From eb9592fb29e435db48539c6e80faf68dccb50014 Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Fri, 3 Apr 2026 18:39:24 -0700 Subject: [PATCH 1/5] adding branch --- src/main/deploy/choreo/FFRtoRS.traj | 192 ++++++++++++++++ src/main/deploy/choreo/FRRtoRS.traj | 254 ++++++++++++++++++++++ src/main/deploy/choreo/NHtoiMRR.traj | 149 +++++++++++++ src/main/deploy/choreo/PRMtoFFR.traj | 130 +++++++++++ src/main/deploy/choreo/iFRMtoMRR.traj | 199 +++++++++++++++++ src/main/deploy/choreo/iMRRtoNH.traj | 159 ++++++++++++++ src/main/deploy/choreo/rebuiltChoreo.chor | 42 ++++ src/main/java/frc/robot/Autos.java | 31 +++ src/main/java/frc/robot/Robot.java | 1 + 9 files changed, 1157 insertions(+) create mode 100644 src/main/deploy/choreo/FFRtoRS.traj create mode 100644 src/main/deploy/choreo/FRRtoRS.traj create mode 100644 src/main/deploy/choreo/NHtoiMRR.traj create mode 100644 src/main/deploy/choreo/PRMtoFFR.traj create mode 100644 src/main/deploy/choreo/iFRMtoMRR.traj create mode 100644 src/main/deploy/choreo/iMRRtoNH.traj diff --git a/src/main/deploy/choreo/FFRtoRS.traj b/src/main/deploy/choreo/FFRtoRS.traj new file mode 100644 index 00000000..30b9994c --- /dev/null +++ b/src/main/deploy/choreo/FFRtoRS.traj @@ -0,0 +1,192 @@ +{ + "name":"FFRtoRS", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":8.543359756469727, "y":3.5473499298095703, "heading":1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.9932427406311035, "y":2.811270952224731, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.808750152587891, "y":0.9379603266716005, "heading":4.71238898038469, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.72256326675415, "y":0.6683171391487122, "heading":-3.1138220234727796, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, 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"fx":[-60.48013,41.55613,29.9023,-28.27604], "fy":[108.00485,116.41756,120.40569,120.82861]}, + {"t":2.04686, "x":5.97517, "y":1.18185, "heading":1.45463, "vx":-0.13111, "vy":2.74951, "omega":0.73813, "ax":-0.23745, "ay":7.20345, "alpha":3.51574, "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 b192f864..c5537a49 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -174,6 +174,20 @@ "val":1.5718817860612435 } }, + "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":"7.8203654289245605 m", @@ -272,6 +286,20 @@ "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":"0.4355199635028839 m", @@ -384,6 +412,20 @@ "val":0.0 } }, + "RSP":{ + "x":{ + "exp":"2.4036591053009033 m", + "val":2.4036591053009033 + }, + "y":{ + "exp":"1.420122742652893 m", + "val":1.420122742652893 + }, + "heading":{ + "exp":"-2.2678176232360636 rad", + "val":-2.2678176232360636 + } + }, "SC":{ "x":{ "exp":"2.4044814109802246 m", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 38a45db1..42015ec8 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -126,6 +126,7 @@ public enum Path { PRtoIR("PR", "FR", Action.INTAKE), PLtoIL("PL", "FL", Action.INTAKE), MRRtoFRM("MRR", "FRM", Action.INTAKE), + iMRRtoNH("MRR", "NH", Action.INTAKE), // SCORE DtoRL("D", "RL", Action.SCORE), @@ -135,6 +136,8 @@ public enum Path { PMtoM("PM", "M", Action.SCORE), FLMtoRL("FLM", "RL", Action.SCORE), FRMtoMRR("FRM", "MRR", Action.SCORE), + iFRMtoMRR("FRM", "MRR", Action.SCORE), + NHtoiMRR("NH", "MRR", Action.SCORE), // FLOW MLtoD("ML", "D", Action.FLOW), // CLIMB @@ -515,6 +518,34 @@ public Command getDoubleDipRightTrench() { return routine.cmd(); } + public Command getDoubleDipRightTrenchImproved() { + final AutoRoutine routine = factory.newRoutine("Double dip right trench auto improved"); + lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); + Path[] paths = { + Path.PRtoIR, + // start to intake + + // cooked + Path.iFRMtoMRR, + // 2nd intake to shoot + Path.iMRRtoNH, + // shoot to intake + Path.NHtoiMRR, + // intake to shoot + }; + + Command autoCommand = + paths[0].getTrajectory(routine).resetOdometry().alongWith(setleftClimbAutoTrue()); + + for (Path p : paths) { + autoCommand = autoCommand.andThen(runPath(p, routine)); + } + + routine.active().onTrue(autoCommand); + + return routine.cmd(); + } + public Command getOutpostScoreClimbAuto() { final AutoRoutine routine = factory.newRoutine("Outpost Score Climb Auto"); lockHoodUnderTrench(routine, TrenchPoses.getClosestTrenchPose(swerve.getPose()), 1); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 62673dde..17cb12c3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -762,6 +762,7 @@ 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 Auto Improved", autos.getDoubleDipRightTrenchImproved()); haveAutosGenerated = true; System.out.println("Done generating autos"); From 890bcdfbf68a106b86bc7a7aaf12e73ce195ff4b Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Fri, 3 Apr 2026 21:17:36 -0700 Subject: [PATCH 2/5] working right side disrupt --- .../choreo/RDisruptToRPreTrenchReversed.traj | 230 +++++++++--------- .../choreo/RPreTrenchReversedtoOutpost.traj | 202 ++++++--------- src/main/java/frc/robot/Autos.java | 7 +- src/main/java/frc/robot/Robot.java | 3 +- 4 files changed, 194 insertions(+), 248 deletions(-) diff --git a/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj b/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj index 0188e7f8..0a5f67d3 100644 --- a/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj +++ b/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj @@ -7,7 +7,7 @@ {"x":6.964670181274414, "y":3.177039861679077, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":6.730790138244629, "y":1.910189867019653, "heading":4.71238898038469, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.185070037841797, "y":0.7018098831176758, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.32966947555542, "y":0.688210129737854, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.32966947555542, "y":0.688210129737854, "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}, @@ -21,7 +21,7 @@ {"x":{"exp":"6.964670181274414 m", "val":6.964670181274414}, "y":{"exp":"3.177039861679077 m", "val":3.177039861679077}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"6.730790138244629 m", "val":6.730790138244629}, "y":{"exp":"1.9101898670196533 m", "val":1.910189867019653}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.185070037841797 m", "val":6.185070037841797}, "y":{"exp":"0.7018098831176758 m", "val":0.7018098831176758}, "heading":{"exp":"RPreTrenchReversed.heading", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"0 degrees", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.heading", "val":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", 