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} -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/A-Pod Left Lane 3L4.auto b/src/main/deploy/pathplanner/autos/A-Pod Left Lane 3L4.auto deleted file mode 100644 index 7da835f..0000000 --- a/src/main/deploy/pathplanner/autos/A-Pod Left Lane 3L4.auto +++ /dev/null @@ -1,127 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "A-Pod HighStart to E-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "A-Pod E-Right to LeftPickup" - } - }, - { - "type": "named", - "data": { - "name": "Intake Coral" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - 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"data": { - "name": "Algae Net Scoring" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Net to E" - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae L3" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.25 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "E-Algae to Net" - } - }, - { - "type": "named", - "data": { - "name": "Algae Net Scoring" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Algae" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.25 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.15 - } - }, - { - "type": "path", - "data": { - "pathName": "Net To End" - } - } - ] - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Practice Field Left Lane 3L4.auto b/src/main/deploy/pathplanner/autos/Practice Field Left Lane 3L4.auto deleted file mode 100644 index af18ebe..0000000 --- a/src/main/deploy/pathplanner/autos/Practice Field Left Lane 3L4.auto +++ /dev/null @@ -1,127 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "HighStart to E-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "E-Right to LeftPickup" - } - }, - { - "type": "named", - "data": { - "name": "Intake Coral" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "LeftPickup to F-Right" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "F-Right to LeftPickup" - } - }, - { - "type": "named", - "data": { - "name": "Intake Coral" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "LeftPickup to F-Left" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RI Net Center Lane.auto b/src/main/deploy/pathplanner/autos/RI Net Center Lane.auto deleted file mode 100644 index 66f4481..0000000 --- a/src/main/deploy/pathplanner/autos/RI Net Center Lane.auto +++ /dev/null @@ -1,169 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "MidStart To D-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "D-Right to D-Algae" - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae L2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "D-Algae to Net" - } - }, - { - "type": "named", - "data": { - "name": "Algae Net Scoring" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Net to E" - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae L3" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "E-Algae to Net" - } - }, - { - "type": "named", - "data": { - "name": "Algae Net Scoring" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Algae" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.25 - } - }, - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - }, - { - "type": "path", - "data": { - "pathName": "Net to RightPickup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right Lane 3L4.auto b/src/main/deploy/pathplanner/autos/Right Lane 3L4.auto deleted file mode 100644 index d992944..0000000 --- a/src/main/deploy/pathplanner/autos/Right Lane 3L4.auto +++ /dev/null @@ -1,126 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "LowStart to C-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "C-Right to RightPickup" - } - }, - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "RightPickup to B-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "B-Right to RightPickup" - } - }, - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "RightPickup to B-Left" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RightWall Algae Auto RightPickup.auto b/src/main/deploy/pathplanner/autos/RightWall Algae Auto RightPickup.auto deleted file mode 100644 index 71fb355..0000000 --- a/src/main/deploy/pathplanner/autos/RightWall Algae Auto RightPickup.auto +++ /dev/null @@ -1,120 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "RightWall to C-Right" - } - }, - { - "type": "named", - "data": { - "name": "Raise to L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "C-Right to C-Algae" - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae L3" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "C-Algae to Net" - } - }, - { - "type": "named", - "data": { - "name": "Algae Net Scoring" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Outtake Algae" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "Net to RightPickup" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Slow Net Center Lane.auto b/src/main/deploy/pathplanner/autos/Slow Net Center Lane.auto deleted file mode 100644 index 9aeb060..0000000 --- a/src/main/deploy/pathplanner/autos/Slow Net Center Lane.auto +++ /dev/null @@ -1,140 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Raise to L3" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.25 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "MidStart To D-Right" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 1.5 - } - }, - { - "type": "named", - "data": { - "name": "Outtake Coral" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "path", - "data": { - "pathName": "Slow D-Algae to Net" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae L2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Remove Algae" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.25 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "D-Algae to Net" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.15 - } - }, - { - "type": "path", - "data": { - "pathName": "D Net To End" - } - } - ] - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/System Check.auto b/src/main/deploy/pathplanner/autos/System Check.auto deleted file mode 100644 index f4bb1f2..0000000 --- a/src/main/deploy/pathplanner/autos/System Check.auto +++ /dev/null @@ -1,184 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Reset Elevator" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Raise to L1" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Raise to L2" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Raise to L3" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Raise to L4" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Remove Algae L2" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Remove Algae L3" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Algae Net Scoring" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Climb" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/A-Pod E-Right to LeftPickup.path b/src/main/deploy/pathplanner/paths/A-Pod E-Right to LeftPickup.path deleted file mode 100644 index c8decd3..0000000 --- a/src/main/deploy/pathplanner/paths/A-Pod E-Right to LeftPickup.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 4.715981259277075, - "y": 5.115002339678413 - }, - "prevControl": null, - "nextControl": { - "x": 5.129412322188593, - "y": 6.516260834474633 - }, - "isLocked": false, - "linkedName": "A-Pod E-Right" - }, - { - "anchor": { - "x": 1.0575889518992114, - "y": 7.099006835581519 - }, - "prevControl": { - "x": 1.4537143191199033, - "y": 5.851672432384792 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "LeftPickup" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -145.0 - }, - "reversed": false, - "folder": "A-Pod", - "idealStartingState": { - "velocity": 1.0, - "rotation": -31.