], "samples":[ - {"t":0.0, "x":5.00422, "y":5.24392, "heading":-2.09512, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.16523, "ay":5.29814, "alpha":1.39064, "fx":[7.45874,-5.01736,-13.43147,0.18531], "fy":[86.67692,86.86406,85.94588,86.97084]}, - {"t":0.02312, "x":5.00418, "y":5.24533, "heading":-2.09512, "vx":-0.00382, "vy":0.1225, "omega":0.03215, "ax":-0.38503, "ay":5.28492, "alpha":1.4295, "fx":[4.29601,-8.28362,-17.35529,-3.83495], "fy":[86.88142,86.60582,85.23127,86.87468]}, - {"t":0.04624, "x":5.00399, "y":5.24958, "heading":-2.09437, "vx":-0.01272, "vy":0.2447, "omega":0.06521, "ax":-0.63178, "ay":5.25917, "alpha":1.47017, "fx":[0.69455,-11.92542,-21.68473,-8.39769], "fy":[86.97407,86.17136,84.22423,86.53988]}, - {"t":0.06936, "x":5.00352, "y":5.25664, "heading":-2.09287, "vx":-0.02733, "vy":0.3663, "omega":0.0992, "ax":-0.9088, "ay":5.21631, "alpha":1.51228, "fx":[-3.41903,-15.98637,-26.44684,-13.57657], "fy":[86.89774,85.50186,82.84195,85.86559]}, - {"t":0.09249, "x":5.00265, "y":5.26651, "heading":-2.09057, "vx":-0.04834, "vy":0.48691, "omega":0.13417, "ax":-1.21923, "ay":5.15032, "alpha":1.55519, "fx":[-8.12616,-20.50846,-31.65513,-19.43893], "fy":[86.57134,84.52118,80.9838,84.71548]}, - {"t":0.11561, "x":5.0012, "y":5.27914, "heading":-2.08747, "vx":-0.07653, "vy":0.60599, "omega":0.17012, "ax":-1.56543, "ay":5.05345, "alpha":1.59796, "fx":[-13.51154,-25.52639,-37.29972,-26.02959], "fy":[85.8812,83.13252,78.53222,82.91113]}, - {"t":0.13873, "x":4.99902, "y":5.2945, "heading":-2.08354, "vx":-0.11273, 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a/src/main/deploy/choreo/LtoPLM.traj b/src/main/deploy/choreo/LtoPLM.traj index 81e8561f..0a56c1d0 100644 --- a/src/main/deploy/choreo/LtoPLM.traj +++ b/src/main/deploy/choreo/LtoPLM.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.0301326513290403, "y":6.979412078857422, "heading":-0.9350057865774468, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"L.x", "val":3.691657066345215}, "y":{"exp":"L.y", 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b/src/main/deploy/choreo/PLOtoL.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.183215618133545, "y":5.706628799438477, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.183215618133545, "y":5.706628799438477, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.183215618133545 m", "val":3.183215618133545}, "y":{"exp":"5.706628799438477 m", "val":5.706628799438477}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.183215618133545 m", "val":3.183215618133545}, 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"fx":[-15.84841,-15.25871,-15.6159,-16.20981], "fy":[18.282,18.7115,19.29017,18.86136]}, + {"t":1.39712, "x":3.47352, "y":5.35592, "heading":-0.97589, "vx":0.64523, "vy":-0.78517, "omega":-0.12553, "ax":-0.96074, "ay":1.1506, "alpha":-0.10233, "fx":[-15.80469,-15.30188,-15.60833,-16.11031], "fy":[18.42857,18.7582,19.18775,18.86605]}, + {"t":1.4294, "x":3.49385, "y":5.33117, "heading":-0.97994, "vx":0.61422, "vy":-0.74803, "omega":-0.12883, "ax":-0.95928, "ay":1.1519, "alpha":-0.07623, "fx":[-15.75099,-15.40252,-15.61172,-15.96433], "fy":[18.529,18.78291,19.1335,18.87985]}, + {"t":1.46167, "x":3.51317, "y":5.30763, "heading":-0.9841, "vx":0.58326, "vy":-0.71085, "omega":-0.13129, "ax":-0.95797, "ay":1.15305, "alpha":-0.05086, "fx":[-15.7101,-15.45774,-15.61199,-15.86415], "fy":[18.66249,18.82397,19.03468,18.87969]}, + {"t":1.49395, "x":3.5315, "y":5.28529, "heading":-0.98833, "vx":0.55234, "vy":-0.67363, "omega":-0.13293, "ax":-0.95679, "ay":1.15409, "alpha":-0.02484, "fx":[-15.66105,-15.55521,-15.62037,-15.73033], "fy":[18.76491,18.84783,18.96943,18.88655]}, + {"t":1.52623, "x":3.54883, "y":5.26414, "heading":-0.99262, "vx":0.52146, "vy":-0.63638, "omega":-0.13373, "ax":-0.95573, "ay":1.15503, "alpha":0.00081, "fx":[-15.62094,-15.62209,-15.62772,-15.62651], "fy":[18.88881,18.88521,18.87343,18.88255]}, + {"t":1.55851, "x":3.56516, "y":5.2442, "heading":-0.99694, "vx":0.49061, "vy":-0.5991, "omega":-0.13371, "ax":-0.95476, "ay":1.15588, "alpha":0.02722, "fx":[-15.57484,-15.7171,-15.64033,-15.50164], "fy":[18.99592,18.90963,18.79683,18.88325]}, + {"t":1.59078, "x":3.5805, "y":5.22547, "heading":-1.00126, "vx":0.45979, "vy":-0.56179, "omega":-0.13283, "ax":-0.95387, "ay":1.15665, "alpha":0.05362, "fx":[-15.53387,-15.79623,-15.65436,-15.3916], "fy":[19.11307,18.94459,18.70262,18.87604]}, + {"t":1.62306, "x":3.59484, "y":5.20794, "heading":-1.00554, "vx":0.429, "vy":-0.52446, "omega":-0.1311, "ax":-0.95306, "ay":1.15736, "alpha":0.08088, "fx":[-15.48944,-15.88987,-15.67075,-15.27298], "fy":[19.22728,18.97064,18.61385,18.87095]}, + {"t":1.65534, "x":3.6082, "y":5.19161, "heading":-1.00978, "vx":0.39824, "vy":-0.4871, "omega":-0.12849, "ax":-0.95232, "ay":1.15801, "alpha":0.10848, "fx":[-15.4463,-15.98214,-15.69148,-15.15433], "fy":[19.34008,19.00414,18.52022,18.86091]}, + {"t":1.68762, "x":3.62055, "y":5.17649, "heading":-1.01392, "vx":0.3675, "vy":-0.44972, "omega":-0.12499, "ax":-0.95163, "ay":1.15862, "alpha":0.13706, "fx":[-15.40256,-16.07565,-15.7114,-15.03961], "fy":[19.46372,19.03269,18.41806,18.85018]}, + {"t":1.71989, "x":3.63192, "y":5.16258, "heading":-1.01796, "vx":0.33678, "vy":-0.41232, "omega":-0.12056, "ax":-0.95099, "ay":1.15917, "alpha":0.16635, "fx":[-15.35616,-16.18234,-15.73905,-14.90997], "fy":[19.57436,19.06539,18.32369,18.83755]}, + {"t":1.75217, "x":3.6423, "y":5.14988, "heading":-1.02185, "vx":0.30609, "vy":-0.37491, "omega":-0.11519, "ax":-0.9504, "ay":1.15969, "alpha":0.19675, "fx":[-15.31234,-16.27708,-15.7624,-14.79699], "fy":[19.70977,19.09722,18.20655,18.82116]}, + {"t":1.78445, "x":3.65168, "y":5.13838, "heading":-1.02557, "vx":0.27541, "vy":-0.33748, "omega":-0.10884, "ax":-0.94985, "ay":1.16017, "alpha":0.22823, "fx":[-15.26168,-16.39986,-15.79736,-14.65386], "fy":[19.82032,19.12961,18.11001,18.80612]}, + {"t":1.81673, "x":3.66007, "y":5.12809, "heading":-1.02908, "vx":0.24475, "vy":-0.30003, "omega":-0.10148, "ax":-0.94933, "ay":1.16061, "alpha":0.26097, "fx":[-15.21716,-16.49733,-15.8241,-14.54052], "fy":[19.97001,19.16538,17.97592,18.78397]}, + {"t":1.84901, "x":3.66748, "y":5.11901, "heading":-1.03236, "vx":0.21411, "vy":-0.26257, "omega":-0.09305, "ax":-0.94885, "ay":1.16103, "alpha":0.2952, "fx":[-15.16137,-16.63827,-15.86684,-14.38117], "fy":[20.08253,19.19779,17.8756,18.76669]}, + {"t":1.88128, "x":3.6739, "y":5.11114, "heading":-1.03536, "vx":0.18348, "vy":-0.22509, "omega":-0.08352, "ax":-0.9484, "ay":1.16142, "alpha":0.33084, "fx":[-15.11568,-16.74012,-15.89698,-14.26537], "fy":[20.24926,19.23807,17.7222,18.73868]}, + {"t":1.91356, "x":3.67933, "y":5.10448, "heading":-1.03806, "vx":0.15287, "vy":-0.1876, "omega":-0.07285, "ax":-0.94798, "ay":1.16179, "alpha":0.36831, "fx":[-15.05414,-16.90182,-15.94788,-14.08658], "fy":[20.36499,19.27,17.61714,18.7201]}, + {"t":1.94584, "x":3.68377, "y":5.09903, "heading":-1.04041, "vx":0.12227, "vy":-0.1501, "omega":-0.06096, "ax":-0.94758, "ay":1.16214, "alpha":0.40762, "fx":[-15.00676,-17.00983,-15.98155,-13.96621], "fy":[20.55277,19.31594,17.44074,18.68539]}, + {"t":1.97812, "x":3.68722, "y":5.09479, "heading":-1.04237, "vx":0.09169, "vy":-0.11259, "omega":-0.0478, "ax":-0.9472, "ay":1.16246, "alpha":0.44926, "fx":[-14.93856,-17.19512,-16.0414,-13.76467], "fy":[20.67566,19.34886,17.32738,18.66422]}, + {"t":2.01039, "x":3.68968, "y":5.09176, "heading":-1.04392, "vx":0.06111, "vy":-0.07507, "omega":-0.0333, "ax":-0.94685, "ay":1.16277, "alpha":0.49273, "fx":[-14.88956,-17.31164,-16.07826,-13.63706], "fy":[20.8864,19.39929,17.12609,18.62443]}, + {"t":2.04267, "x":3.69116, "y":5.08994, "heading":-1.04499, "vx":0.03055, "vy":-0.03754, "omega":-0.01739, "ax":-0.94651, "ay":1.16306, "alpha":0.5389, "fx":[-14.8277,-17.47646,-16.13127,-13.45913], "fy":[21.06657,19.443,16.95435,18.59129]}, + {"t":2.07495, "x":3.69166, "y":5.08934, "heading":-1.04555, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/choreo.chor b/src/main/deploy/choreo/choreo.chor index 28c1259a..f05e602d 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -526,8 +526,8 @@ "val":523.5987755982989 }, "tmax":{ - "exp":"0.75 N * m", - "val":0.75 + "exp":"0.9 N * m", + "val":0.9 }, "cof":{ "exp":"1.5", diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a3ec268d..3bd07f34 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -734,7 +734,12 @@ public Robot() { new Trigger(() -> DriverStation.isAutonomousEnabled()) .onTrue( - Commands.runOnce(() -> swerve.setCurrentLimits(new CurrentLimitsConfigs())) + Commands.runOnce( + () -> + swerve.setCurrentLimits( + new CurrentLimitsConfigs() + .withStatorCurrentLimitEnable(false) + .withSupplyCurrentLimitEnable(false))) .ignoringDisable(true)) .onFalse( Commands.runOnce( From f374f1ebb361fc51ad31d61279add38287454bfa Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Wed, 9 Apr 2025 14:01:42 -0700 Subject: [PATCH 12/48] adjust hp shoulder pos --- .../java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index d4b5755c..539ad4bc 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -29,7 +29,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final double X_OFFSET_METERS = 0.1016254; public static final double Z_OFFSET_METERS = 0.207645; public static final double ARM_LENGTH_METERS = Units.inchesToMeters(13.5); - public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(53.0); + public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(51.0); public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(0.505); From 3d420de42191b8e91851b4d0355a47af10ae1a99 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 17:36:08 -0700 Subject: [PATCH 13/48] speed up ground intake --- .../frc/robot/subsystems/Superstructure.java | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 5d5dfde8..f1d11875 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -304,19 +304,21 @@ private void configureStateTransitionCommands() { .whileTrue( extendWithClearance( ElevatorSubsystem.GROUND_EXTENSION_METERS, - ShoulderSubsystem.SHOULDER_CORAL_GROUND_POS, - WristSubsystem.WRIST_CORAL_GROUND) - .until( - () -> - shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_CORAL_GROUND_POS) - && wrist.isNearAngle(WristSubsystem.WRIST_CORAL_GROUND)) + Rotation2d.fromDegrees(35.0), + WristSubsystem.WRIST_CLEARANCE_POS) + .until(() -> elevator.isNearExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS)) .andThen( Commands.parallel( - shoulder.setVoltage(-1.0), + shoulder + .setVoltage(-10.0) + .until(() -> shoulder.getAngle().getDegrees() < 10.0) + .andThen(shoulder.setVoltage(-1.0)), elevator.setExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS), wrist .setTargetAngle(WristSubsystem.WRIST_CORAL_GROUND) - .until(wrist::isNearTarget) + .until( + () -> + wrist.isNearTarget() && shoulder.getAngle().getDegrees() < 10.0) .andThen(wrist.setVoltage(-1.0))))) .whileTrue( Commands.waitUntil(() -> shoulder.getAngle().getDegrees() < 20.0) From 4a881b3425da26a6d7106bb99d7dd95805969be2 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 17:39:13 -0700 Subject: [PATCH 14/48] slow down barge shot --- src/main/java/frc/robot/subsystems/Superstructure.java | 5 ++++- .../frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 6 +++--- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index f1d11875..d7c5b400 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -807,7 +807,10 @@ private void configureStateTransitionCommands() { .whileTrue( manipulator .hold() - .until(() -> shoulder.getVelocity() > 0.4) + .until( + () -> + shoulder.getVelocity() + > ShoulderSubsystem.TOSS_CONFIGS.MotionMagicCruiseVelocity - 0.1) .andThen(manipulator.setVoltage(-13.0))) .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .whileTrue(shoulder.setTargetAngleSlow(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 539ad4bc..9979cb10 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -51,10 +51,10 @@ public class ShoulderSubsystem extends SubsystemBase { public static final Rotation2d SHOULDER_CLEARANCE_POS = Rotation2d.fromDegrees(80.0); public static final Rotation2d SHOULDER_TUCKED_CLEARANCE_POS = Rotation2d.fromDegrees(35.0); - private static final MotionMagicConfigs DEFAULT_CONFIGS = + public static final MotionMagicConfigs DEFAULT_CONFIGS = new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); - private static final MotionMagicConfigs TOSS_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.5).withMotionMagicAcceleration(4.0); + public static final MotionMagicConfigs TOSS_CONFIGS = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.3).withMotionMagicAcceleration(4.0); private final ShoulderIO io; private final ShoulderIOInputsAutoLogged inputs = new ShoulderIOInputsAutoLogged(); From 2172d625910b2723b4c1689b9f2a57573f110bf7 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 17:55:40 -0700 Subject: [PATCH 15/48] adjust shoulder pose for ground algae --- .../java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 9979cb10..c453e7c4 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -29,10 +29,10 @@ public class ShoulderSubsystem extends SubsystemBase { public static final double X_OFFSET_METERS = 0.1016254; public static final double Z_OFFSET_METERS = 0.207645; public static final double ARM_LENGTH_METERS = Units.inchesToMeters(13.5); - public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(51.0); + public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(53.0); public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); - public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(0.505); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(5.0)); public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(45.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = From cfde337eb5dbde3238e81c650bb4c21f4b066868 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 18:11:13 -0700 Subject: [PATCH 16/48] more barge tuning --- .../frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index c453e7c4..b942aa43 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -32,7 +32,8 @@ public class ShoulderSubsystem extends SubsystemBase { public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(53.0); public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); - public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(5.0)); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = + Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(2.0)); public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(45.