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"fx":[-45.52441,30.02811,23.89591,-24.10333], "fy":[114.47991,119.30926,121.30049,121.30171]}, + {"t":2.08701, "x":5.96971, "y":1.29805, "heading":1.48427, "vx":-0.14064, "vy":3.03873, "omega":0.87928, "ax":0.25078, "ay":6.62971, "alpha":-5.40887, "fx":[36.64222,-24.84856,-54.68243,59.47374], "fy":[115.04343,118.22522,104.19525,100.98349]}, + {"t":2.12716, "x":5.96427, "y":1.42539, "heading":1.51957, "vx":-0.13057, "vy":3.3049, "omega":0.66212, "ax":-0.12233, "ay":3.8125, "alpha":-12.31275, "fx":[46.07932,-48.84007,-103.7243,98.39477], "fy":[105.35519,104.66928,23.47064,18.63959]}, + {"t":2.16731, "x":5.95893, "y":1.56115, "heading":1.54615, "vx":-0.13549, "vy":3.45797, "omega":0.16777, "ax":-0.52637, "ay":0.97313, "alpha":-3.40338, "fx":[7.68575,-23.76928,-26.11184,7.38474], "fy":[32.10906,31.79613,0.63853,-0.18728]}, + {"t":2.20746, "x":5.95306, "y":1.70077, "heading":1.55289, "vx":-0.15662, "vy":3.49704, "omega":0.03113, "ax":0.01675, "ay":0.01187, "alpha":-0.0388, "fx":[0.4632,0.09717,0.09061,0.45665], "fy":[0.37594,0.3825,0.01646,0.00991]}, + {"t":2.24761, "x":5.94679, "y":1.84119, "heading":1.55414, "vx":-0.15595, "vy":3.49752, "omega":0.02957, "ax":0.07824, "ay":0.00305, "alpha":0.00204, "fx":[1.28376,1.30297,1.30329,1.28408], "fy":[0.04104,0.04072,0.05993,0.06025]}, + {"t":2.28776, "x":5.94059, "y":1.98161, "heading":1.55533, "vx":-0.1528, "vy":3.49764, "omega":0.02965, "ax":0.06273, "ay":0.00226, "alpha":0.00217, "fx":[1.02669,1.04713,1.04744,1.02701], "fy":[0.02738,0.02706,0.0475,0.04781]}, + {"t":2.32791, "x":5.93451, "y":2.12204, "heading":1.55652, "vx":-0.15029, "vy":3.49773, "omega":0.02974, "ax":0.06878, "ay":0.00208, "alpha":0.00357, "fx":[1.12009,1.15376,1.15424,1.12057], "fy":[0.01785,0.01737,0.05104,0.05153]}, + {"t":2.36806, "x":5.92853, "y":2.26248, "heading":1.55771, "vx":-0.14752, "vy":3.49782, "omega":0.02988, "ax":0.24541, "ay":-0.02578, "alpha":0.12824, "fx":[3.44507,4.65364,4.66976,3.46112], "fy":[-1.02428,-1.03948,0.17129,0.18725]}, + {"t":2.4082, "x":5.9228, "y":2.40289, "heading":1.55891, "vx":-0.13767, "vy":3.49678, "omega":0.03503, "ax":0.93265, "ay":-1.96371, "alpha":6.91503, "fx":[-16.47535,43.97202,55.84878,-21.66596], "fy":[-65.86665,-60.5709,-2.02957,-1.40053]}, + {"t":2.44835, "x":5.91803, "y":2.5417, "heading":1.56032, "vx":-0.10023, "vy":3.41794, "omega":0.31266, "ax":0.08102, "ay":-3.75839, "alpha":12.81111, "fx":[-47.13476,50.37955,106.31693,-104.20334], "fy":[-106.66515,-105.3681,-18.35808,-18.16502]}, + {"t":2.4885, "x":5.91407, "y":2.6759, "heading":1.57287, "vx":-0.09697, "vy":3.26704, "omega":0.82702, "ax":-0.28811, "ay":-3.92775, "alpha":13.43279, "fx":[-57.63384,42.73756,111.84192,-115.99939], "fy":[-106.35616,-112.91937,-23.34188,-17.1393]}, + {"t":2.52865, "x":5.90994, "y":2.8039, "heading":1.60607, "vx":-0.10854, "vy":3.10935, "omega":1.36634, "ax":-0.09807, "ay":-6