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Merged
spellingcat merged 7 commits into from
Apr 6, 2026
Merged

Right (and left) disrupt auto #83

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eb9592f
adding branch
lQuasar9206 Apr 4, 2026
e807026
R trench but trouble with transition
lQuasar9206 Apr 4, 2026
890bcdf
working right side disrupt
lQuasar9206 Apr 4, 2026
fd75935
renamed
lQuasar9206 Apr 4, 2026
bcce74b
left trench disrupt auto added+minor name changes
lQuasar9206 Apr 4, 2026
fcb389f
Merge branch 'main' into right-disrupt-auto
spellingcat Apr 6, 2026
31f2fe9
change one (1) letter
spellingcat Apr 6, 2026
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254 changes: 254 additions & 0 deletions src/main/deploy/choreo/FRRtoRS.traj
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154 changes: 154 additions & 0 deletions src/main/deploy/choreo/LDisrupttoLPreTrench.traj
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149 changes: 149 additions & 0 deletions src/main/deploy/choreo/NHtoiMRR.traj
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142 changes: 142 additions & 0 deletions src/main/deploy/choreo/PRMtoFFR.traj
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183 changes: 183 additions & 0 deletions src/main/deploy/choreo/RDisruptToRPreTrenchReversed.traj
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72 changes: 36 additions & 36 deletions src/main/deploy/choreo/RNeutraltoRPreTrenchReversed.traj
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5 changes: 2 additions & 3 deletions src/main/deploy/choreo/RPreTrenchReversedtoOutpost.traj
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
{"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":2.539198637008667, "y":1.188900351524353, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
{"x":1.5101455450057983, "y":1.159216046333313, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
{"x":0.4514080882072449, "y":0.5556368231773376, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
{"x":0.4514080882072449, "y":0.5556368231773376, "heading":1.5707963267948966, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
Expand All @@ -20,8 +20,7 @@
{"x":{"exp":"RPreTrenchReversed.x", "val":3.32966947555542}, "y":{"exp":"RPreTrenchReversed.y", "val":0.688210129737854}, "heading":{"exp":"RPreTrenchReversed.heading", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"2.539198637008667 m", "val":2.539198637008667}, "y":{"exp":"1.188900351524353 m", "val":1.188900351524353}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
{"x":{"exp":"1.5101455450057983 m", "val":1.5101455450057983}, "y":{"exp":"1.159216046333313 m", "val":1.159216046333313}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false},
{"x":{"exp":"0.4514080882072449 m", "val":0.4514080882072449}, "y":{"exp":"0.5556368231773376 m", "val":0.5556368231773376}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"1.7998199462890625 m", "val":1.7998199462890625}, "y":{"exp":"5.819327354431152 m", "val":5.819327354431152}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
{"x":{"exp":"0.4514080882072449 m", "val":0.4514080882072449}, "y":{"exp":"0.5556368231773376 m", "val":0.5556368231773376}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
Expand Down
185 changes: 87 additions & 98 deletions src/main/deploy/choreo/RPreTrenchReversedtoRNeutra.traj
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140 changes: 140 additions & 0 deletions src/main/deploy/choreo/StartingLTrenchtoDisruptL.traj
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158 changes: 158 additions & 0 deletions src/main/deploy/choreo/StartingRTrenchtoDisruptR.traj
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199 changes: 199 additions & 0 deletions src/main/deploy/choreo/iFRMtoMRR.traj
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159 changes: 159 additions & 0 deletions src/main/deploy/choreo/iMRRtoNH.traj
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168 changes: 147 additions & 21 deletions src/main/deploy/choreo/rebuiltChoreo.chor
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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":{
Expand Down
25 changes: 25 additions & 0 deletions src/main/java/frc/robot/Autos.java
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Expand Up @@ -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),
Expand All @@ -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),
Expand All @@ -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),

Expand Down Expand Up @@ -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(
Expand Down
4 changes: 4 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -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(
Expand Down Expand Up @@ -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());
Expand Down
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