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = @@ -54,7 +55,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final MotionMagicConfigs DEFAULT_CONFIGS = new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); public static final MotionMagicConfigs TOSS_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.3).withMotionMagicAcceleration(4.0); + new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.35).withMotionMagicAcceleration(4.0); private final ShoulderIO io; private final ShoulderIOInputsAutoLogged inputs = new ShoulderIOInputsAutoLogged(); From 2e14b80997b141fdce9540371185384383567473 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 18:41:09 -0700 Subject: [PATCH 17/48] add algae ground to graph --- src/main/java/frc/robot/subsystems/ExtensionPathing.java | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/ExtensionPathing.java b/src/main/java/frc/robot/subsystems/ExtensionPathing.java index 345dc6ce..fb9c6af6 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionPathing.java +++ b/src/main/java/frc/robot/subsystems/ExtensionPathing.java @@ -111,6 +111,15 @@ public class ExtensionPathing { graph.addNode(l1); graph.putEdge(l1, betweenTucked); + final var algaeGround = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_GROUND_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS, + WristSubsystem.WRIST_INTAKE_ALGAE_GROUND_POS); + graph.addNode(algaeGround); + graph.putEdge(algaeGround, betweenTucked); + graph.putEdge(algaeGround, untucked); + final var algaeLow = new ExtensionState( ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION, From ac01ffdce5a5f7a06d5352dde5082f97d44bac93 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 18:49:18 -0700 Subject: [PATCH 18/48] adjust coral hold pose, add more edges for l4 to algae intake cancelling --- src/main/java/frc/robot/subsystems/ExtensionPathing.java | 4 ++++ src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/ExtensionPathing.java b/src/main/java/frc/robot/subsystems/ExtensionPathing.java index fb9c6af6..a73e0848 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionPathing.java +++ b/src/main/java/frc/robot/subsystems/ExtensionPathing.java @@ -135,6 +135,10 @@ public class ExtensionPathing { ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); graph.addNode(algaeHigh); graph.putEdge(untucked, algaeHigh); + graph.putEdge(algaeLow, algaeHigh); + + graph.putEdge(l4TuckedOut, algaeHigh); + graph.putEdge(l4TuckedOut, algaeLow); } private ExtensionPathing() {} diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index a99c15ca..46b50a9b 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -34,7 +34,7 @@ public class ManipulatorSubsystem extends RollerSubsystem { public static final double ALGAE_CURRENT_THRESHOLD = 6.0; public static final Transform2d IK_WRIST_TO_CORAL = ExtensionKinematics.IK_WRIST_TO_CORAL; - public static final double CORAL_HOLD_POS = 0.5; + public static final double CORAL_HOLD_POS = 0.45; public static final double GEAR_RATIO = (58.0 / 10.0) * (24.0 / 18.0); From 7439d016880ffff8724f05feef5b1254b03ae02f Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 18:59:54 -0700 Subject: [PATCH 19/48] adjust graph --- .../java/frc/robot/subsystems/ExtensionPathing.java | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/ExtensionPathing.java b/src/main/java/frc/robot/subsystems/ExtensionPathing.java index a73e0848..b69d7435 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionPathing.java +++ b/src/main/java/frc/robot/subsystems/ExtensionPathing.java @@ -126,7 +126,7 @@ public class ExtensionPathing { ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); graph.addNode(algaeLow); - graph.putEdge(untucked, algaeLow); + graph.putEdge(betweenTucked, algaeLow); final var algaeHigh = new ExtensionState( @@ -134,11 +134,11 @@ public class ExtensionPathing { ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); graph.addNode(algaeHigh); - graph.putEdge(untucked, algaeHigh); + graph.putEdge(betweenTucked, algaeHigh); graph.putEdge(algaeLow, algaeHigh); - graph.putEdge(l4TuckedOut, algaeHigh); - graph.putEdge(l4TuckedOut, algaeLow); + graph.putEdge(l4Tucked, algaeHigh); + graph.putEdge(l4Tucked, algaeLow); } private ExtensionPathing() {} @@ -193,6 +193,8 @@ private static Pair, TotalMotion> search( result.stream() .min( Comparator.comparing( + (Pair, TotalMotion> s) -> s.getFirst().size()) + .thenComparing( (Pair, TotalMotion> s) -> s.getSecond().elevator) .thenComparing((s) -> s.getSecond().wristRotations) .thenComparing((s) -> s.getSecond().shoulderRotations)) From 68e57911c7b32ff28cf04d84525a56986888388d Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 19:02:49 -0700 Subject: [PATCH 20/48] make net autoalign use angle --- src/main/java/frc/robot/Robot.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3bd07f34..137c82a9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1002,10 +1002,11 @@ public Robot() { modifyJoystick(driver.getLeftX()) * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), () -> - Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) - > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) - ? Rotation2d.kZero - : Rotation2d.k180deg), + (Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? Rotation2d.kZero + : Rotation2d.k180deg) + .plus(Rotation2d.fromDegrees(20.0))), Commands.waitUntil( () -> { final var diff = From 4620e9c10896198efe717a6d17ece75990f7c16a Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 19:15:33 -0700 Subject: [PATCH 21/48] reduce manipulator stator limit --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 137c82a9..5e21db44 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -311,7 +311,7 @@ public static enum AlgaeScoreTarget { .withCurrentLimits( new CurrentLimitsConfigs() .withStatorCurrentLimitEnable(true) - .withStatorCurrentLimit(120.0) + .withStatorCurrentLimit(80.0) .withSupplyCurrentLimit(30.0) .withSupplyCurrentLimitEnable(true)) .withMotorOutput( From db7a81b3a672d072f710405ebe77a7d4c390cfb3 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 19:16:12 -0700 Subject: [PATCH 22/48] increase autoain kd --- src/main/java/frc/robot/utils/autoaim/AutoAim.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 5b625042..f1644467 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -113,7 +113,7 @@ public static Command translateToPose( new ProfiledPIDController( 10.0, 0.01, - 0.02, + 0.04, new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); return Commands.runOnce( () -> { From 58cb824dc9c56e0538b17a3c9d3f5a1acfc0efca Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 19:39:01 -0700 Subject: [PATCH 23/48] adjust ground algae --- .../java/frc/robot/subsystems/elevator/ElevatorSubsystem.java | 2 +- .../java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java index 3cfb6e75..17e63b96 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java @@ -51,7 +51,7 @@ public class ElevatorSubsystem extends SubsystemBase { public static final double L4_EXTENSION_METERS = ExtensionKinematics.L4_EXTENSION.elevatorHeightMeters(); - public static final double INTAKE_ALGAE_GROUND_EXTENSION = 0.135; + public static final double INTAKE_ALGAE_GROUND_EXTENSION = 0.14; public static final double INTAKE_ALGAE_STACK_EXTENSION = Units.inchesToMeters(11.5); public static final double INTAKE_ALGAE_LOW_EXTENSION = Units.inchesToMeters(20.0); public static final double INTAKE_ALGAE_HIGH_EXTENSION = Units.inchesToMeters(35.0); diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index b942aa43..1024916f 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -33,7 +33,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = - Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(2.0)); + Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(-1.0)); public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(45.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = From 2b99dc138e89fa6bb01692a03b0f29268072df73 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 19:51:12 -0700 Subject: [PATCH 24/48] tune coral hold pos and pid --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 5e21db44..4de9443d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -320,7 +320,7 @@ public static enum AlgaeScoreTarget { new FeedbackConfigs() .withSensorToMechanismRatio(ManipulatorSubsystem.GEAR_RATIO)) .withSlot0(new Slot0Configs().withKV(0.928).withKP(0.5)) - .withSlot1(new Slot1Configs().withKP(7.5).withKD(0.5).withKS(0.39))) + .withSlot1(new Slot1Configs().withKP(7.5).withKD(0.5).withKS(0.5))) : new RollerIOSim( 0.01, 5.8677, diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index 46b50a9b..db07b981 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -34,7 +34,7 @@ public class ManipulatorSubsystem extends RollerSubsystem { public static final double ALGAE_CURRENT_THRESHOLD = 6.0; public static final Transform2d IK_WRIST_TO_CORAL = ExtensionKinematics.IK_WRIST_TO_CORAL; - public static final double CORAL_HOLD_POS = 0.45; + public static final double CORAL_HOLD_POS = 0.6; public static final double GEAR_RATIO = (58.0 / 10.0) * (24.0 / 18.0); From edb46fba9231f862a9d058afa9e72186aa3d8598 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 9 Apr 2025 20:52:28 -0700 Subject: [PATCH 25/48] jog coral back during scoring --- .../java/frc/robot/subsystems/Superstructure.java | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index d7c5b400..99440c3b 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -433,7 +433,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L1_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L1_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())); + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())); stateTriggers .get(SuperState.PRE_L1) @@ -447,7 +448,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L1_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L1_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -465,7 +467,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L2_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L2_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -483,7 +486,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L3_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L3_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -501,7 +505,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L4_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L4_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); From 4e00c50a1595f21c121dbbbe6e3f52b9b3283892 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 12:22:39 -0700 Subject: [PATCH 26/48] make auto algae logic actually make sense :sob: --- src/main/java/frc/robot/Autos.java | 170 +++++++++++------- .../subsystems/ManipulatorSubsystem.java | 5 +- .../frc/robot/subsystems/Superstructure.java | 8 +- 3 files changed, 114 insertions(+), 69 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index be439ac8..6989a976 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -108,7 +108,7 @@ public Command LMtoH() { final var routine = factory.newRoutine("LM to H"); final var traj = routine.trajectory("LMtoH"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -117,7 +117,7 @@ public Command RMtoG() { final var routine = factory.newRoutine("RM to G"); final var traj = routine.trajectory("RMtoG"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -160,7 +160,7 @@ public void runCoralPath( public Command LOtoJ() { final var routine = factory.newRoutine("LO to J"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); routine.active().onTrue(Commands.print("Auto!")); HashMap steps = new HashMap(); // key - name of path, value - traj @@ -208,7 +208,7 @@ public Command LOtoJ() { public Command ROtoE() { final var routine = factory.newRoutine("RO to E"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -242,7 +242,7 @@ public Command ROtoE() { public Command LItoK() { final var routine = factory.newRoutine("LI to K"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -272,7 +272,7 @@ public Command LItoK() { public Command RItoD() { final var routine = factory.newRoutine("RI to D"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -302,7 +302,7 @@ public Command RItoD() { public Command PMtoPL() { final var routine = factory.newRoutine("PM to PL"); - bindElevatorExtension(routine, 2.0); + bindCoralElevatorExtension(routine, 2.0); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -331,9 +331,10 @@ public Command PMtoPL() { return routine.cmd(); } - public Command CMtoGH() { + public Command CMtoGH() { // algae path final var routine = factory.newRoutine("CM to GH"); - bindElevatorExtension(routine, 2.0); + bindCoralElevatorExtension(routine, 2.0); + bindAlgaeElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -397,7 +398,11 @@ public Command CMtoGH() { autoAlgaeIntake = false; }), steps.get("GHtoNI").cmd())); - routine.observe(steps.get("GHtoNI").done()).onTrue(scoreAlgaeInAuto()); + routine.observe(steps.get("GHtoNI").done()).onTrue( + // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + scoreAlgaeInAuto()); + // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign + // for (int i = 0; i < stops.length - 2; i++) { // String startPos = stops[i]; // String endPos = stops[i + 1]; @@ -481,11 +486,11 @@ public Command intakeCoralInAuto(Supplier> pose) { } } - public void bindElevatorExtension(AutoRoutine routine) { - bindElevatorExtension(routine, 3.75); // TODO tune + public void bindCoralElevatorExtension(AutoRoutine routine) { + bindCoralElevatorExtension(routine, 3.75); // TODO tune } - public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { + public void bindCoralElevatorExtension(AutoRoutine routine, double toleranceMeters) { routine .observe( () -> @@ -503,63 +508,100 @@ public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { .whileFalse(Commands.run(() -> autoPreScore = false)); } - public void runAlgaePath( - AutoRoutine routine, - String startPos, - String endPos, - String nextPos, - HashMap steps) { + public void bindAlgaeElevatorExtension(AutoRoutine routine, double toleranceMeters) { routine - .observe(steps.get(startPos + "to" + endPos).done()) - .onTrue( - Commands.sequence( - endPos.equals("NI") - ? scoreAlgaeInAuto() - : intakeAlgaeInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()), - steps.get(endPos + "to" + nextPos).cmd())); + .observe( + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + toleranceMeters)) + .whileTrue(Commands.run(() -> autoPreScore = true)) + .whileFalse(Commands.run(() -> autoPreScore = false)); } - public Command intakeAlgaeInAuto(Supplier> pose) { - if (!pose.get().isPresent()) { - return Commands.none(); - } else { - return Commands.sequence( - Commands.runOnce( - () -> { - autoAlgaeIntake = true; - Robot.setCurrentAlgaeIntakeTarget( - AlgaeIntakeTargets.getClosestTarget(pose.get().get()).height); // are you serios - }), - Commands.waitUntil(() -> manipulator.hasAlgae()) - .alongWith( - Robot.isSimulation() - ? Commands.runOnce(() -> manipulator.setHasAlgae(true)) - : Commands.none()), - Commands.runOnce( - () -> { - autoAlgaeIntake = false; - })); - } + public void bindAlgaeElevatorExtension(AutoRoutine routine) { + bindAlgaeElevatorExtension(routine, 0.2); // TODO tune - is the coral one still requiring atp?? } - public Command scoreAlgaeInAuto() { - return Commands.runOnce( + public Command scoreAlgaeInAuto() { // oh good lord + return Commands.sequence( + Commands.waitUntil( + new Trigger( + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + Units.inchesToMeters(1.0)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) + .debounce(0.06)), // TODO + Commands.runOnce( () -> { - autoScore = true; Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); - }) - .andThen( - Commands.waitUntil( - () -> !manipulator.hasAlgae()) // TODO maybe check state directly instead - .alongWith( - Robot.isSimulation() - ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) - : Commands.none()) - .andThen( - Commands.runOnce( - () -> { - autoScore = false; - autoPreScore = false; - }))); + autoScore = true; + }), + Commands.waitUntil(() -> manipulator.hasAlgae()) + .alongWith( + Robot.isSimulation() + ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) + : Commands.none()) + .andThen( + Commands.runOnce( + () -> { + autoScore = false; + autoPreScore = false; + }))); } + // public void runAlgaePath( + // AutoRoutine routine, + // String startPos, + // String endPos, + // String nextPos, + // HashMap steps) { + // routine + // .observe(steps.get(startPos + "to" + endPos).done()) + // .onTrue( + // Commands.sequence( + // endPos.equals("NI") + // ? scoreAlgaeInAuto() + // : intakeAlgaeInAuto(() -> steps.get(startPos + "to" + + // endPos).getFinalPose()), + // steps.get(endPos + "to" + nextPos).cmd())); + // } + + // public Command intakeAlgaeInAuto(Supplier> pose) { + // if (!pose.get().isPresent()) { + // return Commands.none(); + // } else { + // return Commands.sequence( + // Commands.runOnce( + // () -> { + // autoAlgaeIntake = true; + // Robot.setCurrentAlgaeIntakeTarget( + // AlgaeIntakeTargets.getClosestTarget(pose.get().get()).height); // are you + // serios + // }), + // Commands.waitUntil(() -> manipulator.hasAlgae()) + // .alongWith( + // Robot.isSimulation() + // ? Commands.runOnce(() -> manipulator.setHasAlgae(true)) + // : Commands.none()), + // Commands.runOnce( + // () -> { + // autoAlgaeIntake = false; + // })); + // } + // } + } diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index db07b981..c5eaa3cf 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -14,7 +14,6 @@ import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Robot; import frc.robot.Robot.RobotType; -import frc.robot.subsystems.Superstructure.SuperState; import frc.robot.subsystems.beambreak.BeambreakIO; import frc.robot.subsystems.beambreak.BeambreakIOInputsAutoLogged; import frc.robot.subsystems.roller.RollerIO; @@ -206,7 +205,7 @@ public void setHasAlgae(boolean state) { hasAlgae = state; } - public boolean hasAlgae() { - return hasAlgae || Robot.state.get() == SuperState.READY_ALGAE; + public boolean hasAlgae() { // TODO icky + return hasAlgae; } } diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 99440c3b..eaf962b0 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -736,7 +736,9 @@ private void configureStateTransitionCommands() { > 0.3 || (algaeIntakeTarget.get() == AlgaeIntakeTarget.GROUND || algaeIntakeTarget.get() == AlgaeIntakeTarget.STACK)) - .onTrue(this.forceState(SuperState.READY_ALGAE)); + .onTrue( + this.forceState(SuperState.READY_ALGAE) + .alongWith(Commands.runOnce(() -> manipulator.setHasAlgae(true)))); // gahahaha // READY_ALGAE logic stateTriggers @@ -823,7 +825,9 @@ private void configureStateTransitionCommands() { .and(() -> stateTimer.hasElapsed(0.5)) .