.21319, "alpha":7.65941, "fx":[-37.77144,37.04764,76.94298,-82.70494], "fy":[-116.32947,-116.50394,-91.2368,-86.8316]}, + {"t":2.5688, "x":5.90551, "y":2.92373, "heading":1.66093, "vx":-0.11248, "vy":2.85989, "omega":1.67386, "ax":0.14352, "ay":-7.39803, "alpha":-1.83331, "fx":[20.25744,-17.78698,-11.10319,18.12436], "fy":[-121.68884,-122.10383,-123.15796,-122.30875]}, + {"t":2.60895, "x":5.90111, "y":3.03259, "heading":1.72814, "vx":-0.10672, "vy":2.56286, "omega":1.60025, "ax":0.20461, "ay":-7.25418, "alpha":-3.39415, "fx":[36.74377,-36.68413,-16.70308,30.17491], "fy":[-118.18021,-118.2757,-122.95259,-120.33773]}, + {"t":2.6491, "x":5.89699, "y":3.12965, "heading":1.79239, "vx":-0.0985, "vy":2.27161, "omega":1.46398, "ax":0.24217, "ay":-7.16352, "alpha":-4.05579, "fx":[42.6367,-45.49642,-17.05391,35.92929], "fy":[-116.38448,-115.40328,-123.05856,-118.90439]}, + {"t":2.68925, "x":5.89323, "y":3.21508, "heading":1.85116, "vx":-0.08878, "vy":1.984, "omega":1.30114, "ax":0.27158, "ay":-7.11086, "alpha":-4.38087, "fx":[44.63274,-50.33661,-16.13557,39.80031], "fy":[-115.74997,-113.50949,-123.26112,-117.74712]}, + {"t":2.7294, "x":5.88988, "y":3.289, "heading":1.9034, "vx":-0.07787, "vy":1.69851, "omega":1.12525, "ax":0.29438, "ay":-7.08029, "alpha":-4.54642, "fx":[44.82622,-53.24067,-14.85705,42.73979], "fy":[-115.75135,-112.26254,-123.46936,-116.76271]}, + {"t":2.76955, "x":5.88699, "y":3.35149, "heading":1.94858, "vx":-0.06606, "vy":1.41424, "omega":0.94272, "ax":0.3112, "ay":-7.06237, "alpha":-4.63041, "fx":[44.13726,-55.08971,-13.5463,45.07954], "fy":[-116.07009,-111.42572,-123.6518,-115.91384]}, + {"t":2.8097, "x":5.88459, "y":3.40258, "heading":1.98643, "vx":-0.05356, "vy":1.13069, "omega":0.75681, "ax":0.32307, "ay":-7.0514, "alpha":-4.67379, "fx":[43.08296,-56.33501,-12.35248,46.97066], "fy":[-116.50672,-110.84368,-123.79942,-115.18559]}, + {"t":2.84985, "x":5.8827, "y":3.44229, "heading":2.01682, "vx":-0.04059, "vy":0.84758, "omega":0.56916, "ax":0.33132, "ay":-7.04374, "alpha":-4.70008, "fx":[42.00548,-57.23487,-11.3538,48.49472], "fy":[-116.93229,-110.41329,-123.91196,-114.57154]}, + {"t":2.89, "x":5.88134, "y":3.47064, "heading":2.03967, "vx":-0.02729, "vy":0.56478, "omega":0.38046, "ax":0.33732, "ay":-7.03707, "alpha":-4.72341, "fx":[41.15222,-57.94863,-10.59573,49.70059], "fy":[-117.26237,-110.06455,-123.99223,-114.06898]}, + {"t":2.93015, "x":5.88051, "y":3.48765, "heading":2.05494, "vx":-0.01374, "vy":0.28224, "omega":0.19081, "ax":0.34232, "ay":-7.02984, "alpha":-4.75259, "fx":[40.70758,-58.57969,-10.10732,50.61865], "fy":[-117.4405,-109.74891,-124.04349,-113.6772]}, + {"t":2.9703, "x":5.88024, "y":3.49331, "heading":2.0626, "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/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index d7b8091f..969c1c06 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -69,6 +69,48 @@ "val":3.141592653589793 } }, + "DisruptL":{ + "x":{ + "exp":"8.59691047668457 m", + "val":8.59691047668457 + }, + "y":{ + "exp":"4.542664527893066 m", + "val":4.542664527893066 + }, + "heading":{ + "exp":"180 degrees", + "val":3.141592653589793 + } + }, + "FFR":{ + "x":{ + "exp":"8.543359756469727 m", + "val":8.543359756469727 + }, + "y":{ + "exp":"3.5473499298095703 m", + "val":3.5473499298095703 + }, + "heading":{ + "exp":"90 deg", + "val":1.5707963267948966 + } + }, + "FL":{ + "x":{ + "exp":"2.4 m", + "val":2.4 + }, + "y":{ + "exp":"2 m", + "val":2.0 + }, + "heading":{ + "exp":"-180 deg", + "val":-3.141592653589793 + } + }, "LBump":{ "x":{ "exp":"3.6318795680999756 m", @@ -153,6 +195,34 @@ "val":3.141592653589793 } }, + "NH":{ + "x":{ + "exp":"5.880239009857178 m", + "val":5.880239009857178 + }, + "y":{ + "exp":"3.493312120437622 m", + "val":3.493312120437622 + }, + "heading":{ + "exp":"2.0626041989079344 rad", + "val":2.0626041989079344 + } + }, + "O":{ + "x":{ + "exp":"3.7242095470428467 m", + "val":3.7242095470428462 + }, + "y":{ + "exp":"0.7309682965278625 m", + "val":0.7309682965278625 + }, + "heading":{ + "exp":"3.141592690548533 / 2 rad", + "val":1.5707963452742666 + } + }, "Outpost":{ "x":{ "exp":"0.44367337226867676 m", @@ -181,20 +251,6 @@ "val":3.141592653589793 } }, - "PreOutpost":{ - "x":{ - "exp":"2.4 m", - "val":2.4 - }, - "y":{ - "exp":"2 m", - "val":2.0 - }, - "heading":{ - "exp":"-180 deg", - "val":-3.141592653589793 - } - }, "RBump":{ "x":{ "exp":"3.5344297885894775 m", @@ -251,18 +307,88 @@ "val":3.141592653589793 } }, - "RTrench":{ + "RSP":{ "x":{ - "exp":"3.7242095470428467 m", - "val":3.7242095470428462 + "exp":"2.4036591053009033 m", + "val":2.4036591053009033 }, "y":{ - "exp":"0.7309682965278625 m", - "val":0.7309682965278625 + "exp":"1.420122742652893 m", + "val":1.420122742652893 }, "heading":{ - "exp":"3.141592690548533 / 2 rad", - "val":1.5707963452742666 + "exp":"-2.2678176232360636 rad", + "val":-2.2678176232360636 + } + }, + "SC":{ + "x":{ + "exp":"2.4044814109802246 m", + "val":2.4044814109802246 + }, + "y":{ + "exp":"2 m", + "val":2.0 + }, + "heading":{ + "exp":"-3.1415076242073234 rad", + "val":-3.141507624207323 + } + }, + "SLB":{ + "x":{ + "exp":"2.7844135761260986 m", + "val":2.784413576126098 + }, + "y":{ + "exp":"5.38032865524292 m", + "val":5.38032865524292 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SLT":{ + "x":{ + "exp":"2.814626932144165 m", + "val":2.814626932144165 + }, + "y":{ + "exp":"7.330637454986572 m", + "val":7.330637454986572 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SRB":{ + "x":{ + "exp":"2.7844135761260986 m", + "val":2.784413576126098 + }, + "y":{ + "exp":"2.601309061050415 m", + "val":2.601309061050415 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 + } + }, + "SRT":{ + "x":{ + "exp":"2.768587827682495 m", + "val":2.768587827682495 + }, + "y":{ + "exp":"0.7205682992935181 m", + "val":0.7205682992935181 + }, + "heading":{ + "exp":"3.141592653589793 rad", + "val":3.141592653589793 } }, "StartingHub":{ diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 030a63be..0988d203 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -91,6 +91,7 @@ public enum Path { // DEPOT LTrenchtoDepot("LTrenchtoDepot", Action.FLOW), LBumptoDepot("LBumptoDepot", Action.INTAKE), + // FEED FeedLNeutraltoLPreTrench("LNeutraltoLPreTrench", Action.FEED), FeedRNeutraltoRPreTrench("RNeutraltoRPreTrench", Action.FEED), @@ -101,6 +102,8 @@ public enum Path { EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END), RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrenchReversed", Action.SCORE_AT_END), + RDisrupttoRPreTrenchReversed("RDisruptToRPreTrenchReversed", Action.SCORE_AT_END), + LDisrupttoLPreTrench("LDisrupttoLPreTrench", Action.SCORE_AT_END), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), LPreTrenchtoLCleanup("LPreTrenchtoLCleanup", Action.INTAKE), @@ -110,6 +113,8 @@ public enum Path { StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), + StartingRTrenchtoDisrupt("StartingRTrenchtoDisruptR", Action.INTAKE), + StartingLTrenchtoDisrupt("StartingLTrenchtoDisruptL", Action.INTAKE), HubtoDepot("HubtoDepot", Action.DEPOT), @@ -551,6 +556,26 @@ public Command getDoubleDipRightTrench() { setRightClimb()); } + public Command getDisruptOutpostRightTrench() { + return createAuto( + "Disrupt Outpost Right Trench Auto", + new Path[] { + Path.StartingRTrenchtoDisrupt, + Path.RDisrupttoRPreTrenchReversed, + Path.RPreTrenchReversedtoOutpost, + }, + setRightClimb()); + } + + public Command getDisruptDepotLeftTrench() { + return createAuto( + "Disrupt Depot Left Trench Auto", + new Path[] { + Path.StartingLTrenchtoDisrupt, Path.LDisrupttoLPreTrench, Path.LPreTrenchtoDepot + }, + setLeftClimb()); + } + public Command getOutpostScoreClimbAuto() { return createAuto( diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7782091f..03aa91da 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -594,6 +594,7 @@ public Robot() { .alongWith(leds.blinkCmd(Color.kWhite, Color.kBlack, 20.0).withTimeout(1.0)) .ignoringDisable(true)); new Trigger(() -> Superstructure.getState().isAScoreState()) + .and(() -> isTeleop()) .whileTrue( swerve .driveOpenLoopFieldRelative( @@ -843,6 +844,9 @@ private void addAutos() { autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto()); autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto()); autoChooser.addOption("Right Trench Double Dip Auto", autos.getDoubleDipRightTrench()); + autoChooser.addOption( + "Right Trench Disrupt Outpost Auto", autos.getDisruptOutpostRightTrench()); + autoChooser.addOption("Left Trench Disrupt Depot Auto", autos.getDisruptDepotLeftTrench()); autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); // autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); autoChooser.addOption("Hub Depot Outpost", autos.getHubDepotOutpostAuto());