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"alpha":0.0294, "fx":[106.83906,106.98311,106.74242,106.59685], "fy":[63.11599,62.87497,63.28474,63.52623]}, + {"t":1.58142, "x":0.52294, "y":0.59796, "heading":1.57104, "vx":-0.96197, "vy":-0.5692, "omega":-0.00289, "ax":6.46459, "ay":3.826, "alpha":0.02422, "fx":[106.92216,107.04077,106.84206,106.72242], "fy":[63.18754,62.98858,63.32633,63.52561]}, + {"t":1.61116, "x":0.4972, "y":0.58272, "heading":1.57095, "vx":-0.76974, "vy":-0.45544, "omega":-0.00217, "ax":6.46806, "ay":3.82804, "alpha":0.02101, "fx":[106.97436,107.07722,106.90461,106.80097], "fy":[63.23052,63.0577,63.35079,63.52386]}, + {"t":1.64089, "x":0.47717, "y":0.57087, "heading":1.57089, "vx":-0.5774, "vy":-0.34161, "omega":-0.00155, "ax":6.47055, "ay":3.82922, "alpha":0.01882, "fx":[107.01191,107.10405,106.94926,106.8565], "fy":[63.25626,63.10129,63.36396,63.51912]}, + {"t":1.67063, "x":0.46286, "y":0.56241, "heading":1.57084, "vx":-0.385, "vy":-0.22774, "omega":-0.00099, "ax":6.47261, "ay":3.82964, "alpha":0.01724, "fx":[107.04334,107.12766,106.98585,106.901], "fy":[63.26777,63.12579,63.36637,63.50851]}, + {"t":1.70036, "x":0.45427, "y":0.55733, "heading":1.57081, "vx":-0.19253, "vy":-0.11386, "omega":-0.00048, "ax":6.47463, "ay":3.82917, "alpha":0.01603, "fx":[107.07484,107.15319,107.02128,106.94248], "fy":[63.26352,63.13146,63.35525,63.48745]}, + {"t":1.7301, "x":0.45141, "y":0.55564, "heading":1.5708, "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 d04a0d74..03ebf6e7 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -553,14 +553,13 @@ public Command getDoubleDipRightTrench() { setRightClimb()); } - public Command getDoubleDisruptRightTrench() { + public Command getDisruptOutpostRightTrench() { return createAuto( - "Double Dip Disrupt Right Trench Auto", + "Disrupt Outpost Right Trench Auto", new Path[] { Path.StartingRTrenchtoDisrupt, Path.RDisruptToRPreTrenchReversed, - Path.RPreTrenchReversedtoRNeutral, - Path.RNeutraltoRPreTrenchReversed + Path.RPreTrenchReversedtoOutpost, }, setRightClimb()); } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1d1e9e5a..13931c17 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -804,7 +804,8 @@ 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 DoubleD Disrupt Auto", autos.getDoubleDisruptRightTrench()); + autoChooser.addOption( + "RIght Trench DoubleD Disrupt Auto", autos.getDisruptOutpostRightTrench()); autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); // autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); autoChooser.addOption("Hub Depot Outpost", autos.getHubDepotOutpostAuto()); From fd759353d8392bccfe09d6e9ab8c86a4b0b1f6df Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Fri, 3 Apr 2026 21:22:56 -0700 Subject: [PATCH 3/5] renamed --- 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 13931c17..664e349a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -805,7 +805,7 @@ private void addAutos() { autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto()); autoChooser.addOption("Right Trench Double Dip Auto", autos.getDoubleDipRightTrench()); autoChooser.addOption( - "RIght Trench DoubleD Disrupt Auto", autos.getDisruptOutpostRightTrench()); + "Right Trench Disrupt Outpost Auto", autos.getDisruptOutpostRightTrench()); autoChooser.addOption("Left Neutral Score Twice", autos.getLeftNeutralScoreTwice()); // autoChooser.addOption("Left Neutral Outpost Score", autos.getLeftNeutralOutpostScore()); autoChooser.addOption("Hub Depot Outpost", autos.getHubDepotOutpostAuto()); From