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_TUCKED_CLEARANCE_POS)) .and(() -> stateTimer.hasElapsed(1.0)) - .onTrue(forceState(SuperState.IDLE)); + .onTrue( + forceState(SuperState.IDLE) + .alongWith(Commands.runOnce(() -> manipulator.setHasAlgae(false)))); stateTriggers .get(SuperState.SCORE_ALGAE_PROCESSOR) From bbf418f3c03fd0459989e135372ba195aad34b28 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 13:06:19 -0700 Subject: [PATCH 27/48] add barge intermediate + change angle --- src/main/java/frc/robot/Autos.java | 8 +++++--- src/main/java/frc/robot/subsystems/Superstructure.java | 4 ++-- .../frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 4 +++- .../java/frc/robot/subsystems/wrist/WristSubsystem.java | 3 ++- 4 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 6989a976..1fd75dd3 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -398,9 +398,11 @@ public Command CMtoGH() { // algae path autoAlgaeIntake = false; }), steps.get("GHtoNI").cmd())); - routine.observe(steps.get("GHtoNI").done()).onTrue( - // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - scoreAlgaeInAuto()); + routine + .observe(steps.get("GHtoNI").done()) + .onTrue( + // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + scoreAlgaeInAuto()); // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index eaf962b0..91ba5bba 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -801,8 +801,8 @@ private void configureStateTransitionCommands() { elevator.setExtensionSlow(ElevatorSubsystem.ALGAE_NET_EXTENSION), // Make it initially extend to the full 90 degrees shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS), - wrist.setSlowTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS))) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) + wrist.setSlowTargetAngle(WristSubsystem.WRIST_PRE_NET_POS))) + .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_PRE_NET_POS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .and(scoreReq) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 1024916f..58bde40a 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -55,7 +55,9 @@ public class ShoulderSubsystem extends SubsystemBase { public static final MotionMagicConfigs DEFAULT_CONFIGS = new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); public static final MotionMagicConfigs TOSS_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.35).withMotionMagicAcceleration(4.0); + new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(0.325) + .withMotionMagicAcceleration(4.0); private final ShoulderIO io; private final ShoulderIOInputsAutoLogged inputs = new ShoulderIOInputsAutoLogged(); diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java index 853f00b2..e4ad1269 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java @@ -40,7 +40,8 @@ public class WristSubsystem extends SubsystemBase { public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_RETRACT_POS = Rotation2d.fromDegrees(-20.0); - public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(100); + public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(110); + public static final Rotation2d WRIST_PRE_NET_POS = Rotation2d.fromDegrees(100); public static final Rotation2d WRIST_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(-30.0); public static MotionMagicConfigs DEFAULT_MOTION_MAGIC = From 3c8fb1d79f17d4adc0ddda2aefdb6d6fa619a88f Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 14:40:39 -0700 Subject: [PATCH 28/48] algae auto stuff that doesn't really work yet --- src/main/deploy/choreo/GHtoNI.traj | 74 +++++++-------- src/main/deploy/choreo/IJtoNI.traj | 93 +++++++++---------- src/main/deploy/choreo/NItoEF.traj | 144 ++++++++++++++--------------- src/main/deploy/choreo/NItoIJ.traj | 89 ++++++++---------- src/main/deploy/choreo/choreo.chor | 14 +++ src/main/java/frc/robot/Autos.java | 84 ++++++++++++----- 6 files changed, 263 insertions(+), 235 deletions(-) diff --git a/src/main/deploy/choreo/GHtoNI.traj b/src/main/deploy/choreo/GHtoNI.traj index 90b88d1f..ee8da55c 100644 --- a/src/main/deploy/choreo/GHtoNI.traj +++ b/src/main/deploy/choreo/GHtoNI.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.806319713592529, "y":4.017168045043945, "heading":3.141592653589793, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.08, "y":5.0, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.806319713592529, "y":4.017168045043945, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.929035186767578, "y":5.583443641662598, "heading":3.490658503988659, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"GH.x", "val":5.806319713592529}, "y":{"exp":"GH.y", "val":4.017168045043945}, "heading":{"exp":"GH.heading", "val":3.141592653589793}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"NI.x", "val":8.08}, "y":{"exp":"NI.y", "val":5.0}, "heading":{"exp":"NI.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"GH.x", "val":5.806319713592529}, "y":{"exp":"GH.y", "val":4.017168045043945}, "heading":{"exp":"GH.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NI.x", "val":7.929035186767578}, "y":{"exp":"NI.y", "val":5.583443641662598}, "heading":{"exp":"NI.heading", "val":3.490658503988659}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,39 +26,41 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.46565], + "waypoints":[0.0,1.28627], "samples":[ - {"t":0.0, "x":5.80632, "y":4.01717, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.23714, "ay":1.83157, "alpha":0.0, "fx":[69.26922,69.26922,69.26922,69.26922], "fy":[29.94265,29.94265,29.94265,29.94265]}, - {"t":0.04885, "x":5.81138, "y":4.01935, "heading":3.14159, "vx":0.20701, "vy":0.08948, "omega":0.0, "ax":4.23688, "ay":1.83145, "alpha":0.0, "fx":[69.26488,69.26488,69.26488,69.26488], "fy":[29.94077,29.94077,29.94077,29.94077]}, - {"t":0.09771, "x":5.82655, "y":4.02591, "heading":3.14159, "vx":0.414, "vy":0.17896, "omega":0.0, "ax":4.23657, "ay":1.83132, "alpha":0.0, "fx":[69.25984,69.25984,69.25984,69.25984], "fy":[29.93859,29.93859,29.93859,29.93859]}, - {"t":0.14656, "x":5.85183, "y":4.03684, "heading":3.14159, "vx":0.62097, "vy":0.26843, "omega":0.0, "ax":4.23621, "ay":1.83116, "alpha":0.0, "fx":[69.25393,69.25393,69.25393,69.25393], "fy":[29.93604,29.93604,29.93604,29.93604]}, - {"t":0.19542, "x":5.88722, "y":4.05214, "heading":3.14159, "vx":0.82793, "vy":0.35789, "omega":0.0, "ax":4.23578, "ay":1.83098, "alpha":0.0, "fx":[69.24689,69.24689,69.24689,69.24689], "fy":[29.93299,29.93299,29.93299,29.93299]}, - {"t":0.24427, "x":5.93272, "y":4.07181, "heading":3.14159, "vx":1.03487, "vy":0.44734, "omega":0.0, "ax":4.23526, "ay":1.83075, "alpha":0.0, "fx":[69.23837,69.23837,69.23837,69.23837], "fy":[29.92931,29.92931,29.92931,29.92931]}, - {"t":0.29313, "x":5.98834, "y":4.09585, "heading":3.14159, "vx":1.24179, "vy":0.53678, "omega":0.0, "ax":4.23461, "ay":1.83047, "alpha":0.0, "fx":[69.22785,69.22785,69.22785,69.22785], "fy":[29.92476,29.92476,29.92476,29.92476]}, - {"t":0.34198, "x":6.05406, "y":4.12426, "heading":3.14159, "vx":1.44867, "vy":0.62621, "omega":0.0, "ax":4.2338, "ay":1.83012, "alpha":0.0, "fx":[69.21452,69.21452,69.21452,69.21452], "fy":[29.919,29.919,29.919,29.919]}, - {"t":0.39084, "x":6.12989, "y":4.15703, "heading":3.14159, "vx":1.65551, "vy":0.71562, "omega":0.0, "ax":4.23273, "ay":1.82966, "alpha":0.0, "fx":[69.19709,69.19709,69.19709,69.19709], "fy":[29.91147,29.91147,29.91147,29.91147]}, - {"t":0.43969, "x":6.21582, "y":4.19418, "heading":3.14159, "vx":1.8623, "vy":0.80501, "omega":0.0, "ax":4.23128, "ay":1.82903, "alpha":0.0, "fx":[69.17333,69.17333,69.17333,69.17333], "fy":[29.9012,29.9012,29.9012,29.9012]}, - {"t":0.48855, "x":6.31185, "y":4.23569, "heading":3.14159, "vx":2.06902, "vy":0.89436, "omega":0.0, "ax":4.22918, "ay":1.82813, "alpha":0.0, "fx":[69.13902,69.13902,69.13902,69.13902], "fy":[29.88637,29.88637,29.88637,29.88637]}, - {"t":0.5374, "x":6.41798, "y":4.28157, "heading":3.14159, "vx":2.27563, "vy":0.98368, "omega":0.0, "ax":4.22588, "ay":1.8267, "alpha":0.0, "fx":[69.08514,69.08514,69.08514,69.08514], "fy":[29.86308,29.86308,29.86308,29.86308]}, - {"t":0.58626, "x":6.5342, "y":4.3318, "heading":3.14159, "vx":2.48209, "vy":1.07292, "omega":0.0, "ax":4.21996, "ay":1.82414, "alpha":0.0, "fx":[68.98826,68.98826,68.98826,68.98826], "fy":[29.8212,29.8212,29.8212,29.8212]}, - {"t":0.63511, "x":6.66049, "y":4.3864, "heading":3.14159, "vx":2.68825, "vy":1.16204, "omega":0.0, "ax":4.20616, "ay":1.81817, "alpha":0.0, "fx":[68.76271,68.76271,68.76271,68.76271], "fy":[29.7237,29.7237,29.7237,29.7237]}, - {"t":0.68397, "x":6.79685, "y":4.44534, "heading":3.14159, "vx":2.89375, "vy":1.25086, "omega":0.0, "ax":4.13785, "ay":1.78865, "alpha":0.0, "fx":[67.64593,67.64593,67.64593,67.64593], "fy":[29.24095,29.24095,29.24095,29.24095]}, - {"t":0.73282, "x":6.94316, "y":4.50858, "heading":3.14159, "vx":3.0959, "vy":1.33825, "omega":0.0, "ax":-4.13785, "ay":-1.78865, "alpha":0.0, "fx":[-67.64593,-67.64593,-67.64593,-67.64593], "fy":[-29.24095,-29.24095,-29.24095,-29.24095]}, - {"t":0.78168, "x":7.08947, "y":4.57183, "heading":3.14159, "vx":2.89375, "vy":1.25086, "omega":0.0, "ax":-4.20616, "ay":-1.81817, "alpha":0.0, "fx":[-68.76271,-68.76271,-68.76271,-68.76271], "fy":[-29.7237,-29.7237,-29.7237,-29.7237]}, - {"t":0.83053, "x":7.22583, "y":4.63077, "heading":3.14159, "vx":2.68825, "vy":1.16204, "omega":0.0, "ax":-4.21996, "ay":-1.82414, "alpha":0.0, "fx":[-68.98826,-68.98826,-68.98826,-68.98826], "fy":[-29.8212,-29.8212,-29.8212,-29.8212]}, - {"t":0.87939, "x":7.35212, "y":4.68536, "heading":3.14159, "vx":2.48209, "vy":1.07292, "omega":0.0, "ax":-4.22588, "ay":-1.8267, "alpha":0.0, "fx":[-69.08514,-69.08514,-69.08514,-69.08514], "fy":[-29.86308,-29.86308,-29.86308,-29.86308]}, - {"t":0.92824, "x":7.46834, "y":4.7356, "heading":3.14159, 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a/src/main/deploy/choreo/IJtoNI.traj +++ b/src/main/deploy/choreo/IJtoNI.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.188053131103516, "y":5.171266078948975, "heading":-2.073639537722758, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":8.08, "y":5.0, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.188053131103516, "y":5.171266078948975, "heading":-2.073639537722758, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.929035186767578, "y":5.583443641662598, "heading":3.490658503988659, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"IJ.x", "val":5.188053131103516}, "y":{"exp":"IJ.y", "val":5.171266078948975}, "heading":{"exp":"IJ.heading", "val":-2.073639537722758}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"NI.x", "val":8.08}, "y":{"exp":"NI.y", "val":5.0}, "heading":{"exp":"NI.heading", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"IJ.x", "val":5.188053131103516}, "y":{"exp":"IJ.y", "val":5.171266078948975}, "heading":{"exp":"IJ.heading", "val":-2.073639537722758}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"NI.x", "val":7.929035186767578}, "y":{"exp":"NI.y", "val":5.583443641662598}, "heading":{"exp":"NI.heading", "val":3.490658503988659}, "intervals":40, "split":false, "fixTranslation":true, 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b/src/main/deploy/choreo/NItoEF.traj index 93a20cb3..06648701 100644 --- a/src/main/deploy/choreo/NItoEF.traj +++ b/src/main/deploy/choreo/NItoEF.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":8.08, "y":5.0, "heading":3.141592653589793, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.383368492126465, "y":3.130985975265503, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.929035186767578, "y":5.583443641662598, "heading":3.490658503988659, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.383368492126465, "y":3.130985975265503, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":5.188053131103516, "y":2.863070487976074, "heading":2.0928880900706415, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"NI.x", "val":8.08}, "y":{"exp":"NI.y", "val":5.0}, "heading":{"exp":"NI.heading", "val":3.141592653589793}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.383368492126465 m", "val":6.383368492126465}, "y":{"exp":"3.130985975265503 m", "val":3.130985975265503}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"NI.x", "val":7.929035186767578}, "y":{"exp":"NI.y", "val":5.583443641662598}, "heading":{"exp":"NI.heading", "val":3.490658503988659}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.383368492126465 m", "val":6.383368492126465}, "y":{"exp":"3.130985975265503 m", "val":3.130985975265503}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"EF.x", "val":5.188053131103516}, "y":{"exp":"EF.y", "val":2.863070487976074}, "heading":{"exp":"EF.heading", "val":2.0928880900706415}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,78 +28,72 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.12124,1.86587], + "waypoints":[0.0,1.06273,1.70547], "samples":[ - {"t":0.0, "x":8.08, "y":5.0, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.28056, "ay":-3.99197, "alpha":-1.1299, "fx":[-44.80091,-39.1584,-30.00595,-35.16625], "fy":[-60.66906,-64.47141,-69.19916,-66.70489]}, - {"t":0.02875, "x":8.07906, "y":4.99835, "heading":3.14159, 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"alpha":-1.72136, "fx":[103.39253,104.38985,103.13882,100.36513], "fy":[14.37509,2.28879,16.3746,28.78363]}, + {"t":1.13721, "x":5.29387, "y":5.18717, "heading":-2.10928, "vx":-1.15376, "vy":-0.17338, "omega":0.32257, "ax":6.28981, "ay":0.94535, "alpha":-1.73598, "fx":[103.43851,104.40388,103.12186,100.34158], "fy":[14.14415,2.21405,16.551,28.90944]}, + {"t":1.17389, "x":5.25577, "y":5.18144, "heading":-2.09745, "vx":-0.92302, "vy":-0.1387, "omega":0.25889, "ax":6.29006, "ay":0.9453, "alpha":-1.7487, "fx":[103.47742,104.41584,103.10735,100.32156], "fy":[13.94727,2.15093,16.70073,29.01657]}, + {"t":1.21058, "x":5.22615, "y":5.17699, "heading":-2.08795, "vx":-0.69228, "vy":-0.10402, "omega":0.19474, "ax":6.29027, "ay":0.94526, "alpha":-1.75991, "fx":[103.50965,104.4262,103.09586,100.30429], "fy":[13.78596,2.09486,16.82289,29.10905]}, + {"t":1.24726, "x":5.20498, "y":5.17381, "heading":-2.08081, "vx":-0.46152, "vy":-0.06935, "omega":0.13018, "ax":6.29045, "ay":0.94522, "alpha":-1.76988, "fx":[103.5355,104.4353,103.08784,100.28917], "fy":[13.66139,2.04229,16.91676,29.19002]}, + {"t":1.28394, "x":5.19229, "y":5.1719, "heading":-2.07603, "vx":-0.23077, "vy":-0.03467, "omega":0.06525, "ax":6.29061, "ay":0.9452, "alpha":-1.77883, "fx":[103.5552,104.44339,103.08364,100.2757], "fy":[13.57447,1.99048,16.98177,29.26191]}, + {"t":1.32063, "x":5.18805, "y":5.17127, "heading":-2.07364, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/choreo.chor b/src/main/deploy/choreo/choreo.chor index f05e602d..02ef768b 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -286,6 +286,20 @@ "val":3.141592653589793 } }, + "NI":{ + "x":{ + "exp":"7.929035186767578 m", + "val":7.929035186767578 + }, + "y":{ + "exp":"5.583443641662598 m", + "val":5.583443641662598 + }, + "heading":{ + "exp":"200 deg", + "val":3.490658503988659 + } + }, "PL":{ "x":{ "exp":"7.814075469970703 m", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 1fd75dd3..d516e45d 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,6 +9,7 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -357,7 +358,7 @@ public Command CMtoGH() { // algae path .