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/A-Pod HighStart to E-Right.path b/src/main/deploy/pathplanner/paths/A-Pod HighStart to E-Right.path deleted file mode 100644 index 88e4c92..0000000 --- a/src/main/deploy/pathplanner/paths/A-Pod HighStart to E-Right.path +++ /dev/null @@ -1,59 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.217001229745369, - "y": 7.465524811921297 - }, - "prevControl": null, - "nextControl": { - "x": 5.676006221064815, - "y": 5.8633861400462965 - }, - "isLocked": false, - "linkedName": "HighStart" - }, - { - "anchor": { - "x": 4.715981259277075, - "y": 5.115002339678413 - }, - "prevControl": { - "x": 5.282882667727779, - "y": 5.979526987565737 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "A-Pod E-Right" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.21123560855263157, - "rotationDegrees": -90.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 1.5, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -31.0 - }, - "reversed": false, - "folder": "A-Pod", - "idealStartingState": { - "velocity": 1.0, - "rotation": -90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/B-Algae to Processor.path b/src/main/deploy/pathplanner/paths/B-Algae to Processor.path deleted file mode 100644 index 102bf7a..0000000 --- a/src/main/deploy/pathplanner/paths/B-Algae to Processor.path +++ /dev/null @@ -1,59 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.792344300981833, - "y": 2.8295457268224835 - }, - "prevControl": null, - "nextControl": { - "x": 3.2412162162162166, - "y": 1.9992398648648646 - }, - "isLocked": false, - "linkedName": "B Algae" - }, - { - "anchor": { - "x": 6.06332628404772, - "y": 0.47555789432010104 - }, - "prevControl": { - "x": 3.2313344594594597, - "y": 1.9992398648648644 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Processor" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.2504930966469527, - "rotationDegrees": -29.000000000000004 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": 180.0 - }, - "reversed": false, - "folder": "Reef to Processor (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -29.000000000000004 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/B-Left to B-Algae.path b/src/main/deploy/pathplanner/paths/B-Left to B-Algae.path deleted file mode 100644 index 263c316..0000000 --- a/src/main/deploy/pathplanner/paths/B-Left to B-Algae.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.6161971830985906, - "y": 2.877024647887323 - }, - "prevControl": null, - "nextControl": { - "x": 3.5824428204847125, - 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"eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -145.0 - }, - "reversed": false, - "folder": "Reefs to Pickups (good) ", - "idealStartingState": { - "velocity": 1.0, - "rotation": -31.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/F-Algae to Net.path b/src/main/deploy/pathplanner/paths/F-Algae to Net.path deleted file mode 100644 index 82fb110..0000000 --- a/src/main/deploy/pathplanner/paths/F-Algae to Net.path +++ /dev/null @@ -1,59 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.7862676056338023, - "y": 5.258010563380281 - }, - "prevControl": null, - "nextControl": { - "x": 2.7965371621621617, - "y": 6.485557432432432 - }, - "isLocked": false, - "linkedName": "F Algae" - }, - 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"velocity": 1.0, - "rotation": -90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftPickup to E-Left.path b/src/main/deploy/pathplanner/paths/LeftPickup to E-Left.path deleted file mode 100644 index 2506829..0000000 --- a/src/main/deploy/pathplanner/paths/LeftPickup to E-Left.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.0575889518992114, - "y": 7.099006835581519 - }, - "prevControl": null, - "nextControl": { - "x": 1.819234322133164, - "y": 6.293708357210692 - }, - "isLocked": false, - "linkedName": "LeftPickup" - }, - { - "anchor": { - "x": 5.316901408450703, - "y": 5.14463028169014 - }, - "prevControl": { - "x": 3.8617910153790334, - "y": 5.97566212251192 - }, - "nextControl": null, - "isLocked": true, - "linkedName": "E Left" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - 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"velocity": 1.0, - "rotation": 0.6740368979845263 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Net to LeftPickup.path b/src/main/deploy/pathplanner/paths/Net to LeftPickup.path deleted file mode 100644 index d639c80..0000000 --- a/src/main/deploy/pathplanner/paths/Net to LeftPickup.path +++ /dev/null @@ -1,86 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.4292570891203695, - "y": 5.554756221064816 - }, - "prevControl": null, - "nextControl": { - "x": 7.598679577464789, - "y": 7.653169014084507 - }, - "isLocked": false, - "linkedName": "Net" - }, - { - "anchor": { - "x": 1.0575889518992114, - "y": 7.099006835581519 - }, - "prevControl": { - "x": 3.1781619148951195, - "y": 6.95222996091509 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "LeftPickup" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.3309178743961347, - "rotationDegrees": -145.0 - } - ], - "constraintZones": [ - 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}, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Net to RightPickup.path b/src/main/deploy/pathplanner/paths/Net to RightPickup.path deleted file mode 100644 index 6a64cd0..0000000 --- a/src/main/deploy/pathplanner/paths/Net to RightPickup.path +++ /dev/null @@ -1,73 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.4292570891203695, - "y": 5.554756221064816 - }, - "prevControl": null, - "nextControl": { - "x": 7.4527397260273975, - "y": 0.44137414383561335 - }, - "isLocked": false, - "linkedName": "Net" - }, - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": { - "x": 7.257405821917809, - "y": 0.9522474315068495 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "RightPickup" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": -35.0 - } - ], - "constraintZones": [ - { - "name": "Constraints Zone", - "minWaypointRelativePos": 0.5, - "maxWaypointRelativePos": 0.9, - "constraints": { - "maxVelocity": 4.0, - "maxAcceleration": 64.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -35.0 - }, - "reversed": false, - "folder": "Net to Pickup (good)", - "idealStartingState": { - "velocity": 0, - "rotation": -90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Processor to B-Algae.path b/src/main/deploy/pathplanner/paths/Processor to B-Algae.path deleted file mode 100644 index 2307ef6..0000000 --- a/src/main/deploy/pathplanner/paths/Processor to B-Algae.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.06332628404772, - "y": 0.47555789432010104 - }, - "prevControl": null, - "nextControl": { - "x": 5.541066035665704, - "y": 2.125765328283475 - }, - "isLocked": false, - "linkedName": "Processor" - }, - { - "anchor": { - "x": 3.792344300981833, - "y": 2.8295457268224835 - }, - "prevControl": { - "x": 4.467503655340254, - "y": 2.1521237436326883 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "B Algae" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -29.000000000000004 - }, - "reversed": false, - "folder": "Processor to reef (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Processor to C-Algae.path b/src/main/deploy/pathplanner/paths/Processor to C-Algae.path deleted file mode 100644 index 4df692c..0000000 --- a/src/main/deploy/pathplanner/paths/Processor to C-Algae.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.06332628404772, - "y": 0.47555789432010104 - }, - "prevControl": null, - "nextControl": { - "x": 5.512996153100053, - "y": 1.27721578206154 - }, - "isLocked": false, - "linkedName": "Processor" - }, - { - "anchor": { - "x": 4.9169798254719845, - "y": 2.8767806184214773 - }, - "prevControl": { - "x": 5.861396366297833, - "y": 1.2933313909613064 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "C Algae" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": 29.999999999999996 - }, - "reversed": false, - "folder": "Processor to reef (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Processor to RightPickup.path b/src/main/deploy/pathplanner/paths/Processor to RightPickup.path deleted file mode 100644 index b683b3b..0000000 --- a/src/main/deploy/pathplanner/paths/Processor to RightPickup.