bcce74bc425a01660b7dc57fec6b4a442de653eb Mon Sep 17 00:00:00 2001 From: lQuasar9206 Date: Sat, 4 Apr 2026 16:02:52 -0700 Subject: [PATCH 4/5] left trench disrupt auto added+minor name changes --- .../deploy/choreo/LDisrupttoLPreTrench.traj | 154 +++++++++++++++++ .../choreo/RDisruptToRPreTrenchReversed.traj | 2 +- .../choreo/StartingLTrenchtoDisruptL.traj | 140 ++++++++++++++++ .../choreo/StartingRTrenchToDisrupt.traj | 142 ---------------- .../choreo/StartingRTrenchtoDisruptR.traj | 158 ++++++++++++++++++ src/main/deploy/choreo/rebuiltChoreo.chor | 14 ++ src/main/java/frc/robot/Autos.java | 18 +- src/main/java/frc/robot/Robot.java | 1 + 8 files changed, 483 insertions(+), 146 deletions(-) create mode 100644 src/main/deploy/choreo/LDisrupttoLPreTrench.traj create mode 100644 src/main/deploy/choreo/StartingLTrenchtoDisruptL.traj delete mode 100644 src/main/deploy/choreo/StartingRTrenchToDisrupt.traj create mode 100644 src/main/deploy/choreo/StartingRTrenchtoDisruptR.traj diff --git a/src/main/deploy/choreo/LDisrupttoLPreTrench.traj b/src/main/deploy/choreo/LDisrupttoLPreTrench.traj new file mode 100644 index 00000000..fc01b9c3 --- /dev/null +++ b/src/main/deploy/choreo/LDisrupttoLPreTrench.traj @@ -0,0 +1,154 @@ +{ + "name":"LDisrupttoLPreTrench", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":8.59691047668457, "y":4.542664527893066, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.475761890411377, "y":5.465127944946289, "heading":1.5707963267948966, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.141737937927246, "y":7.437780857086182, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3465769290924072, "y":7.509117603302002, "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":16.541, "h":8.0692}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"DisruptL.x", "val":8.59691047668457}, "y":{"exp":"DisruptL.y", "val":4.542664527893066}, "heading":{"exp":"DisruptL.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.475761890411377 m", "val":7.475761890411377}, "y":{"exp":"5.465127944946289 m", "val":5.465127944946289}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.141737937927246 m", "val":6.141737937927246}, "y":{"exp":"7.437780857086182 m", "val":7.437780857086182}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.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":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2761996, + "y":0.2761996 + }, + "backLeft":{ + "x":-0.2761996, + "y":0.2761996 + }, + "mass":66.133767546, + "inertia":10.42384825260472, + "gearing":7.03, + "radius":0.0508, + "vmax":485.8996637552213, + "tmax":0.9, + "cof":2.25, + "bumper":{ + "front":0.44196, + "side":0.44196, + "back":0.44196 + }, + "differentialTrackWidth":0.5427218 + }, + "sampleType":"Swerve", + 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"omega":2.80344, "ax":-0.78393, "ay":4.27981, "alpha":-12.36609, "fx":[22.44399,-70.9961,-105.35407,102.06173], "fy":[121.06549,100.03744,-5.63571,67.57253]}, + {"t":1.82944, "x":8.55609, "y":1.55109, "heading":2.19056, "vx":-0.1119, "vy":2.57116, "omega":2.43581, "ax":-0.31569, "ay":4.29175, "alpha":-11.80574, "fx":[18.09426,-73.28858,-64.25301,98.56974], "fy":[121.58676,97.90906,-7.92605,72.25974]}, + {"t":1.85917, "x":8.55262, "y":1.62942, "heading":2.26298, "vx":-0.12129, "vy":2.69874, "omega":2.08485, "ax":1.03712, "ay":4.28801