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) .onTrue( Commands.sequence( - swerve.driveTeleop(() -> new ChassisSpeeds(-0.3, 0, 0)).withTimeout(0.2), + swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2), Commands.runOnce( () -> { autoAlgaeIntake = true; @@ -391,7 +392,7 @@ public Command CMtoGH() { // algae path swerve, () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), 1) - .withTimeout(2)) + .withTimeout(0.5)) .andThen( Commands.runOnce( () -> { @@ -402,7 +403,40 @@ public Command CMtoGH() { // algae path .observe(steps.get("GHtoNI").done()) .onTrue( // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - scoreAlgaeInAuto()); + Commands.sequence( + AutoAim.translateToXCoord( + swerve, + () -> + Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? AutoAim.RED_NET_X + : AutoAim.BLUE_NET_X, + () -> 0, + () -> + (Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? Rotation2d.kZero + : Rotation2d.k180deg) + .plus(Rotation2d.fromDegrees(20.0))) + .until( + () -> + (MathUtil.isNear( + DriverStation.getAlliance().get() == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + Units.inchesToMeters(1)) + && MathUtil.isNear( + DriverStation.getAlliance().get() == Alliance.Blue + ? Rotation2d.k180deg + .plus(Rotation2d.fromDegrees(20.0)) + .getRadians() + : Rotation2d.kZero + .plus(Rotation2d.fromDegrees(20.0)) + .getRadians(), + swerve.getPose().getRotation().getRadians(), + AutoAim.ROTATION_TOLERANCE_RADIANS))), + scoreAlgaeInAuto())); // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { @@ -515,11 +549,12 @@ public void bindAlgaeElevatorExtension(AutoRoutine routine, double toleranceMete .observe( () -> MathUtil.isNear( - DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, - swerve.getPose().getX(), - toleranceMeters)) + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + toleranceMeters) + && (manipulator.hasAlgae())) .whileTrue(Commands.run(() -> autoPreScore = true)) .whileFalse(Commands.run(() -> autoPreScore = false)); } @@ -532,22 +567,23 @@ public Command scoreAlgaeInAuto() { // oh good lord return Commands.sequence( Commands.waitUntil( new Trigger( - () -> - MathUtil.isNear( - DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, - swerve.getPose().getX(), - Units.inchesToMeters(1.0)) - && MathUtil.isNear( - 0, - Math.hypot( - swerve.getVelocityRobotRelative().vxMetersPerSecond, - swerve.getVelocityRobotRelative().vyMetersPerSecond), - AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) - && MathUtil.isNear( - 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) - .debounce(0.06)), // TODO + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + Units.inchesToMeters(3.0)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) + // .debounce(0.06)), // TODO + ), Commands.runOnce( () -> { Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); From 56c6b524a0a0bace62ba561be63aba9195263014 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 15:17:36 -0700 Subject: [PATCH 29/48] more algae auto tuning, BARGE SHOT IS FUCKED --- src/main/java/frc/robot/Autos.java | 44 ++++++++++++++++-------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index d516e45d..a13b418c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -381,7 +381,7 @@ public Command CMtoGH() { // algae path AlgaeIntakeTargets.getClosestTargetPose( swerve.getPose())), swerve.getVelocityFieldRelative(), - Units.inchesToMeters(1.0), + Units.inchesToMeters(0.5), Units.degreesToRadians(1.0)) && elevator.isNearTarget() && shoulder.isNearAngle( @@ -404,20 +404,22 @@ public Command CMtoGH() { // algae path .onTrue( // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); Commands.sequence( - AutoAim.translateToXCoord( - swerve, - () -> - Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) - > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) - ? AutoAim.RED_NET_X - : AutoAim.BLUE_NET_X, - () -> 0, - () -> - (Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) - > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) - ? Rotation2d.kZero - : Rotation2d.k180deg) - .plus(Rotation2d.fromDegrees(20.0))) + // AutoAim.translateToXCoord( + // swerve, + // () -> + // DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // () -> 0, + // () -> + // DriverStation.getAlliance().get() == Alliance.Blue + // ? Rotation2d.k180deg + // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) + AutoAim.translateToPose(swerve, + () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + )) .until( () -> (MathUtil.isNear( @@ -425,17 +427,17 @@ public Command CMtoGH() { // algae path ? AutoAim.BLUE_NET_X : AutoAim.RED_NET_X, swerve.getPose().getX(), - Units.inchesToMeters(1)) + Units.inchesToMeters(5)) && MathUtil.isNear( DriverStation.getAlliance().get() == Alliance.Blue ? Rotation2d.k180deg .plus(Rotation2d.fromDegrees(20.0)) - .getRadians() + .getDegrees() : Rotation2d.kZero .plus(Rotation2d.fromDegrees(20.0)) - .getRadians(), - swerve.getPose().getRotation().getRadians(), - AutoAim.ROTATION_TOLERANCE_RADIANS))), + .getDegrees(), + swerve.getPose().getRotation().getDegrees(), + 5.0))), scoreAlgaeInAuto())); // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign @@ -589,7 +591,7 @@ public Command scoreAlgaeInAuto() { // oh good lord Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); autoScore = true; }), - Commands.waitUntil(() -> manipulator.hasAlgae()) + Commands.waitUntil(() -> !manipulator.hasAlgae()) .alongWith( Robot.isSimulation() ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) From 0d83f63486a3db4e373df10ca3d6a236830d9906 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 15:54:41 -0700 Subject: [PATCH 30/48] yet more barge tuning, auto was overcooked --- src/main/java/frc/robot/Autos.java | 81 ++++++++++--------- src/main/java/frc/robot/Robot.java | 2 +- .../shoulder/ShoulderSubsystem.java | 2 +- 3 files changed, 44 insertions(+), 41 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index a13b418c..76f98e7c 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -144,7 +144,7 @@ public void runCoralPath( endPos.length() == 1 ? scoreCoralInAuto( () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : AutoAim.translateToPose( + : AutoAim.translateToPose( //TODO does this get called? swerve, () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) .until( @@ -400,45 +400,47 @@ public Command CMtoGH() { // algae path }), steps.get("GHtoNI").cmd())); routine - .observe(steps.get("GHtoNI").done()) + .observe(steps.get("GHtoNI").atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) //TODO tune .onTrue( - // Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - Commands.sequence( - // AutoAim.translateToXCoord( - // swerve, - // () -> - // DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // () -> 0, - // () -> - // DriverStation.getAlliance().get() == Alliance.Blue - // ? Rotation2d.k180deg - // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) - AutoAim.translateToPose(swerve, - () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, - )) - .until( - () -> - (MathUtil.isNear( - DriverStation.getAlliance().get() == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, - swerve.getPose().getX(), - Units.inchesToMeters(5)) - && MathUtil.isNear( - DriverStation.getAlliance().get() == Alliance.Blue - ? Rotation2d.k180deg - .plus(Rotation2d.fromDegrees(20.0)) - .getDegrees() - : Rotation2d.kZero - .plus(Rotation2d.fromDegrees(20.0)) - .getDegrees(), - swerve.getPose().getRotation().getDegrees(), - 5.0))), - scoreAlgaeInAuto())); + Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // Commands.sequence( + // // AutoAim.translateToXCoord( + // // swerve, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? AutoAim.BLUE_NET_X + // // : AutoAim.RED_NET_X, + // // () -> 0, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? Rotation2d.k180deg + // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) + // AutoAim.translateToPose(swerve, + // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // steps.get("GhtoNI").)) + // .until( + // () -> + // (MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // swerve.getPose().getX(), + // Units.inchesToMeters(5)) + // && MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? Rotation2d.k180deg + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees() + // : Rotation2d.kZero + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees(), + // swerve.getPose().getRotation().getDegrees(), + // 5.0))), + // scoreAlgaeInAuto()) + //) + ; // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { @@ -586,6 +588,7 @@ public Command scoreAlgaeInAuto() { // oh good lord 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) // .debounce(0.06)), // TODO ), + Commands.print("Scoring algae"), Commands.runOnce( () -> { Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4de9443d..9a9b9710 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1006,7 +1006,7 @@ public Robot() { > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) ? Rotation2d.kZero : Rotation2d.k180deg) - .plus(Rotation2d.fromDegrees(20.0))), + .plus(Rotation2d.fromDegrees(30.0))), Commands.waitUntil( () -> { final var diff = diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 58bde40a..62361233 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -56,7 +56,7 @@ public class ShoulderSubsystem extends SubsystemBase { new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); public static final MotionMagicConfigs TOSS_CONFIGS = new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(0.325) + .withMotionMagicCruiseVelocity(0.275) .withMotionMagicAcceleration(4.0); private final ShoulderIO io; From 63cca92459655e97bcd5c02ed2af931ce438e407 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Thu, 10 Apr 2025 16:30:08 -0700 Subject: [PATCH 31/48] Add rezero button binding --- src/main/java/frc/robot/Robot.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9a9b9710..96e43c01 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1044,6 +1044,9 @@ public Robot() { swerveDriveSimulation.get().setSimulationWorldPose(swerve.getPose()); } })); + driver + .x() + .onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); operator .a() From 4231eb78f4f18d0d32584ed159dc7d65e2b97cfc Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 10 Apr 2025 16:43:22 -0700 Subject: [PATCH 32/48] zero shoulder correctly --- src/main/java/frc/robot/Autos.java | 87 ++++++++++--------- src/main/java/frc/robot/Robot.java | 4 +- .../frc/robot/subsystems/Superstructure.java | 3 - 3 files changed, 45 insertions(+), 49 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 76f98e7c..b3ebcb8e 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,7 +9,6 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -144,7 +143,7 @@ public void runCoralPath( endPos.length() == 1 ? scoreCoralInAuto( () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : AutoAim.translateToPose( //TODO does this get called? + : AutoAim.translateToPose( // TODO does this get called? swerve, () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) .until( @@ -400,47 +399,49 @@ public Command CMtoGH() { // algae path }), steps.get("GHtoNI").cmd())); routine - .observe(steps.get("GHtoNI").atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) //TODO tune - .onTrue( - Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - // Commands.sequence( - // // AutoAim.translateToXCoord( - // // swerve, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? AutoAim.BLUE_NET_X - // // : AutoAim.RED_NET_X, - // // () -> 0, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? Rotation2d.k180deg - // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) - // AutoAim.translateToPose(swerve, - // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // steps.get("GhtoNI").)) - // .until( - // () -> - // (MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // swerve.getPose().getX(), - // Units.inchesToMeters(5)) - // && MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? Rotation2d.k180deg - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees() - // : Rotation2d.kZero - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees(), - // swerve.getPose().getRotation().getDegrees(), - // 5.0))), - // scoreAlgaeInAuto()) - //) - ; + .observe( + steps + .get("GHtoNI") + .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // Commands.sequence( + // // AutoAim.translateToXCoord( + // // swerve, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? AutoAim.BLUE_NET_X + // // : AutoAim.RED_NET_X, + // // () -> 0, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? Rotation2d.k180deg + // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) + // AutoAim.translateToPose(swerve, + // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // steps.get("GhtoNI").)) + // .until( + // () -> + // (MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // swerve.getPose().getX(), + // Units.inchesToMeters(5)) + // && MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? Rotation2d.k180deg + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees() + // : Rotation2d.kZero + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees(), + // swerve.getPose().getRotation().getDegrees(), + // 5.0))), + // scoreAlgaeInAuto()) + // ) + ; // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 96e43c01..8e51bb35 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1044,9 +1044,7 @@ public Robot() { swerveDriveSimulation.get().setSimulationWorldPose(swerve.getPose()); } })); - driver - .x() - .onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); + driver.x().onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); operator .a() diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 91ba5bba..a9c7f314 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -320,9 +320,6 @@ private void configureStateTransitionCommands() { () -> wrist.isNearTarget() && shoulder.getAngle().getDegrees() < 10.0) .andThen(wrist.setVoltage(-1.0))))) - .whileTrue( - Commands.waitUntil(() -> shoulder.getAngle().getDegrees() < 20.0) - .andThen(Commands.runOnce(() -> shoulder.rezero()))) .whileTrue(manipulator.intakeCoral().repeatedly().until(intakeCoralReq.negate())); stateTriggers From bd06530625fd3d4e46eba1b5aa55296a854b1c91 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Fri, 11 Apr 2025 09:15:03 -0700 Subject: [PATCH 33/48] Reduce jog distance on l4 --- src/main/java/frc/robot/subsystems/Superstructure.