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.06332628404772, - "y": 0.47555789432010104 - }, - "prevControl": null, - "nextControl": { - "x": 4.095446841773653, - "y": 0.8129199137219016 - }, - "isLocked": false, - "linkedName": "Processor" - }, - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": { - "x": 3.1085131979527914, - "y": 0.8747797694421542 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "RightPickup" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -35.0 - }, - "reversed": false, - "folder": "Misc. (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to B-Left.path b/src/main/deploy/pathplanner/paths/RightPickup to B-Left.path deleted file mode 100644 index d7e47ff..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to B-Left.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 2.9224110856178314, - "y": 3.318105000776241 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 3.6161971830985906, - "y": 2.877024647887323 - }, - "prevControl": { - "x": 2.306634241850557, - "y": 2.1515305697605602 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "B Left" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": 151.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to B-Right.path b/src/main/deploy/pathplanner/paths/RightPickup to B-Right.path deleted file mode 100644 index e9302c6..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to B-Right.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 2.9224110856178314, - "y": 3.318105000776241 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 3.9291665165215175, - "y": 2.7703553082191785 - }, - "prevControl": { - "x": 2.619603575273484, - "y": 2.044861230092416 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "B Right" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": 151.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to C-Left.path b/src/main/deploy/pathplanner/paths/RightPickup to C-Left.path deleted file mode 100644 index 92f4f0e..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to C-Left.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 1.757414258093325, - "y": 1.081642252122907 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 5.048630136986302, - "y": 2.8304580479452057 - }, - "prevControl": { - "x": 4.068572156299289, - "y": 2.4096747514839065 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "C Left" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -150.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to C-Right.path b/src/main/deploy/pathplanner/paths/RightPickup to C-Right.path deleted file mode 100644 index 72ab116..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to C-Right.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 1.757414258093325, - "y": 1.081642252122907 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 5.319092465753425, - "y": 2.8905607876712325 - }, - "prevControl": { - "x": 4.339034485066412, - "y": 2.4697774912099333 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "C Right" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -150.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to D-Left.path b/src/main/deploy/pathplanner/paths/RightPickup to D-Left.path deleted file mode 100644 index 60d0184..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to D-Left.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 2.806890776477042, - "y": 2.4076876028900633 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 5.9404929577464785, - "y": 3.869102112676055 - }, - "prevControl": { - "x": 6.039700704225352, - "y": 1.6156690140845051 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "D Left" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -90.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightPickup to D-Right.path b/src/main/deploy/pathplanner/paths/RightPickup to D-Right.path deleted file mode 100644 index 2edaa5d..0000000 --- a/src/main/deploy/pathplanner/paths/RightPickup to D-Right.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.4194542253521114, - "y": 0.8220070422535195 - }, - "prevControl": null, - "nextControl": { - "x": 2.806890776477042, - "y": 2.4076876028900633 - }, - "isLocked": false, - "linkedName": "RightPickup" - }, - { - "anchor": { - "x": 5.819999999999999, - "y": 4.188 - }, - "prevControl": { - "x": 5.919207746478873, - "y": 1.93456690140845 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "D Right" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -90.0 - }, - "reversed": false, - "folder": "Pickups To Reefs (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -35.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightWall to C-Right.path b/src/main/deploy/pathplanner/paths/RightWall to C-Right.path deleted file mode 100644 index 29e97b2..0000000 --- a/src/main/deploy/pathplanner/paths/RightWall to C-Right.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.181267807528671, - "y": 0.47886446441694036 - }, - "prevControl": null, - "nextControl": { - "x": 6.4024944872161464, - "y": 1.552488730837058 - }, - "isLocked": false, - "linkedName": "RightWall" - }, - { - "anchor": { - "x": 5.319092465753425, - "y": 2.8905607876712325 - }, - "prevControl": { - "x": 6.400941780817634, - "y": 1.4631207191716236 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "C Right" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -150.0 - }, - "reversed": false, - "folder": "Misc. (good)", - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Slow D-Algae to Net.path b/src/main/deploy/pathplanner/paths/Slow D-Algae to Net.path deleted file mode 100644 index 0d3f38b..0000000 --- a/src/main/deploy/pathplanner/paths/Slow D-Algae to Net.path +++ /dev/null @@ -1,59 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.76, - "y": 4.069999999999999 - }, - "prevControl": null, - "nextControl": { - "x": 6.828293918918919, - "y": 4.064527027027027 - }, - "isLocked": false, - "linkedName": "D Algae" - }, - { - "anchor": { - "x": 7.448, - "y": 5.06 - }, - "prevControl": { - "x": 6.882814159862989, - "y": 4.001945945945946 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.24947574013157875, - "rotationDegrees": 90.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 2.8, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -90.0 - }, - "reversed": false, - "folder": "Reefs to Net (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": 90.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Slow D-Left to D-Algae.path b/src/main/deploy/pathplanner/paths/Slow D-Left to D-Algae.path deleted file mode 100644 index 511a083..0000000 --- a/src/main/deploy/pathplanner/paths/Slow D-Left to D-Algae.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.819999999999999, - "y": 4.188 - }, - "prevControl": null, - "nextControl": { - "x": 6.050571880380207, - "y": 4.091373875282429 - }, - "isLocked": false, - "linkedName": "D Right" - }, - { - "anchor": { - "x": 5.76, - "y": 4.069999999999999 - }, - "prevControl": { - "x": 5.780877186812837, - "y": 3.8208732389509663 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "D Algae" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0.0, - "rotation": 90.0 - }, - "reversed": false, - "folder": "Misc. (good)", - "idealStartingState": { - "velocity": 1.0, - "rotation": -90.