, "alpha":-11.28735, "fx":[12.71197,-76.90587,38.0039,94.77878], "fy":[121.98615,94.50071,-9.55727,76.65256]}, + {"t":1.8889, "x":8.54948, "y":1.71154, "heading":2.32495, "vx":-0.09045, "vy":2.82622, "omega":1.74929, "ax":1.23932, "ay":4.34822, "alpha":-11.14417, "fx":[7.08596,-80.67191,64.82076,90.72582], "fy":[122.04088,90.47579,-5.60163,80.64887]}, + {"t":1.91863, "x":8.54733, "y":1.79748, "heading":2.37696, "vx":-0.05361, "vy":2.95548, "omega":1.418, "ax":1.05016, "ay":4.36834, "alpha":-11.0992, "fx":[1.64054,-84.00564,65.32562,86.49044], "fy":[121.6226,86.11707,-2.86395,84.01891]}, + {"t":1.94835, "x":8.5462, "y":1.88727, "heading":2.41911, "vx":-0.02239, "vy":3.08535, "omega":1.08804, "ax":0.7197, "ay":4.33291, "alpha":-11.03037, "fx":[-3.30311,-86.44939,55.23729,82.1116], "fy":[120.54559,81.47092,-1.84072,86.37595]}, + {"t":1.97808, "x":8.54586, "y":1.98091, "heading":2.45146, "vx":-0.001, "vy":3.21416, "omega":0.76012, "ax":0.28829, "ay":4.22215, "alpha":-10.81459, "fx":[-7.49718,-87.17025,36.55325,77.17982], "fy":[118.2156,76.15197,-2.10878,86.96773]}, + {"t":2.00781, "x":8.54595, "y":2.07833, "heading":2.47406, "vx":0.00757, "vy":3.33967, "omega":0.43862, "ax":-0.20383, "ay":3.90643, "alpha":-10.0636, "fx":[-10.96451,-83.0172,11.79004,68.71188], "fy":[111.39081,67.17483,-2.79907,82.58068]}, + {"t":2.03754, "x":8.54609, "y":2.17934, "heading":2.48709, "vx":0.00151, "vy":3.45581, "omega":0.13945, "ax":-0.60828, "ay":1.33646, "alpha":-3.46291, "fx":[-12.66256,-33.36884,-7.81652,13.61995], "fy":[43.64901,19.2632,-0.98679,26.45944]}, + {"t":2.06727, "x":8.54587, "y":2.28266, "heading":2.49124, "vx":-0.01657, "vy":3.49554, "omega":0.0365, "ax":-0.17996, "ay":0.01045, "alpha":-0.02991, "fx":[-3.00215,-3.1729,-2.94847,-2.77769], "fy":[0.37059,0.14587,-0.02507,0.19966]}, + {"t":2.097, "x":8.54529, "y":2.38658, "heading":2.49233, "vx":-0.02192, "vy":3.49585, "omega":0.03561, "ax":0.49411, "ay":-0.9754, "alpha":2.53414, "fx":[10.28122,25.07645,6.20915,-8.88978], "fy":[-32.32996,-13.88968,0.70558,-18.99281]}, + {"t":2.12672, "x":8.54486, "y":2.49008, "heading":2.49338, "vx":-0.00723, "vy":3.46685, "omega":0.11095, "ax":0.58832, "ay":-3.8174, "alpha":9.87515, "fx":[15.66845,84.7007,2.14684,-63.60824], "fy":[-109.45467,-62.6961,3.4884,-83.79697]}, + {"t":2.15645, "x":8.54491, "y":2.59146, "heading":2.49668, "vx":0.01026, "vy":3.35336, "omega":0.40452, "ax":0.46808, "ay":-4.14748, "alpha":10.76468, "fx":[15.92338,92.26106,-6.84588,-70.38265], "fy":[-117.06051,-69.55073,4.06624,-91.74342]}, + {"t":2.18618, "x":8.54542, "y":2.68931, "heading":2.50871, "vx":0.02418, "vy":3.23007, "omega":0.72454, "ax":0.18805, "ay":-4.25408, "alpha":11.12757, "fx":[16.55101,94.99555,-26.99776,-72.11214], "fy":[-119.32201,-71.22276,3.73641,-94.52987]}, + {"t":2.21591, "x":8.54622, "y":2.78346, "heading":2.53025, "vx":0.02977, "vy":3.1036, "omega":1.05534, "ax":-0.3445, "ay":-4.32623, "alpha":11.4444, "fx":[17.12367,96.55651,-63.5856,-72.8778], "fy":[-120.36061,-71.62499,1.83082,-95.95515]}, + {"t":2.24564, "x":8.54695, "y":2.87381, "heading":2.56162, "vx":0.01952, "vy":2.97499, "omega":1.39556, "ax":-0.79163, "ay":-4.3797, "alpha":11.74107, "fx":[17.27799,97.51799,-93.45756,-73.69187], "fy":[-120.99065,-71.70792,-0.39452,-96.55318]}, + {"t":2.27537, "x":8.54718, "y":2.96032, "heading":2.60311, "vx":-0.00401, "vy":2.84479, "omega":1.74461, "