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 91ba5bba..259bd364 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -506,7 +506,7 @@ private void configureStateTransitionCommands() { : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L4_EXTENSION))) .whileTrue( - manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.125 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); From fac858f9146bd11a68143622a8c57402a7e0e667 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Fri, 11 Apr 2025 09:15:47 -0700 Subject: [PATCH 34/48] Spotless --- src/main/java/frc/robot/Autos.java | 87 +++++++++++++++--------------- src/main/java/frc/robot/Robot.java | 4 +- 2 files changed, 45 insertions(+), 46 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 76f98e7c..b3ebcb8e 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,7 +9,6 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -144,7 +143,7 @@ public void runCoralPath( endPos.length() == 1 ? scoreCoralInAuto( () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : AutoAim.translateToPose( //TODO does this get called? + : AutoAim.translateToPose( // TODO does this get called? swerve, () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) .until( @@ -400,47 +399,49 @@ public Command CMtoGH() { // algae path }), steps.get("GHtoNI").cmd())); routine - .observe(steps.get("GHtoNI").atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) //TODO tune - .onTrue( - Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - // Commands.sequence( - // // AutoAim.translateToXCoord( - // // swerve, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? AutoAim.BLUE_NET_X - // // : AutoAim.RED_NET_X, - // // () -> 0, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? Rotation2d.k180deg - // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) - // AutoAim.translateToPose(swerve, - // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // steps.get("GhtoNI").)) - // .until( - // () -> - // (MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // swerve.getPose().getX(), - // Units.inchesToMeters(5)) - // && MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? Rotation2d.k180deg - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees() - // : Rotation2d.kZero - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees(), - // swerve.getPose().getRotation().getDegrees(), - // 5.0))), - // scoreAlgaeInAuto()) - //) - ; + .observe( + steps + .get("GHtoNI") + .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // Commands.sequence( + // // AutoAim.translateToXCoord( + // // swerve, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? AutoAim.BLUE_NET_X + // // : AutoAim.RED_NET_X, + // // () -> 0, + // // () -> + // // DriverStation.getAlliance().get() == Alliance.Blue + // // ? Rotation2d.k180deg + // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) + // AutoAim.translateToPose(swerve, + // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // steps.get("GhtoNI").)) + // .until( + // () -> + // (MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? AutoAim.BLUE_NET_X + // : AutoAim.RED_NET_X, + // swerve.getPose().getX(), + // Units.inchesToMeters(5)) + // && MathUtil.isNear( + // DriverStation.getAlliance().get() == Alliance.Blue + // ? Rotation2d.k180deg + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees() + // : Rotation2d.kZero + // .plus(Rotation2d.fromDegrees(20.0)) + // .getDegrees(), + // swerve.getPose().getRotation().getDegrees(), + // 5.0))), + // scoreAlgaeInAuto()) + // ) + ; // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 96e43c01..8e51bb35 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1044,9 +1044,7 @@ public Robot() { swerveDriveSimulation.get().setSimulationWorldPose(swerve.getPose()); } })); - driver - .x() - .onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); + driver.x().onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); operator .a() From 3ec3f27314989db986b8057732e181ecc916427c Mon Sep 17 00:00:00 2001 From: SCool62 Date: Fri, 11 Apr 2025 14:29:18 -0700 Subject: [PATCH 35/48] Add a dumb anti-coral jam binding --- src/main/java/frc/robot/Robot.java | 1 + src/main/java/frc/robot/subsystems/Superstructure.java | 10 ++++++++++ 2 files changed, 11 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 8e51bb35..c70d4b81 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -495,6 +495,7 @@ public static enum AlgaeScoreTarget { driver.start(), operator.rightBumper(), operator.leftBumper(), + operator.povDown(), new Trigger(() -> killVisionIK) .or(() -> currentTarget == ReefTarget.L1) .or(() -> DriverStation.isAutonomous()), diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index e7333741..473a824b 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -103,6 +103,9 @@ public static enum SuperState { @AutoLogOutput(key = "Superstructure/Force Funnel Req") private final Trigger forceFunnelReq; + @AutoLogOutput(key = "Superstructure/Force Funnel Req") + private final Trigger forceIndexReq; + @AutoLogOutput(key = "Superstructure/Kill Vision and IK") private final Trigger killVisionIK; @@ -146,6 +149,7 @@ public Superstructure( Trigger homeReq, Trigger revFunnelReq, Trigger forceFunnelReq, + Trigger forceIndexReq, Trigger killVisionIK, DoubleSupplier coralAdjust) { this.elevator = elevator; @@ -178,6 +182,8 @@ public Superstructure( this.revFunnelReq = revFunnelReq; this.forceFunnelReq = forceFunnelReq; + this.forceIndexReq = forceIndexReq; + this.killVisionIK = killVisionIK; this.coralAdjust = coralAdjust; @@ -197,6 +203,10 @@ public void periodic() { } private void configureStateTransitionCommands() { + // Prob a better way to impl this + // Vaughn says he wants this available anytime + forceIndexReq.whileTrue(manipulator.setVelocity(1.0)); + stateTriggers .get(SuperState.IDLE) .whileTrue( From 1660228d7041fed00f5b7bd49d339ae5d8f21a1d Mon Sep 17 00:00:00 2001 From: SCool62 Date: Fri, 11 Apr 2025 15:07:57 -0700 Subject: [PATCH 36/48] Tune ground algae intake --- .../java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 2 +- src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 62361233..5425f074 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -33,7 +33,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = - Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(-1.0)); + Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(-5.0)); public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(45.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java index e4ad1269..5d52fc45 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java @@ -25,7 +25,7 @@ public class WristSubsystem extends SubsystemBase { public static final Rotation2d WRIST_READY_ALGAE = Rotation2d.fromDegrees(-10.0); public static final Rotation2d WRIST_HP_POS = Rotation2d.fromDegrees(178.0); public static final Rotation2d WRIST_CORAL_GROUND = Rotation2d.fromDegrees(0.0); - public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(-0.9); + public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(-65); public static final Rotation2d WRIST_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(-10); public static final Rotation2d WRIST_SCORE_L1_POS = ExtensionKinematics.L1_EXTENSION.wristAngle(); public static final Rotation2d WRIST_WHACK_L1_POS = Rotation2d.fromDegrees(-70); From c3bd8fc2a1458b87a4ff5be12b529edad021fec3 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 11 Apr 2025 17:16:49 -0700 Subject: [PATCH 37/48] move algae intake into its own method, add preliminary rest of path --- src/main/java/frc/robot/Autos.java | 140 +++++++++++++---------------- 1 file changed, 60 insertions(+), 80 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index b3ebcb8e..0a2ee218 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -358,45 +358,7 @@ public Command CMtoGH() { // algae path .onTrue( Commands.sequence( swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2), - Commands.runOnce( - () -> { - autoAlgaeIntake = true; - Robot.setCurrentAlgaeIntakeTarget( - AlgaeIntakeTargets.getClosestTarget( - steps.get("CMtoG").getFinalPose().get()) - .height); - }), - AutoAim.translateToPose( - swerve, - () -> - AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTargetPose( - steps.get("CMtoG").getFinalPose().get()))) - .until( - () -> - AutoAim.isInTolerance( - swerve.getPose(), - AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTargetPose( - swerve.getPose())), - swerve.getVelocityFieldRelative(), - Units.inchesToMeters(0.5), - Units.degreesToRadians(1.0)) - && elevator.isNearTarget() - && shoulder.isNearAngle( - ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) - && wrist.isNearAngle( - WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), - AutoAim.approachAlgae( - swerve, - () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), - 1) - .withTimeout(0.5)) - .andThen( - Commands.runOnce( - () -> { - autoAlgaeIntake = false; - }), + intakeAlgaeInAuto(() -> steps.get("CMtoG").getFinalPose()), steps.get("GHtoNI").cmd())); routine .observe( @@ -404,6 +366,21 @@ public Command CMtoGH() { // algae path .get("GHtoNI") .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // ------------------sketchy-------- + routine.observe(steps.get("NItoIJ").done()).onTrue( + Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), + steps.get("IJtoNI").cmd())); + + routine + .observe( + steps + .get("IJtoNI") + .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); + routine.observe(steps.get("NItoEF").done()).onTrue( + Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); + + // --------------------------- // Commands.sequence( // // AutoAim.translateToXCoord( // // swerve, @@ -441,7 +418,7 @@ public Command CMtoGH() { // algae path // 5.0))), // scoreAlgaeInAuto()) // ) - ; + // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { @@ -607,45 +584,48 @@ public Command scoreAlgaeInAuto() { // oh good lord autoPreScore = false; }))); } - // public void runAlgaePath( - // AutoRoutine routine, - // String startPos, - // String endPos, - // String nextPos, - // HashMap steps) { - // routine - // .observe(steps.get(startPos + "to" + endPos).done()) - // .onTrue( - // Commands.sequence( - // endPos.equals("NI") - // ? scoreAlgaeInAuto() - // : intakeAlgaeInAuto(() -> steps.get(startPos + "to" + - // endPos).getFinalPose()), - // steps.get(endPos + "to" + nextPos).cmd())); - // } - - // public Command intakeAlgaeInAuto(Supplier> pose) { - // if (!pose.get().isPresent()) { - // return Commands.none(); - // } else { - // return Commands.sequence( - // Commands.runOnce( - // () -> { - // autoAlgaeIntake = true; - // Robot.setCurrentAlgaeIntakeTarget( - // AlgaeIntakeTargets.getClosestTarget(pose.get().get()).height); // are you - // serios - // }), - // Commands.waitUntil(() -> manipulator.hasAlgae()) - // .alongWith( - // Robot.isSimulation() - // ? Commands.runOnce(() -> manipulator.setHasAlgae(true)) - // : Commands.none()), - // Commands.runOnce( - // () -> { - // autoAlgaeIntake = false; - // })); - // } - // } + public Command intakeAlgaeInAuto(Supplier> pose) { + return Commands.sequence( + Commands.runOnce( + () -> { + autoAlgaeIntake = true; + Robot.setCurrentAlgaeIntakeTarget( + AlgaeIntakeTargets.getClosestTarget( + pose.get().get()) //wow + .height); + }), + AutoAim.translateToPose( + swerve, + () -> + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose( + pose.get().get()))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose( + swerve.getPose())), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(0.5), + Units.degreesToRadians(1.0)) + && elevator.isNearTarget() + && shoulder.isNearAngle( + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) + && wrist.isNearAngle( + WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), + AutoAim.approachAlgae( + swerve, + () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), + 1) + .withTimeout(0.5)) +.andThen( + Commands.runOnce( + () -> { + autoAlgaeIntake = false; + }) + ); + } } From 94daef1bccd9c2afde45085d0f63e25fd1ea62ff Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 11 Apr 2025 21:47:47 -0700 Subject: [PATCH 38/48] cancoder retuning --- src/main/java/frc/robot/Autos.java | 105 +++++++++--------- .../subsystems/shoulder/ShoulderIOReal.java | 2 +- .../shoulder/ShoulderSubsystem.java | 2 + 3 files changed, 54 insertions(+), 55 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 0a2ee218..4af8dce4 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -357,9 +357,9 @@ public Command CMtoGH() { // algae path .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) .onTrue( Commands.sequence( - swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2), - intakeAlgaeInAuto(() -> steps.get("CMtoG").getFinalPose()), - steps.get("GHtoNI").cmd())); + swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2), + intakeAlgaeInAuto(() -> steps.get("CMtoG").getFinalPose()), + steps.get("GHtoNI").cmd())); routine .observe( steps @@ -367,18 +367,22 @@ public Command CMtoGH() { // algae path .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); // ------------------sketchy-------- - routine.observe(steps.get("NItoIJ").done()).onTrue( - Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), - steps.get("IJtoNI").cmd())); - routine - .observe( - steps - .get("IJtoNI") - .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune - .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); - routine.observe(steps.get("NItoEF").done()).onTrue( - Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); + .observe(steps.get("NItoIJ").done()) + .onTrue( + Commands.sequence( + intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), + steps.get("IJtoNI").cmd())); + + routine + .observe( + steps + .get("IJtoNI") + .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); + routine + .observe(steps.get("NItoEF").done()) + .onTrue(Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); // --------------------------- // Commands.sequence( @@ -418,7 +422,7 @@ public Command CMtoGH() { // algae path // 5.0))), // scoreAlgaeInAuto()) // ) - + // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign // for (int i = 0; i < stops.length - 2; i++) { @@ -587,45 +591,38 @@ public Command scoreAlgaeInAuto() { // oh good lord public Command intakeAlgaeInAuto(Supplier> pose) { return Commands.sequence( - Commands.runOnce( - () -> { - autoAlgaeIntake = true; - Robot.setCurrentAlgaeIntakeTarget( - AlgaeIntakeTargets.getClosestTarget( - pose.get().get()) //wow - .height); - }), - AutoAim.translateToPose( - swerve, - () -> - AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTargetPose( - pose.get().get()))) - .until( - () -> - AutoAim.isInTolerance( - swerve.getPose(), + Commands.runOnce( + () -> { + autoAlgaeIntake = true; + Robot.setCurrentAlgaeIntakeTarget( + AlgaeIntakeTargets.getClosestTarget(pose.get().get()) // wow + .height); + }), + AutoAim.translateToPose( + swerve, + () -> AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTargetPose( - swerve.getPose())), - swerve.getVelocityFieldRelative(), - Units.inchesToMeters(0.5), - Units.degreesToRadians(1.0)) - && elevator.isNearTarget() - && shoulder.isNearAngle( - ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) - && wrist.isNearAngle( - WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), - AutoAim.approachAlgae( - swerve, - () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), - 1) - .withTimeout(0.5)) -.andThen( - Commands.runOnce( - () -> { - autoAlgaeIntake = false; - }) - ); + AlgaeIntakeTargets.getClosestTargetPose(pose.get().get()))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose())), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(0.5), + Units.degreesToRadians(1.0)) + && elevator.isNearTarget() + && shoulder.isNearAngle( + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) + && wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), + AutoAim.approachAlgae( + swerve, () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), 1) + .withTimeout(0.5)) + .andThen( + Commands.runOnce( + () -> { + autoAlgaeIntake = false; + })); } } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java index fae583d4..03e8a337 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java @@ -80,7 +80,7 @@ public ShoulderIOReal() { final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration(); cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; - cancoderConfig.MagnetSensor.MagnetOffset = 0.6323; + cancoderConfig.MagnetSensor.MagnetOffset = -0.378174;// 0.2307 + 0.25; // 0.6323; // 0.779; cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.9; cancoder.getConfigurator().apply(cancoderConfig); diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 5425f074..a9d7b936 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -13,6 +13,7 @@ import frc.robot.subsystems.ExtensionKinematics; import frc.robot.utils.Tracer; import java.util.function.Supplier; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean; @@ -90,6 +91,7 @@ public void periodic() { Logger.recordOutput("Carriage/Shoulder/Cancoder Pos", getZeroingAngle()); } + @AutoLogOutput(key = "Shoulder/Zeroing Angle") public Rotation2d getZeroingAngle() { return Rotation2d.fromRotations(inputs.cancoderPosition).div(SHOULDER_FINAL_STAGE_RATIO); } From fee140eaf45e50dea0cdbf209fb61497fc93c1d5 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 11 Apr 2025 22:31:15 -0700 Subject: [PATCH 39/48] tuning again --- src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java index 03e8a337..a73261d5 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java @@ -80,7 +80,7 @@ public ShoulderIOReal() { final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration(); cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; - cancoderConfig.MagnetSensor.MagnetOffset = -0.378174;// 0.2307 + 0.25; // 0.6323; // 0.779; + cancoderConfig.MagnetSensor.MagnetOffset = -0.385174; // 0.2307 + 0.25; // 0.6323; // 0.779; cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.9; cancoder.getConfigurator().apply(cancoderConfig); From fe4280e362e4c4673a376e9f9a884175c3da9730 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 11 Apr 2025 23:14:55 -0700 Subject: [PATCH 40/48] redo wrist zero at start of auto --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index c70d4b81..f08e6e77 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -707,7 +707,7 @@ public Robot() { .onTrue( Commands.runOnce( () -> { - wrist.resetPosition(Rotation2d.fromRadians(3.059)); + wrist.resetPosition(Rotation2d.fromRadians(3.094)); elevator.resetExtension(0.0); })); From 7cd4d9a09dba90e83b3e3522998d734ceb95ab59 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Fri, 11 Apr 2025 23:58:57 -0700 Subject: [PATCH 41/48] yayyy --- src/main/deploy/choreo/GHtoNI.traj | 73 +++++++------- src/main/java/frc/robot/Autos.java | 149 +++++++++++++++++------------ 2 files changed, 122 insertions(+), 100 deletions(-) diff --git a/src/main/deploy/choreo/GHtoNI.traj b/src/main/deploy/choreo/GHtoNI.traj index ee8da55c..712dee5a 100644 --- a/src/main/deploy/choreo/GHtoNI.traj +++ b/src/main/deploy/choreo/GHtoNI.