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index d68342d..27be1d3 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,17 +3,6 @@ "robotLength": 0.8128, "holonomicMode": true, "pathFolders": [ - "Misc. (good)", - "Net to Pickup (good)", - "Net to Reef (good)", - "A-Pod", - "Pickups To Reefs (good)", - "Processor to reef (good)", - "Reef to Processor (good)", - "Reef to Reef (good-enough)", - "Reefs to Net (good)", - "Reefs to Pickups (good) ", - "Starts to Reefs" ], "autoFolders": [], "defaultMaxVel": 2.0, @@ -44,4 +33,4 @@ "{\"name\":\"Coral\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.0,\"y\":-0.3},\"size\":{\"width\":0.2,\"length\":0.5},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}", "{\"name\":\"Algae\",\"type\":\"circle\",\"data\":{\"center\":{\"x\":0.0,\"y\":0.3},\"radius\":0.15,\"strokeWidth\":0.0,\"filled\":true}}" ] -} \ No newline at end of file +} diff --git a/src/main/java/Team4450/Robot25/AdvantageScope.java b/src/main/java/Team4450/Robot25/AdvantageScope.java deleted file mode 100644 index 0d9a94e..0000000 --- a/src/main/java/Team4450/Robot25/AdvantageScope.java +++ /dev/null @@ -1,220 +0,0 @@ -package Team4450.Robot25; - -import java.util.ArrayList; - -import Team4450.Robot25.subsystems.MAXSwerveModule; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Quaternion; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -public class AdvantageScope { - /** the AdvantageScope singleton */ - private static AdvantageScope instance; - private double elevHeight = 0; - - /** the robot pose (2D) */ - private Pose2d robotPose = new Pose2d(); - - /** an array of the IDs of gamepieces the robot is currently "holding" */ - private ArrayList gamepieceInventory = new ArrayList(); - - /** an array of the poses of all gamepieces on field */ - private Pose3d[] gamepieces = new Pose3d[11]; - - /** an array of swerve states (angle, velocity, angle, velocity, etc.) */ - private double[] swerveStates = new double[8]; - - /** the gyro angle of the robot */ - private double gyro = 0; - - /** an array of currently sighted vision target poses */ - private ArrayList visionTargets = new ArrayList(); - - public void setElevatorHeight(double h) {elevHeight = h;} - - /** - * Set the pose of a given gamepiece - * @param id the gamepiece ID - * @param pose the Pose3d of the gamepiece - */ - public void setGamepiecePose(int id, Pose3d pose) { - gamepieces[id] = pose; - } - - /** - * Update the mechanism poses and component and robot positions - */ - public void update() { - // season specific mechanism values: - Pose3d elevatorPose = new Pose3d(0, 0, elevHeight, new Rotation3d()); - - // send components - sendPoses("components", elevatorPose); - sendPoses("robot", new Pose3d(robotPose)); - sendPoses("gamepieces", gamepieces); - sendPoses("targets", visionTargets.toArray(new Pose3d[0])); - - SmartDashboard.putNumberArray("Visualization/swerve_modules", swerveStates); - SmartDashboard.putNumber("Visualization/gyro", gyro); - - // for all the notes in the gamepiece inventory, set the pose to be above the robot - // this could be changed to make it look like they are "in" the robot but thats not - // super necessary (it would be cool though) - for (int i=0;i targets) { - visionTargets = targets; - } - - /** - * Deconstruct the Pose3d to a numerical quaternion array - * @param pose the Pose3d - * @return a double array of length 7 containing the quaternion values - */ - private double[] poseToArray(Pose3d pose) { - if (pose == null) { - double[] empty = {0,0,0,0,0,0,0}; - return empty; - } - - Quaternion quat = pose.getRotation().getQuaternion(); - double[] array = {pose.getX(), pose.getY(), pose.getZ(), quat.getW(), quat.getX(), quat.getY(), quat.getZ()}; - return array; - } - - /** - * Send one or more Pose3ds with the given key to NetworkTables by deconstructing them into a numerical array - * of quaternion values for use in AdvantageScope - * @param key the name to put under the "Visualization/" subheading - * @param poses one or more Pose3ds - */ - public void sendPoses(String key, Pose3d... poses) { - ArrayList output = new ArrayList(); - - for (int i=0;i 0 && RobotBase.isSimulation()) return true; - else return false; - } - - /** - * Clear or "drop" the given gamepiece - * @param id the ID of the gamepiece to clear - */ - public void clearInventoryGamepiece(int id) { - gamepieceInventory.remove(id); - } - - /** - * Clears the cache of reserved gamepieces ("dropping" them) - */ - public void clearGamepieceInventory() { - gamepieceInventory.clear(); - } - - - /** - * Check if the gamepiece with the given ID is reserved (in robot, etc.) - * @param id the gamepiece ID - * @return true or false - */ - public boolean isReservedGamepiece(int id) { - return gamepieceInventory.contains(id); - } - - /** - * Set the fused odometry/vision pose in AdvantageScope - * @param pose the 2D fused pose from a SwervePoseEstimator - */ - public void setRobotPose(Pose2d pose) { - robotPose = pose; - gyro = pose.getRotation().getDegrees(); - } - - // FL, FR, BL, BR - /** - * Sends the swerve module poses to AdvantageScope - * @param fl the Front Left MAXSwerveModule object - * @param fr the Front Right MAXSwerveModule object - * @param bl the Back Left MAXSwerveModule object - * @param br the Back Right MAXSwerveModule object - */ - public void setSwerveModules(MAXSwerveModule fl, MAXSwerveModule fr, MAXSwerveModule bl, MAXSwerveModule br) { - swerveStates[0] = fl.getState().angle.getDegrees(); - swerveStates[1] = fl.getState().speedMetersPerSecond; - swerveStates[2] = fr.getState().angle.getDegrees(); - swerveStates[3] = fr.getState().speedMetersPerSecond; - swerveStates[4] = bl.getState().angle.getDegrees(); - swerveStates[5] = bl.getState().speedMetersPerSecond; - swerveStates[6] = br.getState().angle.getDegrees(); - swerveStates[7] = br.getState().speedMetersPerSecond; - } - - /** - * Access the singleton AdvantageScope object for use in code - * @return the AdvantageScope singleton - */ - public static AdvantageScope getInstance() { - if (AdvantageScope.instance == null) AdvantageScope.instance = new AdvantageScope(); - - return AdvantageScope.instance; - } -} diff --git a/src/main/java/Team4450/Robot25/Robot.java b/src/main/java/Team4450/Robot25/Robot.java index d8a4f33..cc72441 100644 --- a/src/main/java/Team4450/Robot25/Robot.java +++ b/src/main/java/Team4450/Robot25/Robot.java @@ -25,7 +25,7 @@ public class Robot extends TimedRobot { - private RobotContainer robotContainer; + private RobotContainer robotContainer; /** * This function is called when the robot is first started up and should be used @@ -217,9 +217,6 @@ public void autonomousInit() robotContainer.getMatchInformation(); - robotContainer.resetFaults(); - RobotContainer.elevator.limiter = false; - // RobotContainer function determines which auto command is selected to run. Command autonomousCommand = robotContainer.getAutonomousCommand(); @@ -263,14 +260,9 @@ public void teleopInit() SmartDashboard.putBoolean("Disabled", false); SmartDashboard.putBoolean("Teleop Mode", true); - robotContainer.resetFaults(); robotContainer.fixPathPlannerGyro(); // Because of this only use blue alliance during practice - RobotContainer.algaeManipulator.intialize(); - RobotContainer.algaeGroundIntake.intialize(); - RobotContainer.coralManipulator.intialize(); RobotContainer.driveBase.setFieldRelative(true); - RobotContainer.elevator.limiter = true; // Driving handled by DriveCommand which is default command for the DriveBase. // Other commands scheduled by joystick buttons. diff --git a/src/main/java/Team4450/Robot25/RobotContainer.java b/src/main/java/Team4450/Robot25/RobotContainer.java index 1934abd..cf31a43 100644 --- a/src/main/java/Team4450/Robot25/RobotContainer.java +++ b/src/main/java/Team4450/Robot25/RobotContainer.java @@ -74,12 +74,6 @@ public class RobotContainer public static ShuffleBoard shuffleBoard; public static DriveBase driveBase; private Candle candle = null; - public static Elevator elevator; - public static ElevatedManipulator elevatedManipulator; - public static AlgaeManipulator algaeManipulator; - public static AlgaeGroundIntake algaeGroundIntake; - public static CoralManipulator coralManipulator; - public static Climber climber; // Subsystem Default Commands. @@ -106,22 +100,11 @@ public class RobotContainer private XboxController driverController = new XboxController(DRIVER_PAD); public static XboxController utilityController = new XboxController(UTILITY_PAD); - // private PowerDistribution pdp = new PowerDistribution(REV_PDB, PowerDistribution.ModuleType.kCTRE); private