ax":-0.60275, "ay":-5.8547, "alpha":8.18396, "fx":[15.75044,88.66002,-77.47473,-66.7976], "fy":[-121.62801,-83.15707,-80.16354,-102.24496]}, + {"t":2.30509, "x":8.5468, "y":3.0423, "heading":2.65497, "vx":-0.02193, "vy":2.67074, "omega":1.9879, "ax":0.16442, "ay":-7.4382, "alpha":-0.2796, "fx":[1.68182,-0.79714,3.69871,6.29028], "fy":[-122.98106,-123.04725,-123.02355,-122.86438]}, + {"t":2.33482, "x":8.54622, "y":3.11841, "heading":2.71407, "vx":-0.01704, "vy":2.44961, "omega":1.97959, "ax":0.13447, "ay":-7.33329, "alpha":-2.54809, "fx":[-12.46076,-26.01331,11.34881,36.01859], "fy":[-122.63162,-120.92206,-123.26239,-118.16223]}, + {"t":2.36455, "x":8.54577, "y":3.18799, "heading":2.77292, "vx":-0.01304, "vy":2.23161, "omega":1.90384, "ax":0.08722, "ay":-7.19949, "alpha":-3.68654, "fx":[-25.67281,-34.43042,15.92539,49.94634], "fy":[-120.78393,-119.08349,-123.00329,-113.25842]}, + {"t":2.39428, "x":8.54542, "y":3.25115, "heading":2.82952, "vx":-0.01045, "vy":2.01758, "omega":1.79424, "ax":0.04302, "ay":-7.08258, "alpha":-4.45761, "fx":[-37.03404,-37.64109,19.58358,57.93653], "fy":[-117.98474,-118.26132,-122.60067,-109.55119]}, + {"t":2.42401, "x":8.54513, "y":3.308, "heading":2.88286, "vx":-0.00917, "vy":1.80702, "omega":1.66173, "ax":0.0139, "ay":-6.98206, "alpha":-5.04552, "fx":[-46.23424,-38.70584,22.74505,63.11409], "fy":[-114.84703,-118.01185,-122.13046,-106.76063]}, + {"t":2.45373, "x":8.54486, "y":3.35864, "heading":2.93226, "vx":-0.00876, "vy":1.59946, "omega":1.51173, "ax":0.00139, "ay":-6.89714, "alpha":-5.50818, "fx":[-53.40672,-38.75222,25.53673,66.71447], "fy":[-111.81902,-118.06034,-121.62898,-104.62528]}, + {"t":2.48346, "x":8.5446, "y":3.40314, "heading":2.9772, "vx":-0.00872, "vy":1.39442, "omega":1.34798, "ax":0.00229, "ay":-6.82687, "alpha":-5.87268, "fx":[-58.88113,-38.29708,28.00486,69.32448], "fy":[-109.13863,-118.25422,-121.12165,-102.97191]}, + {"t":2.51319, "x":8.54435, "y":3.44157, "heading":3.01727, "vx":-0.00865, "vy":1.19147, "omega":1.1734, "ax":0.01211, "ay":-6.76967, "alpha":-6.15806, "fx":[-63.01947,-37.61521,30.16849,71.26731], "fy":[-106.88582,-118.50675,-120.62902,-101.68196]}, + {"t":2.54292, "x":8.54409, "y":3.474, "heading":3.05216, "vx":-0.00829, "vy":0.99022, "omega":0.99033, "ax":0.02677, "ay":-6.72354, "alpha":-6.38049, "fx":[-66.14177,-36.86873,32.03663,72.74415], "fy":[-105.04979,-118.7672,-120.16841,-100.66741]}, + {"t":2.57265, "x":8.54386, "y":3.50047, "heading":3.0816, "vx":-0.00749, "vy":0.79034, "omega":0.80065, "ax":0.04297, "ay":-6.6864, "alpha":-6.55397, "fx":[-68.50522,-36.16051,33.61441,73.89307], "fy":[-103.57873,-119.00537,-119.75446,-99.85813]}, + {"t":2.60238, "x":8.54366, "y":3.52101, "heading":3.1054, "vx":-0.00621, "vy":0.59156, "omega":0.60581, "ax":0.05828, "ay":-6.65632, "alpha":-6.69036, "fx":[-70.30667,-35.55933,34.90524,74.81527], "fy":[-102.40901,-119.20307,-119.39936,-99.19614]}, + {"t":2.6321, "x":8.5435, "y":3.53566, "heading":3.12341, "vx":-0.00448, "vy":0.39368, "omega":0.40692, "ax":0.07097, "ay":-6.63165, "alpha":-6.79936, "fx":[-71.69235,-35.11281,35.91147,75.58703], "fy":[-101.48013,-119.34908,-119.11307,-98.6336]}, + {"t":2.66183, "x":8.5434, "y":3.54443, "heading":3.1355, "vx":-0.00237, "vy":0.19654, "omega":0.20478, "ax":0.07979, "ay":-6.61105, "alpha":-6.88851, "fx":[-72.76807,-34.85468,36.63435,76.26502], "fy":[-100.7413,-119.43617,-118.90345,-98.13262]}, + {"t":2.69156, "x":8.54336, "y":3.54735, "heading":3.14159, "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 