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.806319713592529, "y":4.017168045043945, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.929035186767578, "y":5.583443641662598, "heading":3.490658503988659, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.806319713592529, "y":4.017168045043945, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.11117696762085, "y":5.479686737060547, "heading":3.490658503988659, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"GH.x", "val":5.806319713592529}, "y":{"exp":"GH.y", "val":4.017168045043945}, "heading":{"exp":"GH.heading", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"NI.x", "val":7.929035186767578}, "y":{"exp":"NI.y", "val":5.583443641662598}, "heading":{"exp":"NI.heading", "val":3.490658503988659}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"GH.x", "val":5.806319713592529}, "y":{"exp":"GH.y", "val":4.017168045043945}, "heading":{"exp":"GH.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.11117696762085 m", "val":7.11117696762085}, "y":{"exp":"5.479686737060547 m", "val":5.479686737060547}, "heading":{"exp":"NI.heading", "val":3.490658503988659}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,41 +26,38 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.28627], + "waypoints":[0.0,1.10984], "samples":[ - {"t":0.0, "x":5.80632, "y":4.01717, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.13698, "ay":3.79035, "alpha":0.84439, "fx":[87.71603,83.47671,80.01486,84.71206], "fy":[56.74507,62.82369,67.1665,61.12493]}, - {"t":0.0402, "x":5.81047, "y":4.02023, "heading":3.14159, "vx":0.20649, "vy":0.15236, "omega":0.03394, "ax":5.13663, "ay":3.79009, "alpha":0.84392, "fx":[87.70793,83.47144,80.01152,84.70527], "fy":[56.74409,62.81908,67.15887,61.12086]}, - {"t":0.08039, "x":5.82292, "y":4.02942, "heading":-3.14023, "vx":0.41296, "vy":0.3047, "omega":0.06786, "ax":5.13621, "ay":3.78978, "alpha":0.84345, "fx":[87.69779,83.46037,80.00798,84.70298], "fy":[56.74427,62.82045,67.14975,61.10855]}, - {"t":0.12059, "x":5.84367, "y":4.04473, "heading":-3.1375, "vx":0.61941, "vy":0.45704, "omega":0.10177, "ax":5.13573, "ay":3.78943, "alpha":0.84299, "fx":[87.68534,83.44333,80.00412,84.70493], "fy":[56.74557,62.82762,67.13886,61.08787]}, - {"t":0.16078, "x":5.87271, "y":4.06616, "heading":-3.13341, "vx":0.82584, "vy":0.60935, "omega":0.13565, "ax":5.13517, "ay":3.78902, "alpha":0.84251, "fx":[87.67019,83.42007,79.99977,84.71078], "fy":[56.74794,62.84034,67.12582,61.05866]}, - {"t":0.20098, "x":5.91006, "y":4.09371, "heading":-3.12796, "vx":1.03226, "vy":0.76166, "omega":0.16952, "ax":5.13449, "ay":3.78852, "alpha":0.84199, "fx":[87.6518,83.39026,79.99473,84.72005], "fy":[56.75133,62.85828,67.11012,61.02069]}, - {"t":0.24117, "x":5.9557, "y":4.12739, "heading":-3.12114, "vx":1.23864, "vy":0.91394, "omega":0.20336, "ax":5.13368, "ay":3.78792, "alpha":0.84142, "fx":[87.62942,83.35342,79.98868,84.73203], "fy":[56.75564,62.88096,67.09103,60.97363]}, - {"t":0.28137, "x":6.00963, "y":4.16718, "heading":-3.11297, "vx":1.44499, "vy":1.0662, "omega":0.23718, "ax":5.13267, "ay":3.78718, "alpha":0.84073, "fx":[87.60195,83.30886,79.98114,84.74576], "fy":[56.76069,62.90769,67.0675,60.91696]}, - {"t":0.32157, "x":6.07186, "y":4.2131, "heading":-3.10344, "vx":1.65131, "vy":1.21843, "omega":0.27098, "ax":5.1314, "ay":3.78624, "alpha":0.83989, "fx":[87.56778,83.25547,79.97129,84.75971], "fy":[56.76614,62.93741,67.03801,60.84991]}, - {"t":0.36176, "x":6.14238, "y":4.26514, "heading":-3.09254, "vx":1.85757, "vy":1.37062, "omega":0.30474, "ax":5.12973, "ay":3.78502, "alpha":0.8388, "fx":[87.52437,83.1915,79.95773,84.77148], "fy":[56.77135,62.96848,67.0002,60.77117]}, - {"t":0.40196, "x":6.22119, "y":4.32329, "heading":-3.08029, "vx":2.06376, "vy":1.52276, "omega":0.33845, "ax":5.12745, "ay":3.78334, "alpha":0.83732, "fx":[87.46742,83.11386,79.9379,84.77698], "fy":[56.77497,62.99805,66.9502,60.67846]}, - {"t":0.44215, "x":6.30829, "y":4.38755, "heading":-3.06669, "vx":2.26986, "vy":1.67483, "omega":0.37211, "ax":5.12416, "ay":3.78092, "alpha":0.83523, "fx":[87.38907,83.01668,79.90668,84.76856], "fy":[56.77419,63.02088,66.88102,60.56732]}, - {"t":0.48235, "x":6.40367, "y":4.45793, "heading":-3.05173, "vx":2.47583, "vy":1.82681, "omega":0.40568, "ax":5.11899, "ay":3.77711, "alpha":0.83208, "fx":[87.27294,82.88725,79.85249,84.73007], "fy":[56.76224,63.02591,66.77836,60.42801]}, - {"t":0.52255, "x":6.50732, "y":4.53441, "heading":-3.03543, "vx":2.68159, "vy":1.97864, "omega":0.43913, 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"ax":-5.13362, "ay":-3.78795, "alpha":-0.84825, "fx":[-87.26185,-82.32646,-80.29998,-85.81124], "fy":[-57.32424,-64.21815,-66.71315,-59.44734]}, - {"t":1.04509, "x":7.77966, "y":5.47322, "heading":-2.82144, "vx":1.23862, "vy":0.91395, "omega":0.20537, "ax":-5.13442, "ay":-3.78855, "alpha":-0.8495, "fx":[-87.26267,-82.30417,-80.32445,-85.86091], "fy":[-57.35272,-64.27239,-66.71037,-59.40673]}, - {"t":1.08529, "x":7.8253, "y":5.5069, "heading":-2.81319, "vx":1.03224, "vy":0.76166, "omega":0.17123, "ax":-5.13509, "ay":-3.78905, "alpha":-0.85054, "fx":[-87.26256,-82.28477,-80.34554,-85.90285], "fy":[-57.37743,-64.31843,-66.70704,-59.37181]}, - {"t":1.12548, "x":7.86264, "y":5.53445, "heading":-2.8063, "vx":0.82583, "vy":0.60936, "omega":0.13704, "ax":-5.13565, "ay":-3.78946, "alpha":-0.85139, "fx":[-87.26234,-82.26868,-80.36344,-85.9378], "fy":[-57.39835,-64.3568,-66.70402,-59.34284]}, - {"t":1.16568, "x":7.89169, "y":5.55589, "heading":-2.80079, "vx":0.6194, "vy":0.45704, "omega":0.10282, "ax":-5.13612, "ay":-3.78982, "alpha":-0.8521, "fx":[-87.26261,-82.25622,-80.37829,-85.96629], "fy":[-57.41545,-64.38788,-66.70195,-59.31999]}, - {"t":1.20587, "x":7.91244, "y":5.5712, "heading":-2.79666, "vx":0.41295, "vy":0.3047, "omega":0.06857, "ax":-5.13654, "ay":-3.79013, "alpha":-0.85268, "fx":[-87.26381,-82.2476,-80.39017,-85.9887], "fy":[-57.42871,-64.41196,-66.70128,-59.30337]}, - {"t":1.24607, "x":7.92489, "y":5.58038, "heading":-2.79391, "vx":0.20648, "vy":0.15236, "omega":0.03429, "ax":-5.13689, "ay":-3.79039, "alpha":-0.85314, "fx":[-87.26627,-82.24298,-80.39913,-86.00534], "fy":[-57.43808,-64.42924,-66.70239,-59.29306]}, - {"t":1.28627, "x":7.92904, "y":5.58344, "heading":-2.79253, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + {"t":0.0, "x":5.80632, "y":4.01717, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.24646, "ay":4.75959, "alpha":1.12862, "fx":[75.89529,69.82763,62.76526,69.19804], "fy":[71.78112,77.70855,83.50697,78.24401]}, + {"t":0.03827, "x":5.80943, "y":4.02065, "heading":3.14159, "vx":0.16251, "vy":0.18215, "omega":0.04319, "ax":4.24611, "ay":4.75919, "alpha":1.12834, "fx":[75.88743,69.82221,62.76182,69.19184], "fy":[71.77674,77.70264,83.49878,78.23681]}, + {"t":0.07654, "x":5.81876, "y":4.03111, "heading":-3.13994, "vx":0.32501, "vy":0.36429, "omega":0.08637, "ax":4.2457, "ay":4.75873, "alpha":1.12813, "fx":[75.87833,69.80587,62.75579,69.19654], "fy":[71.7716,77.70474,83.4907,78.21785]}, + {"t":0.11481, "x":5.83431, "y":4.04854, "heading":-3.13663, "vx":0.4875, "vy":0.54641, "omega":0.12955, "ax":4.24522, "ay":4.75819, "alpha":1.12798, "fx":[75.86762,69.77837,62.74702,69.21184], "fy":[71.76549,77.71457,83.48238,78.18682]}, + {"t":0.15308, "x":5.85607, "y":4.07293, "heading":-3.13168, "vx":0.64996, "vy":0.7285, "omega":0.17272, "ax":4.24464, "ay":4.75753, "alpha":1.1279, "fx":[75.8548,69.73939,62.73532,69.23732], "fy":[71.75817,77.73173,83.47325,78.14326]}, + {"t":0.19135, "x":5.88405, "y":4.1043, "heading":-3.12507, "vx":0.81241, "vy":0.91058, "omega":0.21588, "ax":4.24392, "ay":4.75673, "alpha":1.12787, "fx":[75.8391,69.68842,62.72042,69.27237], "fy":[71.74929,77.75565,83.46251,78.08652]}, + {"t":0.22962, "x":5.91825, "y":4.14263, "heading":-3.1168, "vx":0.97482, "vy":1.09262, "omega":0.25905, "ax":4.24303, "ay":4.75573, "alpha":1.12789, "fx":[75.81942,69.62474,62.70186,69.31609], "fy":[71.73828,77.78548,83.44901,78.01561]}, + {"t":0.26789, "x":5.95867, "y":4.18792, "heading":-3.10689, "vx":1.13721, "vy":1.27462, "omega":0.30221, "ax":4.24189, "ay":4.75444, "alpha":1.12796, "fx":[75.79411,69.54718,62.67887,69.36705], "fy":[71.72418,77.81988,83.43096,77.92899]}, + {"t":0.30616, "x":6.0053, "y":4.24019, "heading":-3.09532, "vx":1.29955, "vy":1.45658, "omega":0.34538, "ax":4.24036, "ay":4.75272, "alpha":1.12806, "fx":[75.76056,69.45384,62.64999,69.42291], "fy":[71.70525,77.85665,83.40552,77.82412]}, + {"t":0.34443, "x":6.05813, "y":4.29941, "heading":-3.08211, "vx":1.46183, "vy":1.63846, "omega":0.38855, "ax":4.23822, "ay":4.75031, "alpha":1.12817, "fx":[75.71427,69.34129,62.61234,69.47946], "fy":[71.67811,77.89181,83.36778,77.69645]}, + {"t":0.3827, "x":6.11718, "y":4.36559, "heading":-3.06724, "vx":1.62402, "vy":1.82026, "omega":0.43173, "ax":4.23501, "ay":4.7467, "alpha":1.12829, "fx":[75.64662,69.20267,62.55977,69.5283], "fy":[71.63564,77.91749,83.30822,77.53691]}, + {"t":0.42097, "x":6.18244, "y":4.43873, "heading":-3.05071, "vx":1.7861, "vy":2.00192, "omega":0.47491, "ax":4.22966, "ay":4.7407, "alpha":1.12838, "fx":[75.53819,69.02204,62.47716,69.55005], "fy":[71.56056,77.91536,83.20524,77.32434]}, + {"t":0.45924, "x":6.25389, "y":4.51882, "heading":-3.03254, "vx":1.94797, "vy":2.18335, "omega":0.51809, "ax":4.21897, "ay":4.72871, "alpha":1.12843, "fx":[75.33208,68.7516,62.3178,69.48686], "fy":[71.39985,77.83077,82.99532,76.99544]}, + {"t":0.49751, "x":6.33153, "y":4.60584, "heading":-3.01271, "vx":2.10943, "vy":2.36432, "omega":0.56127, "ax":4.18703, "ay":4.6929, "alpha":1.12875, "fx":[74.74931,68.15337,61.84491,69.05245], "fy":[70.88599,77.39257,82.36628,76.23525]}, + {"t":0.53579, "x":6.41532, "y":4.69976, "heading":-2.99123, "vx":2.26967, "vy":2.54391, "omega":0.60447, "ax":-0.00061, "ay":-0.00125, "alpha":0.15067, "fx":[0.45973,0.33382,-0.47976,-0.35385], "fy":[-0.37433,0.45675,0.33349,-0.49758]}, + {"t":0.57406, "x":6.50218, "y":4.79711, "heading":-2.9681, "vx":2.26965, "vy":2.54387, "omega":0.61024, "ax":-4.18707, "ay":-4.69297, "alpha":-1.12637, "fx":[-74.68492,-67.88782,-61.87018,-69.35932], "fy":[-70.96195,-77.62436,-82.33994,-75.95815]}, + {"t":0.61233, "x":6.58598, "y":4.89103, "heading":-2.94475, "vx":2.10941, "vy":2.36426, "omega":0.56713, "ax":-4.21897, "ay":-4.72871, "alpha":-1.13065, "fx":[-75.23551,-68.22235,-62.33018,-70.10043], "fy":[-71.50972,-78.29429,-82.97869,-76.43858]}, + {"t":0.6506, "x":6.66362, "y":4.97805, "heading":-2.92304, "vx":1.94795, "vy":2.1833, "omega":0.52386, "ax":-4.22964, "ay":-4.74066, "alpha":-1.13348, "fx":[-75.40372,-68.24941,-62.48719,-70.44614], "fy":[-71.71015,-78.59231,-83.19058,-76.51005]}, + {"t":0.68887, "x":6.73507, "y":5.05813, "heading":-2.90299, "vx":1.78608, "vy":2.00187, "omega":0.48048, "ax":-4.23498, "ay":-4.74664, "alpha":-1.13569, "fx":[-75.47469,-68.20697,-62.57093,-70.68298], "fy":[-71.82441,-78.78989,-83.29295,-76.48691]}, + {"t":0.72714, "x":6.80032, "y":5.13127, "heading":-2.8846, "vx":1.624, "vy":1.82021, "omega":0.43702, "ax":-4.23818, "ay":-4.75023, "alpha":-1.13749, "fx":[-75.50666,-68.14288,-62.6266,-70.86874], "fy":[-71.90412,-78.94171,-83.35043,-76.43247]}, + {"t":0.76541, "x":6.85937, "y":5.19745, "heading":-2.86788, "vx":1.4618, "vy":1.63842, "omega":0.39349, "ax":-4.24031, "ay":-4.75262, "alpha":-1.139, "fx":[-75.51961,-68.07312,-62.66868,-71.02287], "fy":[-71.96602,-79.06608,-83.3851,-76.36785]}, + {"t":0.80368, "x":6.9122, "y":5.25667, "heading":-2.85282, "vx":1.29953, "vy":1.45654, "omega":0.3499, "ax":-4.24184, "ay":-4.75433, "alpha":-1.14027, "fx":[-75.52242,-68.00454,-62.70299,-71.15378], "fy":[-72.01695,-79.1709,-83.40673,-76.30211]}, + {"t":0.84195, "x":6.95883, "y":5.30893, "heading":-2.83943, "vx":1.13719, "vy":1.27459, "omega":0.30626, "ax":-4.24297, "ay":-4.75561, "alpha":-1.14134, "fx":[-75.51975,-67.94054,-62.73215,-71.26579], "fy":[-72.0601,-79.26017,-83.42041,-76.23972]}, + {"t":0.88022, "x":6.99925, "y":5.35423, "heading":-2.82771, "vx":0.97481, "vy":1.09259, "omega":0.26258, "ax":-4.24386, "ay":-4.7566, "alpha":-1.14222, "fx":[-75.51438,-67.883,-62.75739,-71.36135], "fy":[-72.09708,-79.33616,-83.42916,-76.18314]}, + {"t":0.91849, "x":7.03344, "y":5.39256, "heading":-2.81766, "vx":0.81239, "vy":0.91055, "omega":0.21887, "ax":-4.24457, "ay":-4.7574, "alpha":-1.14294, "fx":[-75.50807,-67.83302,-62.77934,-71.442], "fy":[-72.12874,-79.40025,-83.43487,-76.13382]}, + {"t":0.95676, "x":7.06143, "y":5.42392, "heading":-2.80928, "vx":0.64995, "vy":0.72848, "omega":0.17513, "ax":-4.24515, "ay":-4.75805, "alpha":-1.14351, "fx":[-75.50201,-67.7913,-62.79825,-71.50875], "fy":[-72.15554,-79.45334,-83.43884,-76.09266]}, + {"t":0.99503, "x":7.08319, "y":5.44832, "heading":-2.80258, "vx":0.48749, "vy":0.54639, "omega":0.13136, "ax":-4.24563, "ay":-4.7586, "alpha":-1.14393, "fx":[-75.49706,-67.75828,-62.81426,-71.56232], "fy":[-72.17774,-79.49604,-83.44199,-76.06023]}, + {"t":1.0333, "x":7.09874, "y":5.46575, "heading":-2.79755, "vx":0.32501, "vy":0.36428, "omega":0.08758, "ax":-4.24604, "ay":-4.75906, "alpha":-1.14421, "fx":[-75.49383,-67.73429,-62.8274,-71.60321], "fy":[-72.1955,-79.5288,-83.44499,-76.03693]}, + {"t":1.07157, "x":7.10807, "y":5.4762, "heading":-2.7942, "vx":0.16251, "vy":0.18215, "omega":0.04379, "ax":-4.24639, "ay":-4.75946, "alpha":-1.14436, "fx":[-75.49277,-67.71952,-62.83769,-71.6318], "fy":[-72.20892,-79.55194,-83.4483,-76.02301]}, + {"t":1.10984, "x":7.11118, "y":5.47969, "heading":-2.79253, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 4af8dce4..f2a26f49 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,6 +9,7 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -143,18 +144,24 @@ public void runCoralPath( endPos.length() == 1 ? scoreCoralInAuto( () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : AutoAim.translateToPose( // TODO does this get called? - swerve, - () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - .until( - () -> - AutoAim.isInTolerance( - swerve.getPose(), - steps - .get(startPos + "to" + endPos) - .getFinalPose() - .get())) - .withTimeout(2.0)), + : Commands.print("autoaligning") + .andThen( + AutoAim.translateToPose( // TODO does this get called? + swerve, + () -> + steps + .get(startPos + "to" + endPos) + .getFinalPose() + .get()) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + steps + .get(startPos + "to" + endPos) + .getFinalPose() + .get())) + .withTimeout(2.0))), steps.get(endPos + "to" + nextPos).cmd())); } @@ -365,24 +372,29 @@ public Command CMtoGH() { // algae path steps .get("GHtoNI") .