PowerDistribution pdp = new PowerDistribution(REV_PDB, PowerDistribution.ModuleType.kRev); - // Compressor class controls the CTRE/REV Pneumatics control Module. - private Compressor pcm = new Compressor(PneumaticsModuleType.REVPH); - // Navigation board. public static NavX navx; - private MonitorPDP monitorPDPThread; - private MonitorCompressorPH monitorCompressorThread; - private CameraFeed cameraFeed; - - // Trajectories we load manually. - //public static PathPlannerTrajectory ppTestTrajectory; - private static SendableChooser autoChooser; private static String autonomousCommandName = "none"; @@ -132,8 +115,6 @@ public class RobotContainer public RobotContainer() throws Exception { Util.consoleLog(); - - SendableRegistry.addLW(pdp, "PDH"); // Only sent to NT in Test mode. // Get information about the match environment from the Field Control System. @@ -146,6 +127,7 @@ public RobotContainer() throws Exception robotProperties = Util.readProperties(); } catch (Exception e) { Util.logException(e);} + // ? Why does it matter // Is this the competition or clone robot? if (robotProperties == null || robotProperties.getProperty("RobotId").equals("comp")) @@ -153,24 +135,13 @@ public RobotContainer() throws Exception else isClone = true; - // Set compressor enabled switch on dashboard from properties file. - // Later code will read that setting from the dashboard and turn - // compressor on or off in response to dashboard setting. - - boolean compressorEnabled = true; // Default if no property. - - if (robotProperties != null) - compressorEnabled = Boolean.parseBoolean(robotProperties.getProperty("CompressorEnabledByDefault")); - - SmartDashboard.putBoolean("CompressorEnabled", compressorEnabled); - - // Reset PDB & PCM sticky faults. - - resetFaults(); - // Create NavX object here since must done before CameraFeed is created (don't remember why). // Navx calibrates at power on and must complete before robot moves. Takes ~1 second for 2nd - // generation Navx ~15 seconds for classic Navx. We assume there will be enough time between + // generation Navx ~15 seconds for classic Navx. + // + // !!!!! THIS IS A TERRIBLE ASSUMPTION WHY NOT JUST FORCE A WAIT !!!!!! + // + // We assume there will be enough time between // power on and our first movement because normally things don't happen that fast // Warning: The navx instance is shared with the swerve drive code. Resetting or otherwise @@ -192,21 +163,6 @@ public RobotContainer() throws Exception shuffleBoard = new ShuffleBoard(); driveBase = new DriveBase(); - algaeManipulator = new AlgaeManipulator(); - coralManipulator = new CoralManipulator(); - elevator = new Elevator(driveBase); - climber = new Climber(); - algaeGroundIntake = new AlgaeGroundIntake(); - elevatedManipulator = new ElevatedManipulator(coralManipulator, - algaeManipulator, - algaeGroundIntake, - elevator); - - // if (RobotBase.isReal()) - // { - // candle = new Candle(CTRE_CANDLE, 8+26); - // candle.setDefaultCommand(new UpdateCandle(candle)); - // } // Create any persistent commands. @@ -254,29 +210,6 @@ public RobotContainer() throws Exception driverController.getRightXDS(), driverController)); - elevator.setDefaultCommand(new RunCommand( - ()->{elevator.move(-MathUtil.applyDeadband(utilityController.getLeftY() * 0.5, DRIVE_DEADBAND)); - }, elevator)); - //Start the compressor, PDP and camera feed monitoring Tasks. - - //monitorCompressorThread = MonitorCompressorPH.getInstance(pcm); - //monitorCompressorThread.setDelay(1.0); - //monitorCompressorThread.SetLowPressureAlarm(50); - //monitorCompressorThread.start(); - // - //monitorPDPThread = MonitorPDP.getInstance(pdp); - //monitorPDPThread.start(); - // - //pdp.setSwitchableChannel(true); - - // Start camera server thread using our class for usb cameras. - - if (RobotBase.isReal()) - { - cameraFeed = CameraFeed.getInstance(); - cameraFeed.start(); - } - // Start a thread that will wait 30 seconds then disable the missing // joystick warning. This is long enough for when the warning is valid // but will stop flooding the console log when we are legitimately @@ -361,17 +294,6 @@ private void configureButtonBindings() utilityController.setRumble(RumbleType.kBothRumble, 0); })); - // holding top right bumper enables the alternate rotation mode in - // which the driver points stick to desired heading. - - //new Trigger(() -> driverController.getRightBumperButton()) - // .whileTrue(new PointToYaw( - // ()->PointToYaw.yawFromAxes( - // -MathUtil.applyDeadband(driverController.getRightX(), Constants.DRIVE_DEADBAND), - // -MathUtil.applyDeadband(driverController.getRightY(), Constants.DRIVE_DEADBAND) - // ), driveBase, false - //)); - // toggle slow-mode new Trigger(() -> driverController.getLeftBumperButton()) .onTrue(new InstantCommand(driveBase::enableSlowMode)) @@ -389,95 +311,15 @@ private void configureButtonBindings() new Trigger(() -> driverController.getPOV() == 90) .onTrue(new RunCommand(() -> driveBase.setX(), driveBase)); - - new Trigger(() -> driverController.getBButton() && climber.pistonStatus() == false) - .onTrue(new ParallelCommandGroup(new InstantCommand(() -> elevatedManipulator.executeSetPosition(PresetPosition.CLIMB), elevatedManipulator), - new ExtendClimber(climber), - new InstantCommand(() -> algaeManipulator.extendOut()))); - - new Trigger(() -> driverController.getPOV() == 0) - .onTrue(new RetractClimber(climber)); - - new Trigger(() -> driverController.getXButton()) - .onTrue(new IntakeAlgaeGround(elevatedManipulator)); - - new Trigger(() -> driverController.getYButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.RESET)); - - // -------- Utility pad buttons ---------- //Use Preset Command for the following: - // Moves the coral manipulator/elevator to the L1 Branch scoring position - new Trigger(() -> utilityController.getXButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.CORAL_SCORING_L1_NEW)); - - // Moves the coral manipulator/elevator to the L2 Branch scoring position. - new Trigger(() -> utilityController.getAButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.CORAL_SCORING_L2)); + // Example + // // Moves the coral manipulator/elevator to the L1 Branch scoring position + // new Trigger(() -> utilityController.getXButton()) + // .onTrue(new Preset(elevatedManipulator, PresetPosition.CORAL_SCORING_L1_NEW)); - // Moves the coral manipulator/elevator to the L3 Branch scoring position. - new Trigger(() -> utilityController.getBButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.CORAL_SCORING_L3)); - - // Moves the coral manipulator/elevator to the L4 Branch scoring position. - new Trigger(() -> utilityController.getYButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.CORAL_SCORING_L4)); - - - //Moves the algae Manipulator/elevator to the removing position for Algae on L3 - new Trigger(()-> utilityController.getPOV() == 0) - // .onTrue(new ParallelCommandGroup(new Preset(elevatedManipulator, PresetPosition.ALGAE_REMOVE_L3), - // new InstantCommand(() -> elevatedManipulator.intakeCoralInsteadOfAlgae = false))); - .onTrue(new Preset(elevatedManipulator, PresetPosition.ALGAE_REMOVE_L3)); - - - //Moves the algae Manipulator/Elevator to the removing position for Algae on L2 - new Trigger(()-> utilityController.getPOV() == 180) - .onTrue(new ParallelCommandGroup(new Preset(elevatedManipulator, PresetPosition.ALGAE_REMOVE_L2))); - - //Moves the elevator and algae manipulator to the scoring position for the algae net. - new Trigger(()-> utilityController.getPOV() == 90) - .onTrue(new ParallelCommandGroup(new Preset(elevatedManipulator, PresetPosition.ALGAE_NET_SCORING))); - - //Moves the elevator and algae manipulator to the scoring position for the algae processor. - new Trigger(()-> utilityController.getPOV() == 270) - .onTrue(new Preset(elevatedManipulator, PresetPosition.ALGAE_LOLLIPOP)); - // new InstantCommand(() -> elevatedManipulator.scoreCoralInsteadOfAlgae = false))); - - // Moves the coral manipulator/elevator to the intake position for the coral station and runs the intake until it has coral. - new Trigger(() -> utilityController.getLeftTrigger()) - .whileTrue(new IntakeCoral(elevatedManipulator)) - .onFalse(new InstantCommand(() -> elevatedManipulator.coralManipulator.stop())); - - //Runs coral outtake if the elevator and manipulator are in the correct position. - new Trigger(() -> utilityController.getRightTrigger()) - .onTrue(new OuttakeCoral(elevatedManipulator)); - - // Runs algae outtake if the elevator and manipulator are in the correct position. - new Trigger(() -> utilityController.getRightBumperButton() && !elevatedManipulator.outtakeProcessor) - .onTrue(new OuttakeAlgae(elevatedManipulator)); - - new Trigger(() -> utilityController.getRightBumperButton() && elevatedManipulator.outtakeProcessor) - .onTrue(new OuttakeProcessor(elevatedManipulator)); - - new Trigger(() -> utilityController.getLeftBumperButton()) - .whileTrue(new RemoveAlgae(elevatedManipulator)); - - - //Resets the manipulators and elevator to the default position. - new Trigger(() -> utilityController.getBackButton()) - .onTrue(new Preset(elevatedManipulator, PresetPosition.RESET)); - - new Trigger(() -> utilityController.getStartButton()) - .onTrue(new InstantCommand(elevator::resetEncoders)); - - new Trigger(() -> utilityController.getRightStickButton()) - .onTrue(new InstantCommand(() -> elevatedManipulator.algaeManipulator.pivotUp())) - .onFalse(new InstantCommand(() -> elevatedManipulator.algaeManipulator.pivotDown())); - - } /** * Use this to pass the autonomous command to the main {@link Robot} class. @@ -486,7 +328,6 @@ private void configureButtonBindings() * @return The Command to run in autonomous. */ public Command getAutonomousCommand() { - // PathPlannerAuto ppAutoCommand; Command autoCommand; autoCommand = autoChooser.getSelected(); @@ -502,13 +343,6 @@ public Command getAutonomousCommand() { Util.consoleLog("auto name=%s", autonomousCommandName); - if (autoCommand instanceof PathPlannerAuto) - { - // ppAutoCommand = (PathPlannerAuto) autoCommand; - - // Util.consoleLog("pp starting pose=%s", PathPlannerAuto.getStaringPoseFromAutoFile(autoCommand.getName().toString())); - } - return autoCommand; } @@ -526,27 +360,9 @@ private void setAutoChoices() // Register commands called from PathPlanner Autos. - NamedCommands.registerCommand("Intake Coral", new IntakeCoral(elevatedManipulator)); - NamedCommands.registerCommand("Outtake Coral", new OuttakeCoral(elevatedManipulator)); - NamedCommands.registerCommand("Remove Algae", new RemoveAlgae(elevatedManipulator)); - NamedCommands.registerCommand("Outtake Algae", new OuttakeAlgae(elevatedManipulator)); - NamedCommands.registerCommand("Outtake Processor", new OuttakeProcessor(elevatedManipulator)); - NamedCommands.registerCommand("Raise to L1", new ParallelCommandGroup(new InstantCommand(() -> elevatedManipulator.executeSetPosition(PresetPosition.CORAL_SCORING_L1_NEW), elevatedManipulator), - new InstantCommand(() -> coralManipulator.pivotUp()))); - NamedCommands.registerCommand("Raise to L2", new ParallelCommandGroup(new InstantCommand(() -> elevatedManipulator.executeSetPosition(PresetPosition.CORAL_SCORING_L2), elevatedManipulator), - new InstantCommand(() -> coralManipulator.pivotDown()))); - NamedCommands.registerCommand("Raise to L3", new ParallelCommandGroup(new InstantCommand(() -> elevatedManipulator.executeSetPosition(PresetPosition.CORAL_SCORING_L3), elevatedManipulator), - new InstantCommand(() -> coralManipulator.pivotDown()))); - NamedCommands.registerCommand("Raise to L4", new ParallelCommandGroup(new InstantCommand(() -> elevatedManipulator.executeSetPosition(PresetPosition.CORAL_SCORING_L4), elevatedManipulator), - new InstantCommand(() -> coralManipulator.pivotDown()))); - NamedCommands.registerCommand("Remove Algae L2", new Preset(elevatedManipulator, PresetPosition.ALGAE_REMOVE_L2)); - NamedCommands.registerCommand("Remove Algae L3", new Preset(elevatedManipulator, PresetPosition.ALGAE_REMOVE_L3)); - NamedCommands.registerCommand("Algae Net Scoring", new Preset(elevatedManipulator, PresetPosition.ALGAE_NET_SCORING)); - NamedCommands.registerCommand("Algae Processor Scoring", new Preset(elevatedManipulator, PresetPosition.ALGAE_PROCESSOR_SCORING)); - NamedCommands.registerCommand("Intake Algae Ground", new IntakeAlgaeGround(elevatedManipulator)); - NamedCommands.registerCommand("Reset Elevator", new Preset(elevatedManipulator, PresetPosition.RESET)); - NamedCommands.registerCommand("Algae Pivot Up", new InstantCommand(() -> algaeManipulator.pivotUp())); - NamedCommands.registerCommand("Climb", new Preset(elevatedManipulator, PresetPosition.CLIMB)); + // Example + // NamedCommands.registerCommand("Intake Coral", new IntakeCoral(elevatedManipulator)); + // Create a chooser with the PathPlanner Autos located in the PP // folders. @@ -571,61 +387,7 @@ public void getMatchInformation() gameMessage); } - /** - * Reset sticky faults in PDP and PCM and turn compressor on/off as - * set by switch on DS. - */ - public void resetFaults() - { - // This code turns on/off the automatic compressor management if requested by DS. Putting this - // here is a convenience since this function is called at each mode change. - if (SmartDashboard.getBoolean("CompressorEnabled", true)) - pcm.enableDigital(); - else - pcm.disable(); - - pdp.clearStickyFaults(); - //pcm.clearAllStickyFaults(); // Add back if we use a CTRE pcm. - - if (monitorPDPThread != null) monitorPDPThread.reset(); - } - public void fixPathPlannerGyro() { driveBase.fixPathPlannerGyro(); } - - /** - * Loads a PathPlanner path file into a path planner trajectory. - * @param fileName Name of file. Will automatically look in deploy directory and add the .path ext. - * @return The path's trajectory. - */ - // public static PathPlannerTrajectory loadPPTrajectoryFile(String fileName) - // { - // PathPlannerTrajectory trajectory; - // Path trajectoryFilePath; - - // // We fab up the full path for tracing but the loadPath() function does it's own - // // thing constructing a path from just the filename. - // trajectoryFilePath = Filesystem.getDeployDirectory().toPath().resolve("pathplanner/" + fileName + ".path"); - - // Util.consoleLog("loading PP trajectory: %s", trajectoryFilePath); - - // trajectory = PathPlanner.loadPath(fileName, - // new PathConstraints(MAX_WHEEL_SPEED, MAX_WHEEL_ACCEL)); - - // if (trajectory == null) - // { - // Util.consoleLog("Unable to open pp trajectory: " + fileName); - // throw new RuntimeException("Unable to open PP trajectory: " + fileName); - // } - - // Util.consoleLog("PP trajectory loaded: %s", fileName); - - // return trajectory; - // } - - // private void loadPPTestTrajectory() - // { - // ppTestTrajectory = loadPPTrajectoryFile("Test-Path"); - // } } diff --git a/src/main/java/Team4450/Robot25/commands/ExtendClimber.java b/src/main/java/Team4450/Robot25/commands/ExtendClimber.java deleted file mode 100644 index c24c0f1..0000000 --- a/src/main/java/Team4450/Robot25/commands/ExtendClimber.java +++ /dev/null @@ -1,55 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.Climber; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class ExtendClimber extends Command { - private final Climber climber; - - private static enum State { EXTENDING, STOP } - private State state = State.STOP; - - public ExtendClimber(Climber climber) { - this.climber = climber; - - addRequirements(climber); - - SmartDashboard.putString("Climber Status", state.name()); - } - - @Override - public void initialize() { - state = State.EXTENDING; - SmartDashboard.putString("Climber Status", state.name()); - } - - @Override - public void execute() { - switch (state) { - case EXTENDING: - climber.extendPiston(); - - if(climber.pistonStatus() == true) - state = State.STOP; - SmartDashboard.putString("Climber Status", state.name()); - break; - - case