f3d49955..969c1c06 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -69,6 +69,20 @@ "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", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 03ebf6e7..73d4cd66 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), @@ -101,7 +102,8 @@ public enum Path { EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END), RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrenchReversed", Action.SCORE_AT_END), - RDisruptToRPreTrenchReversed("RDisrupttoRPreTrenchReversed", Action.SCORE_AT_END), + RDisrupttoRPreTrenchReversed("RDisrupttoRPreTrenchReversed", Action.SCORE_AT_END), + LDisrupttoLPreTrench("LDisrupttoLPreTrench", Action.SCORE_AT_END), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), LPreTrenchtoLCleanup("LPreTrenchtoLCleanup", Action.INTAKE), @@ -111,7 +113,8 @@ public enum Path { StartingRTrenchtoRNeutral("StartingRTrenchtoRNeutral", Action.INTAKE), StartingLTrenchtoLNeutral("StartingLTrenchtoLNeutral", Action.INTAKE), - StartingRTrenchtoDisrupt("StartingRTrenchtoDisrupt", Action.INTAKE), + StartingRTrenchtoDisrupt("StartingRTrenchtoDisruptR", Action.INTAKE), + StartingLTrenchtoDisrupt("StartingLTrenchtoDisruptL", Action.INTAKE), HubtoDepot("HubtoDepot", Action.DEPOT), @@ -558,12 +561,21 @@ public Command getDisruptOutpostRightTrench() { "Disrupt Outpost Right Trench Auto", new Path[] { Path.StartingRTrenchtoDisrupt, - Path.RDisruptToRPreTrenchReversed, + 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 664e349a..781ada84 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -806,6 +806,7 @@ private void addAutos() { 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()); From 31f2fe9425f85360a575e3c11313b0775ed204d3 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Mon, 6 Apr 2026 16:08:03 -0700 Subject: [PATCH 5/5] change one (1) letter --- .../choreo/RDisruptToRPreTrenchReversed.traj | 250 +++++++++--------- src/main/java/frc/robot/Autos.java | 2 +- src/main/java/frc/robot/Robot.java | 1 + 3 files changed, 130 insertions(+), 123 deletions(-) diff --git a/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj b/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj index a02e2c7e..82826ea9 100644 --- a/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj +++ b/src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj @@ -1,32 +1,38 @@ { - "name":"RDisrupttoRPreTrenchReversed", + "name":"RDisruptToRPreTrenchReversed", "version":3, "snapshot":{ "waypoints":[ - {"x":8.543359756469727, "y":3.5473499298095703, "heading":-3.1169944974015067, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.543359756469727, "y":3.5473499298095703, "heading":-3.1169944974015067, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.964670181274414, "y":3.177039861679077, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.730790138244629, "y":1.910189867019653, "heading":4.71238898038469, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.185070037841797, "y":0.7018098831176758, "heading":3.141592653589793, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.730790138244629, "y":1.910189867019653, "heading":4.71238898038469, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.185070037841797, "y":0.7018098831176758, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.32966947555542, "y":0.688210129737854, "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":16.541, "h":8.0692}}, "enabled":false}, - {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FFR.x", "val":8.543359756469727}, "y":{"exp":"FFR.y", "val":3.5473499298095703}, "heading":{"exp":"-3.1169944974015067 