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune - .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); - // ------------------sketchy-------- - routine - .observe(steps.get("NItoIJ").done()) .onTrue( Commands.sequence( - intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), - steps.get("IJtoNI").cmd())); + scoreAlgaeInAuto() + // , steps.get("NItoIJ").cmd() + )); + // ------------------sketchy-------- + // routine + // .observe(steps.get("NItoIJ").done()) + // .onTrue( + // Commands.sequence( + // intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), + // steps.get("IJtoNI").cmd())); - routine - .observe( - steps - .get("IJtoNI") - .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune - .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); - routine - .observe(steps.get("NItoEF").done()) - .onTrue(Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); + // routine + // .observe( + // steps + // .get("IJtoNI") + // .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO + // tune + // .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); + // routine + // .observe(steps.get("NItoEF").done()) + // .onTrue(Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); // --------------------------- // Commands.sequence( @@ -551,42 +563,55 @@ public void bindAlgaeElevatorExtension(AutoRoutine routine) { public Command scoreAlgaeInAuto() { // oh good lord return Commands.sequence( - Commands.waitUntil( - new Trigger( + Commands.waitUntil( + new Trigger( + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + Units.inchesToMeters(3.0)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) + // .debounce(0.06)), // TODO + ), + Commands.print("Scoring algae"), + Commands.runOnce( + () -> { + Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); + autoScore = true; + }), + Commands.waitUntil(() -> !manipulator.hasAlgae()) + .alongWith( + Robot.isSimulation() + ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) + : Commands.none()) + .andThen( + Commands.runOnce( + () -> { + autoScore = false; + autoPreScore = false; + }))) + .raceWith( + AutoAim.translateToXCoord( + swerve, + () -> + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + () -> 0, () -> - MathUtil.isNear( - DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, - swerve.getPose().getX(), - Units.inchesToMeters(3.0)) - && MathUtil.isNear( - 0, - Math.hypot( - swerve.getVelocityRobotRelative().vxMetersPerSecond, - swerve.getVelocityRobotRelative().vyMetersPerSecond), - AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) - && MathUtil.isNear( - 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) - // .debounce(0.06)), // TODO - ), - Commands.print("Scoring algae"), - Commands.runOnce( - () -> { - Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); - autoScore = true; - }), - Commands.waitUntil(() -> !manipulator.hasAlgae()) - .alongWith( - Robot.isSimulation() - ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) - : Commands.none()) - .andThen( - Commands.runOnce( - () -> { - autoScore = false; - autoPreScore = false; - }))); + (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? Rotation2d.k180deg + : Rotation2d.kZero) + .plus(Rotation2d.fromDegrees(30.0)))); } public Command intakeAlgaeInAuto(Supplier> pose) { From 9e8ec06dadc90737de9e344190ac16e8c5b9feb0 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 00:52:11 -0700 Subject: [PATCH 42/48] works except for last intake --- src/main/java/frc/robot/Autos.java | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index f2a26f49..cf30e0b5 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -372,18 +372,14 @@ public Command CMtoGH() { // algae path steps .get("GHtoNI") .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // ------------------sketchy-------- + routine + .observe(steps.get("NItoIJ").done()) .onTrue( Commands.sequence( - scoreAlgaeInAuto() - // , steps.get("NItoIJ").cmd() - )); - // ------------------sketchy-------- - // routine - // .observe(steps.get("NItoIJ").done()) - // .onTrue( - // Commands.sequence( - // intakeAlgaeInAuto(() -> steps.get("NItoJ").getFinalPose()), - // steps.get("IJtoNI").cmd())); + intakeAlgaeInAuto(() -> steps.get("NItoIJ").getFinalPose()), + swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2))); // routine // .observe( From 25ac5637581cdbafd8549a800a2ebb06a8600a9e Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 01:00:48 -0700 Subject: [PATCH 43/48] change idle shoulder position --- .../java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index a9d7b936..a157f09e 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -30,7 +30,7 @@ public class ShoulderSubsystem extends SubsystemBase { public static final double X_OFFSET_METERS = 0.1016254; public static final double Z_OFFSET_METERS = 0.207645; public static final double ARM_LENGTH_METERS = Units.inchesToMeters(13.5); - public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(53.0); + public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(50.0); public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = From 96cab99e61cd47b18fb99a68d0b083cd60a7492b Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 10:24:18 -0700 Subject: [PATCH 44/48] copy over stuff from other branch --- src/main/deploy/choreo/AtoB.traj | 159 +++++++++++++++++++++++++++++ src/main/deploy/choreo/BtoB.traj | 143 ++++++++++++++++++++++++++ src/main/deploy/choreo/LOtoA.traj | 98 ++++++++++++++++++ src/main/java/frc/robot/Autos.java | 38 +++++++ 4 files changed, 438 insertions(+) create mode 100644 src/main/deploy/choreo/AtoB.traj create mode 100644 src/main/deploy/choreo/BtoB.traj create mode 100644 src/main/deploy/choreo/LOtoA.traj diff --git a/src/main/deploy/choreo/AtoB.traj b/src/main/deploy/choreo/AtoB.traj new file mode 100644 index 00000000..10ad9e0f --- /dev/null +++ b/src/main/deploy/choreo/AtoB.traj @@ -0,0 +1,159 @@ +{ + "name":"AtoB", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6018691062927246, "y":4.209113121032715, "heading":1.610775050878982, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0569186210632324, "y":4.02510404586792, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.667668342590332, "y":4.032181262969971, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.4166265726089478, "y":4.017168045043945, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"A.heading", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6018691062927246 m", "val":2.6018691062927246}, "y":{"exp":"4.209113121032715 m", "val":4.209113121032715}, "heading":{"exp":"1.610775050878982 rad", "val":1.610775050878982}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.0569186210632324 m", "val":2.0569186210632324}, "y":{"exp":"4.02510404586792 m", "val":4.02510404586792}, "heading":{"exp":"pi rad", 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"y":4.20335, "heading":0.0, "vx":0.3304, "vy":-0.39088, "omega":0.0, "ax":-2.8235, "ay":3.64898, "alpha":0.0, "fx":[-46.15883,-46.15883,-46.15883,-46.15883], "fy":[59.65391,59.65391,59.65391,59.65391]}, + {"t":2.44789, "x":3.1567, "y":4.19139, "heading":0.0, "vx":0.22594, "vy":-0.25589, "omega":0.0, "ax":-2.98725, "ay":3.51688, "alpha":0.0, "fx":[-48.83579,-48.83579,-48.83579,-48.83579], "fy":[57.49424,57.49424,57.49424,57.49424]}, + {"t":2.48488, "x":3.16302, "y":4.18433, "heading":0.0, "vx":0.11543, "vy":-0.12578, "omega":0.0, "ax":-3.12024, "ay":3.40005, "alpha":0.0, "fx":[-51.00997,-51.00997,-51.00997,-51.00997], "fy":[55.58434,55.58434,55.58434,55.58434]}, + {"t":2.52188, "x":3.16515, "y":4.182, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index cf30e0b5..4775089d 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -444,6 +444,44 @@ public Command CMtoGH() { // algae path // .onTrue(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose())); return routine.cmd(); } + public Command LOtoA() { // 2910 + final var routine = factory.newRoutine("LO to A"); + bindCoralElevatorExtension(routine, 2.0); + HashMap steps = new HashMap(); + // lo a b4 b2 dealgae + steps.put("LOtoA", routine.trajectory("LOtoA")); + steps.put("AtoB", routine.trajectory("AtoB")); + routine + // run first path + .active() + .onTrue(Commands.runOnce(() -> Robot.setCurrentTarget(ReefTarget.L4))) + .whileTrue( + Commands.sequence( + routine.trajectory("LOtoA").resetOdometry(), routine.trajectory("LOtoA").cmd())); + + runGroundPath(routine, "LO", "A", "B", steps); + // ---------------- + // runGroundPath(routine, "A", "B", "B", steps); + // TODO dealgae - merge from prechamps + + // --------- + return routine.cmd(); + } + public void runGroundPath( + AutoRoutine routine, + String startPos, + String endPos, + String nextPos, + HashMap steps) { + routine + .observe(steps.get(startPos + "to" + endPos).done()) + .onTrue( + Commands.sequence( + scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()), + Commands.runOnce(() -> autoGroundCoralIntake = true), + steps.get(endPos + "to" + nextPos).cmd())); +} + public Command scoreCoralInAuto(Supplier trajEndPose) { return Commands.sequence( From a25d8ebc3d3f5ea1287e35a2b0e42dd3b2cf8527 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 11:22:50 -0700 Subject: [PATCH 45/48] made path less aggressive --- src/main/deploy/choreo/LOtoA.traj | 144 +++++++++++++++-------------- src/main/java/frc/robot/Autos.java | 36 +++++--- src/main/java/frc/robot/Robot.java | 3 +- 3 files changed, 99 insertions(+), 84 deletions(-) diff --git a/src/main/deploy/choreo/LOtoA.traj b/src/main/deploy/choreo/LOtoA.traj index 07fea6e6..c9f2372f 100644 --- a/src/main/deploy/choreo/LOtoA.traj +++ b/src/main/deploy/choreo/LOtoA.traj @@ -3,24 +3,28 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.104679584503174, "y":7.582505702972412, "heading":0.0, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.9416842460632324, "y":5.109439373016357, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.104679584503174, "y":7.582505702972412, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.636875629425049, "y":5.11732816696167, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"7.104679584503174 m", "val":7.104679584503174}, "y":{"exp":"7.582505702972412 m", "val":7.582505702972412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.9416842460632324 m", "val":2.9416842460632324}, "y":{"exp":"5.109439373016357 m", "val":5.109439373016357}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.104679584503174 m", "val":7.104679584503174}, "y":{"exp":"7.582505702972412 m", "val":7.582505702972412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.636875629425049 m", "val":2.636875629425049}, "y":{"exp":"5.11732816696167 m", "val":5.11732816696167}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"A.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -28,70 +32,72 @@ }, "trajectory":{ "sampleType":"Swerve", - 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"fx":[89.54788,89.54659,89.54776,89.54779], "fy":[39.96549,39.9684,39.96569,39.96555]}, + {"t":1.76157, "x":2.63688, "y":5.11733, "heading":0.0, "vx":-0.4625, "vy":-0.88641, "omega":-0.00015, "ax":5.65884, "ay":-1.9843, "alpha":0.00107, "fx":[92.51286,92.50668,92.51279,92.51281], "fy":[-32.43517,-32.45274,-32.43514,-32.43516]}, + {"t":1.80891, "x":2.62132, "y":5.07314, "heading":-0.00001, "vx":-0.1946, "vy":-0.98035, "omega":-0.0001, "ax":6.36356, "ay":-0.28848, "alpha":-0.00001, "fx":[104.0321,104.03211,104.03211,104.0321], "fy":[-4.71614,-4.71607,-4.71607,-4.71614]}, + {"t":1.85626, "x":2.61924, "y":5.0264, "heading":-0.00001, "vx":0.10667, "vy":-0.99401, "omega":-0.0001, "ax":6.09873, "ay":1.5999, "alpha":-0.00002, "fx":[99.70264,99.70258,99.70256,99.70263], "fy":[26.15517,26.15541,26.15547,26.15523]}, + {"t":1.9036, "x":2.63112, "y":4.98114, "heading":-0.00002, "vx":0.3954, "vy":-0.91827, "omega":-0.0001, "ax":3.37542, "ay":1.83354, "alpha":0.00039, "fx":[55.18053,55.18112,55.18284,55.18226], "fy":[29.97642,29.97389,29.97332,29.97584]}, + {"t":1.95094, "x":2.65363, "y":4.93972, "heading":-0.00002, "vx":0.5552, "vy":-0.83147, "omega":-0.00008, "ax":0.09113, "ay":0.06119, "alpha":0.00055, "fx":[1.48829,1.48829,1.49131,1.4913], "fy":[1.00189,0.99881,0.99881,1.00189]}, + {"t":1.99828, "x":2.68001, "y":4.90043, "heading":-0.00002, "vx":0.55951, "vy":-0.82857, "omega":-0.00005, "ax":-0.00078, "ay":-0.00052, "alpha":0.00049, "fx":[-0.01402,-0.01402,-0.01135,-0.01135], "fy":[-0.0072,-0.00993,-0.00993,-0.0072]}, + {"t":2.04562, "x":2.7065, "y":4.8612, "heading":-0.00003, "vx":0.55947, "vy":-0.82859, "omega":-0.00003, "ax":0.00119, "ay":0.00081, "alpha":0.00043, "fx":[0.01833,0.01833,0.02067,0.02067], "fy":[0.01437,0.01197,0.01197,0.01437]}, + {"t":2.09297, "x":2.73299, "y":4.82197, "heading":-0.00003, "vx":0.55953, "vy":-0.82855, "omega":-0.00001, "ax":-0.00022, "ay":-0.00015, "alpha":0.00037, "fx":[-0.00454,-0.00454,-0.00251,-0.00251], "fy":[-0.00135,-0.00342,-0.00342,-0.00135]}, + {"t":2.14031, "x":2.75948, "y":4.78275, "heading":-0.00003, "vx":0.55952, "vy":-0.82856, "omega":0.00001, "ax":-0.00008, "ay":-0.00005, "alpha":0.00032, "fx":[-0.00209,-0.00209,-0.00037,-0.00037], "fy":[0.00005,-0.00171,-0.00171,0.00005]}, + {"t":2.18765, "x":2.78597, "y":4.74352, "heading":-0.00003, "vx":0.55952, "vy":-0.82856, "omega":0.00002, "ax":0.00003, "ay":0.00002, "alpha":0.00026, "fx":[-0.00018,-0.00018,0.00125,0.00125], "fy":[0.00109,-0.00037,-0.00037,0.00109]}, + {"t":2.23499, "x":2.81245, "y":4.70429, "heading":-0.00003, "vx":0.55952, "vy":-0.82856, "omega":0.00004, "ax":0.00001, "ay":0.00001, "alpha":0.00021, "fx":[-0.00041,-0.00041,0.00074,0.00074], "fy":[0.0007,-0.00047,-0.00047,0.0007]}, + {"t":2.28234, "x":2.83894, "y":4.66507, "heading":-0.00003, "vx":0.55952, "vy":-0.82856, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.00016, "fx":[-0.00051,-0.00051,0.00036,0.00036], "fy":[0.00039,-0.00049,-0.00049,0.00039]}, + {"t":2.32968, "x":2.86543, "y":4.62584, "heading":-0.00002, "vx":0.55952, "vy":-0.82856, "omega":0.00005, "ax":0.0, "ay":0.0, "alpha":0.00011, "fx":[-0.00034,-0.00034,0.00025,0.00025], "fy":[0.00027,-0.00033,-0.00033,0.00027]}, + {"t":2.37702, "x":2.89192, "y":4.58662, "heading":-0.00002, "vx":0.55952, "vy":-0.82856, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":0.00006, "fx":[-0.00016,-0.00016,0.00016,0.00016], "fy":[0.00016,-0.00016,-0.00016,0.00016]}, + {"t":2.42436, "x":2.91841, "y":4.54739, "heading":-0.00002, "vx":0.55952, "vy":-0.82856, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":0.00001, "fx":[-0.00002,-0.00002,0.00003,0.00003], "fy":[0.00003,-0.00002,-0.00002,0.00003]}, + {"t":2.4717, "x":2.9449, "y":4.50816, "heading":-0.00001, "vx":0.55952, "vy":-0.82856, "omega":0.00006, "ax":0.0, "ay":0.0, "alpha":-0.00004, "fx":[0.00011,0.00011,-0.00011,-0.00011], "fy":[-0.00011,0.00011,0.00011,-0.00011]}, + {"t":2.51905, "x":2.97139, "y":4.46894, "heading":-0.00001, "vx":0.55952, 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"fx":[0.00089,0.00089,-0.00072,-0.00072], "fy":[-0.0006,0.00105,0.00105,-0.0006]}, + {"t":2.75576, "x":3.10383, "y":4.27281, "heading":0.0, "vx":0.55952, "vy":-0.82856, "omega":0.00002, "ax":-1.09714, "ay":1.6247, "alpha":-0.00032, "fx":[-17.93537,-17.9353,-17.93709,-17.93716], "fy":[26.55992,26.56168,26.56161,26.55984]}, + {"t":2.8031, "x":3.12909, "y":4.2354, "heading":0.0, "vx":0.50758, "vy":-0.75165, "omega":0.0, "ax":-3.56991, "ay":5.28651, "alpha":0.0, "fx":[-58.36125,-58.36126,-58.36124,-58.36123], "fy":[86.42445,86.42444,86.42445,86.42446]}, + {"t":2.85044, "x":3.14912, "y":4.20574, "heading":0.0, "vx":0.33857, "vy":-0.50137, "omega":0.0, "ax":-3.57491, "ay":5.29392, "alpha":0.0, "fx":[-58.44302,-58.44302,-58.44301,-58.44301], "fy":[86.54554,86.54553,86.54554,86.54555]}, + {"t":2.89779, "x":3.16114, "y":4.18794, "heading":0.0, "vx":0.16932, "vy":-0.25074, "omega":0.0, "ax":-3.57658, "ay":5.29639, "alpha":0.0, "fx":[-58.4703,-58.47031,-58.4703,-58.4703], "fy":[86.58595,86.58595,86.58595,86.58596]}, + {"t":2.94513, "x":3.16515, "y":4.182, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 4775089d..93c2b392 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -444,6 +444,7 @@ public Command CMtoGH() { // algae path // .onTrue(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose())); return routine.cmd(); } + public Command LOtoA() { // 2910 final var routine = factory.newRoutine("LO to A"); bindCoralElevatorExtension(routine, 2.0); @@ -467,21 +468,28 @@ public Command LOtoA() { // 2910 // --------- return routine.cmd(); } - public void runGroundPath( - AutoRoutine routine, - String startPos, - String endPos, - String nextPos, - HashMap steps) { - routine - .observe(steps.get(startPos + "to" + endPos).done()) - .onTrue( - Commands.sequence( - scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()), - Commands.runOnce(() -> autoGroundCoralIntake = true), - steps.get(endPos + "to" + nextPos).cmd())); -} + public void runGroundPath( + AutoRoutine routine, + String startPos, + String endPos, + String nextPos, + HashMap steps) { + routine + .observe( + steps + .get(startPos + "to" + endPos) + .atTime( + steps.get(startPos + "to" + endPos).getRawTrajectory().getTotalTime() + - (endPos.length() == 1 ? 0.3 : 0.0))) + .onTrue( + Commands.sequence( + scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()) + // , + // Commands.runOnce(() -> autoGroundCoralIntake = true), + // steps.get(endPos + "to" + nextPos).cmd() + )); + } public Command scoreCoralInAuto(Supplier trajEndPose) { return Commands.sequence( diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f08e6e77..1fe6fbb6 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1165,7 +1165,8 @@ private void addAutos() { autoChooser.addOption("4.5 L Inside", autos.LItoK()); autoChooser.addOption("4.5 R Inside", autos.RItoD()); autoChooser.addOption("Push Auto", autos.PMtoPL()); - autoChooser.addDefaultOption("Algae auto", autos.CMtoGH()); + autoChooser.addOption("Algae auto", autos.CMtoGH()); + autoChooser.addOption("2910 auto", autos.LOtoA()); } /** Scales a joystick value for teleop driving */ From bbeece32aeccb0a353ee47428179ab7d20fa948f Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 12:34:18 -0700 Subject: [PATCH 46/48] welp i tried --- src/main/deploy/choreo/AtoB.traj | 205 ++++++++++++----------------- src/main/deploy/choreo/LOtoA.traj | 146 ++++++++++---------- src/main/java/frc/robot/Autos.java | 37 ++++-- src/main/java/frc/robot/Robot.java | 2 +- 4 files changed, 187 insertions(+), 203 deletions(-) diff --git a/src/main/deploy/choreo/AtoB.traj b/src/main/deploy/choreo/AtoB.traj index 10ad9e0f..bcf37a9a 100644 --- a/src/main/deploy/choreo/AtoB.traj +++ b/src/main/deploy/choreo/AtoB.traj @@ -3,32 +3,32 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.6018691062927246, "y":4.209113121032715, "heading":1.610775050878982, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.7247390747070312, "y":4.084929943084717, "heading":3.141592653589793, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.0569186210632324, "y":4.02510404586792, "heading":3.141592653589793, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.667668342590332, "y":4.032181262969971, "heading":3.141592653589793, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.4166265726089478, "y":4.017168045043945, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":0, "to":2, 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+3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.104679584503174, "y":7.582505702972412, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.104679584503174, "y":7.582505702972412, "heading":0.0, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.636875629425049, "y":5.11732816696167, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -11,12 +11,13 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":3.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"7.104679584503174 m", "val":7.104679584503174}, "y":{"exp":"7.582505702972412 m", "val":7.582505702972412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.104679584503174 m", "val":7.104679584503174}, "y":{"exp":"7.582505702972412 m", "val":7.582505702972412}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.636875629425049 m", "val":2.636875629425049}, "y":{"exp":"5.11732816696167 m", "val":5.11732816696167}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"A.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -24,7 +25,8 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3 m / s", "val":3.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -32,72 +34,78 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.76157,2.94513], + "waypoints":[0.0,2.06434,3.24276], "samples":[ - {"t":0.0, "x":7.10468, "y":7.58251, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.45556, "ay":-2.4909, "alpha":-0.00187, "fx":[-89.18229,-89.19099,-89.19312,-89.18572], "fy":[-40.73407,-40.71492,-40.71042,-40.72673]}, - {"t":0.04636, "x":7.09882, "y":7.57983, "heading":0.0, "vx":-0.2529, "vy":-0.11547, "omega":-0.00009, "ax":-5.45669, "ay":-2.49145, "alpha":-0.00152, "fx":[-89.20193,-89.20777,-89.21125,-89.20488], "fy":[-40.74035,-40.7275,-40.72003,-40.73404]}, - {"t":0.09271, "x":7.08123, "y":7.5718, "heading":0.0, "vx":-0.50586, 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{"t":2.39429, "x":2.74132, "y":4.82306, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.44143, "x":2.76731, "y":4.78375, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.48857, "x":2.7933, "y":4.74444, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.53571, "x":2.81929, "y":4.70513, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.58284, "x":2.84528, "y":4.66581, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.62998, "x":2.87127, "y":4.6265, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.67712, "x":2.89726, "y":4.58719, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.72425, "x":2.92325, "y":4.54788, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.77139, "x":2.94925, "y":4.50857, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.81853, "x":2.97524, "y":4.46925, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.86566, "x":3.00123, "y":4.42994, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.9128, "x":3.02722, "y":4.39063, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":2.95994, "x":3.05321, "y":4.35132, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":3.00707, "x":3.0792, "y":4.31201, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":-0.00001, "ay":0.00001, "alpha":0.0, "fx":[-0.00008,-0.00008,-0.00008,-0.00008], "fy":[0.00012,0.00012,0.00012,0.00012]}, + {"t":3.05421, "x":3.10519, "y":4.2727, "heading":0.0, "vx":0.55139, "vy":-0.83399, "omega":0.0, "ax":-1.1321, "ay":1.71234, "alpha":0.0, "fx":[-18.50773,-18.50773,-18.50773,-18.50773], "fy":[27.99351,27.99351,27.99351,27.99351]}, + {"t":3.10135, "x":3.12992, "y":4.23529, "heading":0.0, "vx":0.49803, "vy":-0.75328, "omega":0.0, "ax":-3.51797, "ay":5.32104, "alpha":0.0, "fx":[-57.51209,-57.51209,-57.51209,-57.51209], "fy":[86.98881,86.98881,86.98881,86.98881]}, + {"t":3.14848, "x":3.14949, "y":4.20569, "heading":0.0, "vx":0.3322, "vy":-0.50246, "omega":0.0, "ax":-3.52294, "ay":5.32856, "alpha":0.0, "fx":[-57.59336,-57.59336,-57.59336,-57.59336], "fy":[87.11173,87.11173,87.11173,87.11173]}, + {"t":3.19562, "x":3.16124, "y":4.18793, "heading":0.0, "vx":0.16614, "vy":-0.25129, "omega":0.0, "ax":-3.5246, "ay":5.33107, "alpha":0.0, "fx":[-57.62049,-57.62049,-57.62049,-57.62049], "fy":[87.15276,87.15276,87.15276,87.15276]}, + {"t":3.24276, "x":3.16515, "y":4.182, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 93c2b392..7949a764 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -358,7 +358,7 @@ public Command CMtoGH() { // algae path .whileTrue(Commands.sequence(steps.get("CMtoG").resetOdometry(), steps.get("CMtoG").cmd())); routine - .observe(steps.get("CMtoG").done()) + .observe(steps.get("CMtoG").done()) // TODO change to time based .onTrue(Commands.sequence(scoreCoralInAuto(() -> steps.get("CMtoG").getFinalPose().get()))); routine .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) @@ -456,11 +456,27 @@ public Command LOtoA() { // 2910 // run first path .active() .onTrue(Commands.runOnce(() -> Robot.setCurrentTarget(ReefTarget.L4))) - .whileTrue( + .whileTrue(Commands.sequence(steps.get("LOtoA").resetOdometry(), steps.get("LOtoA").cmd())); + routine + .observe( + steps.get("LOtoA").atTime(steps.get("LOtoA").getRawTrajectory().getTotalTime() - 0.3)) + .onTrue( Commands.sequence( - routine.trajectory("LOtoA").resetOdometry(), routine.trajectory("LOtoA").cmd())); + scoreCoralInAuto(() -> steps.get("LOtoA").getFinalPose().get()), + Commands.runOnce(() -> autoGroundCoralIntake = true), + swerve + .driveTeleop(() -> new ChassisSpeeds(-0.3, 0, 0)) + .until( + () -> elevator.isNearExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS)), + steps.get("AtoB").cmd())); - runGroundPath(routine, "LO", "A", "B", steps); + // routine + // .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + // .onTrue( + // Commands.sequence( + // swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2))); + // runGroundPath(routine, "LO", "A", "B", steps); + // runCoralPath(routine, "LO", "A", "B", steps); // ---------------- // runGroundPath(routine, "A", "B", "B", steps); // TODO dealgae - merge from prechamps @@ -493,6 +509,7 @@ public void runGroundPath( public Command scoreCoralInAuto(Supplier trajEndPose) { return Commands.sequence( + Commands.print("scoring"), Commands.waitUntil( new Trigger( () -> @@ -530,11 +547,13 @@ public Command scoreCoralInAuto(Supplier trajEndPose) { autoPreScore = false; })) .raceWith( - AutoAim.translateToPose( - swerve, - () -> CoralTargets.getClosestTarget(trajEndPose.get()), - ChassisSpeeds::new, - new Constraints(1.5, 1.0))); + Commands.print("autoaiming frrr") + .andThen( + AutoAim.translateToPose( + swerve, + () -> CoralTargets.getClosestTarget(trajEndPose.get()), + ChassisSpeeds::new, + new Constraints(1.5, 1.0)))); } public Command intakeCoralInAuto(Supplier> pose) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1fe6fbb6..5467006d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1166,7 +1166,7 @@ private void addAutos() { autoChooser.addOption("4.5 R Inside", autos.RItoD()); autoChooser.addOption("Push Auto", autos.PMtoPL()); autoChooser.addOption("Algae auto", autos.CMtoGH()); - autoChooser.addOption("2910 auto", autos.LOtoA()); + autoChooser.addOption("!!! DO NOT RUN!! 2910 auto", autos.LOtoA()); } /** Scales a joystick value for teleop driving */ From 6af4ccaf0754716d6f8690bee25f75badf86de6f Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 16:39:35 -0700 Subject: [PATCH 47/48] delete dead code --- src/main/java/frc/robot/Autos.java | 89 +------------------ .../subsystems/shoulder/ShoulderIOReal.java | 2 +- 2 files changed, 3 insertions(+), 88 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 7949a764..677dbc5f 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -140,28 +140,8 @@ public void runCoralPath( Commands.sequence( endPos.length() == 3 ? intakeCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) - : Commands.sequence( - endPos.length() == 1 - ? scoreCoralInAuto( - () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : Commands.print("autoaligning") - .andThen( - AutoAim.translateToPose( // TODO does this get called? - swerve, - () -> - steps - .get(startPos + "to" + endPos) - .getFinalPose() - .get()) - .until( - () -> - AutoAim.isInTolerance( - swerve.getPose(), - steps - .get(startPos + "to" + endPos) - .getFinalPose() - .get())) - .withTimeout(2.0))), + : scoreCoralInAuto( + () -> steps.get(startPos + "to" + endPos).getFinalPose().get()), steps.get(endPos + "to" + nextPos).cmd())); } @@ -380,68 +360,6 @@ public Command CMtoGH() { // algae path Commands.sequence( intakeAlgaeInAuto(() -> steps.get("NItoIJ").getFinalPose()), swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2))); - - // routine - // .observe( - // steps - // .get("IJtoNI") - // .atTime(steps.get("IJtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO - // tune - // .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoEF").cmd())); - // routine - // .observe(steps.get("NItoEF").done()) - // .onTrue(Commands.sequence(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose()))); - - // --------------------------- - // Commands.sequence( - // // AutoAim.translateToXCoord( - // // swerve, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? AutoAim.BLUE_NET_X - // // : AutoAim.RED_NET_X, - // // () -> 0, - // // () -> - // // DriverStation.getAlliance().get() == Alliance.Blue - // // ? Rotation2d.k180deg - // // : Rotation2d.kZero.plus(Rotation2d.fromDegrees(20.0))) - // AutoAim.translateToPose(swerve, - // () -> new Pose2d(DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // steps.get("GhtoNI").)) - // .until( - // () -> - // (MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? AutoAim.BLUE_NET_X - // : AutoAim.RED_NET_X, - // swerve.getPose().getX(), - // Units.inchesToMeters(5)) - // && MathUtil.isNear( - // DriverStation.getAlliance().get() == Alliance.Blue - // ? Rotation2d.k180deg - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees() - // : Rotation2d.kZero - // .plus(Rotation2d.fromDegrees(20.0)) - // .getDegrees(), - // swerve.getPose().getRotation().getDegrees(), - // 5.0))), - // scoreAlgaeInAuto()) - // ) - - // routine.observe(steps.get("NItoIJ").done()).; //TODO cancel into autoalign - - // for (int i = 0; i < stops.length - 2; i++) { - // String startPos = stops[i]; - // String endPos = stops[i + 1]; - // String nextPos = stops[i + 2]; - // runAlgaePath(routine, startPos, endPos, nextPos, steps); - // } - // routine - // .observe(steps.get("NItoEF").done()) - // .onTrue(intakeAlgaeInAuto(() -> steps.get("NItoEF").getFinalPose())); return routine.cmd(); } @@ -501,9 +419,6 @@ public void runGroundPath( .onTrue( Commands.sequence( scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - // , - // Commands.runOnce(() -> autoGroundCoralIntake = true), - // steps.get(endPos + "to" + nextPos).cmd() )); } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java index a73261d5..ade79204 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java @@ -80,7 +80,7 @@ public ShoulderIOReal() { final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration(); cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; - cancoderConfig.MagnetSensor.MagnetOffset = -0.385174; // 0.2307 + 0.25; // 0.6323; // 0.779; + cancoderConfig.MagnetSensor.MagnetOffset = -0.385174; cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.9; cancoder.getConfigurator().apply(cancoderConfig); From ce3f49a65581573e2857e644832e21a3560d7681 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 12 Apr 2025 23:40:44 +0000 Subject: [PATCH 48/48] run spotless --- src/main/java/frc/robot/Autos.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 677dbc5f..abce1bc2 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -141,7 +141,7 @@ public void runCoralPath( endPos.length() == 3 ? intakeCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) : scoreCoralInAuto( - () -> steps.get(startPos + "to" + endPos).getFinalPose().get()), + () -> steps.get(startPos + "to" + endPos).getFinalPose().get()), steps.get(endPos + "to" + nextPos).cmd())); } @@ -418,8 +418,7 @@ public void runGroundPath( - (endPos.length() == 1 ? 0.3 : 0.0))) .onTrue( Commands.sequence( - scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - )); + scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()))); } public Command scoreCoralInAuto(Supplier trajEndPose) {