rad", "val":-3.1169944974015067}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FFR.x", "val":8.543359756469727}, "y":{"exp":"FFR.y", "val":3.5473499298095703}, "heading":{"exp":"-3.1169944974015067 rad", "val":-3.1169944974015067}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.964670181274414 m", "val":6.964670181274414}, "y":{"exp":"3.177039861679077 m", "val":3.177039861679077}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.730790138244629 m", "val":6.730790138244629}, "y":{"exp":"1.9101898670196533 m", "val":1.910189867019653}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.185070037841797 m", "val":6.185070037841797}, "y":{"exp":"0.7018098831176758 m", "val":0.7018098831176758}, "heading":{"exp":"RPreTrenchReversed.heading", "val":3.141592653589793}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.730790138244629 m", "val":6.730790138244629}, "y":{"exp":"1.9101898670196533 m", "val":1.910189867019653}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.185070037841797 m", "val":6.185070037841797}, "y":{"exp":"0.7018098831176758 m", "val":0.7018098831176758}, "heading":{"exp":"RPreTrenchReversed.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.heading", "val":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":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}, - {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}], + {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":2.7}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -57,120 +63,120 @@ "differentialTrackWidth":0.5427218 }, "sampleType":"Swerve", - "waypoints":[0.0,0.78099,1.21434,1.78047,2.88787], + "waypoints":[0.0,0.80007,1.29302,1.96355,3.22241], "samples":[ - {"t":0.0, "x":8.54336, "y":3.54735, "heading":-3.11699, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-7.20356, "ay":0.6967, "alpha":3.71088, "fx":[-121.63062,-111.62348,-119.83622,-123.30809], "fy":[-25.62511,54.74364,33.41096,-16.45431]}, - {"t":0.02893, "x":8.54035, "y":3.54764, "heading":-3.11699, 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"omega":0.0, "ax":7.52572, "ay":0.03529, "alpha":0.0, "fx":[124.42609,124.42609,124.42609,124.42609], "fy":[0.58346,0.58346,0.58346,0.58346]}, + {"t":3.22241, "x":3.32967, "y":0.68821, "heading":3.14159, "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 73d4cd66..0988d203 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -102,7 +102,7 @@ public enum Path { EndWScoreLCleanuptoLPreTrench("LCleanuptoLPreTrench", Action.SCORE_AT_END), RNeutraltoRPreTrenchReversed("RNeutraltoRPreTrenchReversed", Action.SCORE_AT_END), - RDisrupttoRPreTrenchReversed("RDisrupttoRPreTrenchReversed", Action.SCORE_AT_END), + RDisrupttoRPreTrenchReversed("RDisruptToRPreTrenchReversed", Action.SCORE_AT_END), LDisrupttoLPreTrench("LDisrupttoLPreTrench", Action.SCORE_AT_END), LPreTrenchtoLNeutral("LPreTrenchtoLNeutral", Action.INTAKE), diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index acb23112..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(