STOP: - // Do nothing - break; - } - } - - @Override - public boolean isFinished() { - return state == State.STOP; - } - - @Override - public void end(boolean interrupted) { - Util.consoleLog("interrupted=%b", interrupted); - SmartDashboard.putString("Climber Status", state.name()); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/IntakeAlgaeGround.java b/src/main/java/Team4450/Robot25/commands/IntakeAlgaeGround.java deleted file mode 100644 index fd665a3..0000000 --- a/src/main/java/Team4450/Robot25/commands/IntakeAlgaeGround.java +++ /dev/null @@ -1,78 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator.PresetPosition; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class IntakeAlgaeGround extends Command { - private final ElevatedManipulator elevatedManipulator; - - private static enum State{MOVING, INTAKE_ALGAE, FEEDING, HOLDING, STOP}; - private State state = State.MOVING; - - double startTime; - public IntakeAlgaeGround(ElevatedManipulator elevatedManipulator){ - this.elevatedManipulator = elevatedManipulator; - addRequirements(elevatedManipulator); - } - - public void initialize(){ - state = State.INTAKE_ALGAE; - elevatedManipulator.executeSetPosition(PresetPosition.ALGAE_GROUND_INTAKE); //Moves the algae manipulator and elevator to the intake position and extends the ground intake - SmartDashboard.putString("Algae Ground Intake Status", state.name()); - } - - public void execute(){ - switch(state){ - case MOVING: - if(elevatedManipulator.executeSetPosition(PresetPosition.ALGAE_GROUND_INTAKE)) { //Checks if the manipulator and elevator are in the ground intake position - state = State.INTAKE_ALGAE; //Then move to the intake state - SmartDashboard.putString("Algae Ground Intake Status", state.name()); - } - break; - - case INTAKE_ALGAE: - elevatedManipulator.algaeManipulator.startIntaking(); - elevatedManipulator.algaeGroundIntake.startRollers(); - if(elevatedManipulator.algaeManipulator.getCurrent() > 75.0){ - state = State.FEEDING; - } - break; - - case FEEDING: - elevatedManipulator.algaeGroundIntake.feedAlgae(); - elevatedManipulator.algaeManipulator.holdAlgae(); - elevatedManipulator.algaeManipulator.pivotUp(); - if(elevatedManipulator.algaeManipulator.hasAlgae() == true){ - state = State.HOLDING; - } - break; - case HOLDING: - if(elevatedManipulator.elevator.getElevatorHeight() > 0.35){ - elevatedManipulator.algaeManipulator.holdAlgae(); - elevatedManipulator.algaeManipulator.pivotDown(); - elevatedManipulator.algaeGroundIntake.stopRollers(); - elevatedManipulator.algaeGroundIntake.retractIn(); - state = State.STOP; - } - break; - - case STOP: - SmartDashboard.putString("status", "Algae Ground Intake Sequenced"); - break; - } - } - - public boolean isFinished(){ - return state == State.STOP; - } - - public void end(boolean interrupted){ - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.algaeManipulator.holdAlgae(); - elevatedManipulator.algaeGroundIntake.stopRollers(); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/IntakeCoral.java b/src/main/java/Team4450/Robot25/commands/IntakeCoral.java deleted file mode 100644 index 9a14700..0000000 --- a/src/main/java/Team4450/Robot25/commands/IntakeCoral.java +++ /dev/null @@ -1,59 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator.PresetPosition; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class IntakeCoral extends Command { - private final ElevatedManipulator elevatedManipulator; - - private static enum State{MOVING, INTAKE, STOP}; - private State state = State.MOVING; - - public IntakeCoral(ElevatedManipulator elevatedManipulator){ - this.elevatedManipulator = elevatedManipulator; - - SmartDashboard.putString("Intake Coral Status", state.name()); - } - - public void initialize(){ - state = State.MOVING; - elevatedManipulator.executeSetPosition(PresetPosition.CORAL_STATION_INTAKE); //Moves the coral manipulator and elevator to the intake position - SmartDashboard.putString("Intake Coral Status", state.name()); - } - - public void execute(){ - switch(state){ - case MOVING: - if(elevatedManipulator.executeSetPosition(PresetPosition.CORAL_STATION_INTAKE)) { //Checks if the manipulator and elevator are in the intake position - state = State.INTAKE; //Then move to the intake state - SmartDashboard.putString("Intake Coral Status", state.name()); - } - break; - - case INTAKE: - elevatedManipulator.coralManipulator.startIntaking(); //Start intaking the coral - - if(elevatedManipulator.coralManipulator.hasCoral()) //If the getCurrent() method in the CoralManipulator class returns greater than 80 amps, set to true. - state = State.STOP; //Switch the state of the switch case to STOP - SmartDashboard.putString("Intake Coral Status", state.name()); - break; - - case STOP: - elevatedManipulator.coralManipulator.stop(); //Stop the coral manipulator - break; - } - } - - public boolean isFinished(){ - return state == State.STOP; //If the state of the switch case is STOP, then move into the end() method - } - - public void end(boolean interrupted){ //If isFinished() returns true, then this method is called - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.coralManipulator.stop(); - SmartDashboard.putString("Intake Coral Status", state.name()); - } -} diff --git a/src/main/java/Team4450/Robot25/commands/OuttakeAlgae.java b/src/main/java/Team4450/Robot25/commands/OuttakeAlgae.java deleted file mode 100644 index c25d85c..0000000 --- a/src/main/java/Team4450/Robot25/commands/OuttakeAlgae.java +++ /dev/null @@ -1,50 +0,0 @@ -package Team4450.Robot25.commands; -import Team4450.Lib.Util; -// import Team4450.Robot25.subsystems.AlgaeManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -public class OuttakeAlgae extends Command { - - private final ElevatedManipulator elevatedManipulator; - private static enum State{OUTTAKE, STOP}; - private State state = State.OUTTAKE; - double startTime; - - public OuttakeAlgae(ElevatedManipulator elevatedManipulator){ - this.elevatedManipulator = elevatedManipulator; - - SmartDashboard.putString("Algae Manipulator Status", state.name()); - } - public void initialize(){ - state = State.OUTTAKE; - SmartDashboard.putString("Algae Manipulator Status", state.name()); - Util.consoleLog("Outtake Algae Initialized"); - startTime = Util.timeStamp(); - } - public void execute(){ - switch(state){ - case OUTTAKE: - elevatedManipulator.algaeManipulator.startOuttaking(); - if(Util.timeStamp() - startTime > 0.5) - state = State.STOP; - break; - // case RETURN: - // if(elevatedManipulator.algaeManipulator.algaeExtendStatus && elevatedManipulator.algaeManipulator.algaePivotStatus== false) - // state = State.STOP; - // break; - case STOP: - elevatedManipulator.algaeManipulator.stop(); - break; - } - } - public boolean isFinished(){ - return state == State.STOP; - } - public void end(boolean interrupted){ - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.algaeManipulator.stop(); - elevatedManipulator.scoreCoralInsteadOfAlgae = true; // Change to true to score coral instead of algae. - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/OuttakeCoral.java b/src/main/java/Team4450/Robot25/commands/OuttakeCoral.java deleted file mode 100644 index b89410e..0000000 --- a/src/main/java/Team4450/Robot25/commands/OuttakeCoral.java +++ /dev/null @@ -1,64 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -// import Team4450.Robot25.subsystems.CoralManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator.PresetPosition; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class OuttakeCoral extends Command { - // private final CoralManipulator coralManipulator; - private final ElevatedManipulator elevatedManipulator; - - private static enum State{OUTTAKE, STOP}; - private State state = State.OUTTAKE; - private double startTime; - - public OuttakeCoral(ElevatedManipulator elevatedManipulator){ - // this.coralManipulator = coralManipulator; - this.elevatedManipulator = elevatedManipulator; - - SmartDashboard.putString("Outtake Coral Status", state.name()); - } - - - - public void initialize(){ - state = State.OUTTAKE; - startTime = Util.timeStamp(); - SmartDashboard.putString("Outtake Coral Status: ", state.name()); - } - - public void execute(){ - switch(state){ - case OUTTAKE: - if(elevatedManipulator.isElevatorAtTarget(0.05)) - elevatedManipulator.coralManipulator.startL1Outtaking(); - else - elevatedManipulator.coralManipulator.startOuttaking(); - - if(Util.getElaspedTime(startTime) > 0.35) - state = State.STOP; - SmartDashboard.putString("Outtake Coral Status", state.name()); - Util.consoleLog("Outtake Coral Status: " + state.name()); - break; - - case STOP: - elevatedManipulator.coralManipulator.stop(); - SmartDashboard.putString("Outtake Coral Status: ", state.name()); - break; - } - } - - public boolean isFinished(){ - return state == State.STOP; - } - - public void end(boolean interrupted){ - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.coralManipulator.stop(); - elevatedManipulator.executeSetPosition(PresetPosition.NONE); - } -} diff --git a/src/main/java/Team4450/Robot25/commands/OuttakeProcessor.java b/src/main/java/Team4450/Robot25/commands/OuttakeProcessor.java deleted file mode 100644 index dc7aabf..0000000 --- a/src/main/java/Team4450/Robot25/commands/OuttakeProcessor.java +++ /dev/null @@ -1,51 +0,0 @@ -package Team4450.Robot25.commands; -import Team4450.Lib.Util; -// import Team4450.Robot25.subsystems.AlgaeManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -public class OuttakeProcessor extends Command { - - private final ElevatedManipulator elevatedManipulator; - private static enum State{OUTTAKE, STOP}; - private State state = State.OUTTAKE; - double startTime; - - public OuttakeProcessor(ElevatedManipulator elevatedManipulator){ - this.elevatedManipulator = elevatedManipulator; - - SmartDashboard.putString("Algae Manipulator Status", state.name()); - } - public void initialize(){ - state = State.OUTTAKE; - SmartDashboard.putString("Algae Manipulator Status", state.name()); - Util.consoleLog("Outtake Algae Initialized"); - startTime = Util.timeStamp(); - } - public void execute(){ - switch(state){ - case OUTTAKE: - elevatedManipulator.algaeManipulator.processAlgae(); - if(Util.timeStamp() - startTime > 0.5) - state = State.STOP; - break; - // case RETURN: - // if(elevatedManipulator.algaeManipulator.algaeExtendStatus && elevatedManipulator.algaeManipulator.algaePivotStatus== false) - // state = State.STOP; - // break; - case STOP: - elevatedManipulator.algaeManipulator.stop(); - break; - } - } - public boolean isFinished(){ - return state == State.STOP; - } - public void end(boolean interrupted){ - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.algaeManipulator.stop(); - elevatedManipulator.scoreCoralInsteadOfAlgae = true; // Change to true to score coral instead of algae. - elevatedManipulator.outtakeProcessor = false; - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/PointToYaw.java b/src/main/java/Team4450/Robot25/commands/PointToYaw.java deleted file mode 100644 index 11f7363..0000000 --- a/src/main/java/Team4450/Robot25/commands/PointToYaw.java +++ /dev/null @@ -1,174 +0,0 @@ -package Team4450.Robot25.commands; - -import java.util.function.DoubleSupplier; - -import Team4450.Lib.Util; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import Team4450.Robot25.subsystems.DriveBase; - -/** - * This command points the robot to a specified yaw value, - * overriding the controller joystick input and allowing - * rotation to be commanded seperately from translation. - */ -public class PointToYaw extends Command { - private DoubleSupplier yawSupplier; - private boolean wait; - private DriveBase robotDrive; - private PIDController pidController = new PIDController(0.02, 0.0, 0); - - private static final double NO_VALUE = Double.NaN; - - /** - * Point to a yaw value - * @param yawSupplier a supplier of desired yaw values (IN degrees!) - * @param robotDrive the drive subsystem - * @param wait whether or not to wait until it is completed to drive again (whether this command "requires" drivebase) - */ - public PointToYaw(DoubleSupplier yawSupplier, DriveBase robotDrive, boolean wait) { - Util.consoleLog(); - - this.yawSupplier = yawSupplier; - this.robotDrive = robotDrive; - this.wait = wait; - - SendableRegistry.addLW(pidController, "PointToYaw PID"); - SmartDashboard.putData("PointToYaw PID", pidController); - - // if wait is set to true, then "require" the drive subsystem to ovverride other commands - if (wait) addRequirements(robotDrive); - } - - @Override - public void execute() { - // fetches desired yaw - double desiredYaw = yawSupplier.getAsDouble(); - - if (!Double.isNaN(desiredYaw)) // if NaN just finish up with last value - pidController.setSetpoint(desiredYaw); - - if (Double.isNaN(desiredYaw) && !wait) { - // if desiredYaw is NaN, that means that joystick is centered or POV - // buttons aren't pressed or some other reason to temporarily ignore - // the output of this command - - // if setTrackingRotation uses NaN, then the drivebase will ignore it and - // just use joystick values - robotDrive.setTrackingRotation(desiredYaw); - return; - } - - // calculate needed rotation with robot yaw (in degrees?) as input - // - // getYawR() doesn't wrap around at 2pi (360deg), it just keeps on - // going: so we take remainder of dividing by 2pi to get the "wrapped" around - // true value with the modulo operator (%). As for the negative, I'm not entirely - // sure why it is needed but I believe it is because the input from joysticks in the - // drive() method is expected to be reversed so we have to manually do that. It doesn't - // work if we remove the negative. - double measured = robotDrive.getGyroYaw(); - double rotation = -pidController.calculate(measured); - - SmartDashboard.putNumber("PointToWay/setpoint", desiredYaw); - SmartDashboard.putNumber("PointToWay/measured", measured); - SmartDashboard.putNumber("PointToWay/output", rotation); - - if (wait) { - // if this command is only one running on drivebase (wait) then command it to run - robotDrive.drive(0,0,rotation,false); - } - - // sets the override in drivebase so it will use rotation rather than joystick - robotDrive.setTrackingRotation(rotation); - } - - @Override - public InterruptionBehavior getInterruptionBehavior() { - if (wait) - return InterruptionBehavior.kCancelIncoming; - else - return InterruptionBehavior.kCancelSelf; - } - - @Override - public void initialize() { - Util.consoleLog(); - - pidController.reset(); - pidController.setTolerance(1); - // pidController.enableContinuousInput(0, 2 * Math.PI); // rotation is continuous: full circle repeats - pidController.enableContinuousInput(-180, 180); - robotDrive.enableTracking(); - } - - @Override - public void end(boolean interrupted) { - Util.consoleLog("ended interrupted: %b", interrupted); - - robotDrive.disableTracking(); - robotDrive.setTrackingRotation(0); - } - - @Override - public boolean isFinished() { - // end command when at setpoint if waiting otherwise just don't end - if (wait) - return pidController.atSetpoint(); - else - return false; - } - - /** - * Generate a yaw from a POV value. - * - * @param pov The POV value. - * @return yaw - */ - public static double yawFromPOV(double pov) { - if (pov < 0) - // no POV buttons are pressed currently - return NO_VALUE; - else { - // converts the 0 to 360 degree output of POV to yaw-style radian heading - double radians = Math.toRadians(pov); - - if (radians > Math.PI) { - double overshoot = radians - Math.PI; - radians = -overshoot; - } - - radians *= -1; - return Math.toDegrees(radians); - } - } - - /** - * helper value to generate a yaw from axis values - * - * @param xAxis - * @param yAxis - * @return yaw - */ - public static double yawFromAxes(double xAxis, double yAxis) { - double theta = Math.atan2(xAxis, yAxis) + Math.PI; - double magnitude = Math.sqrt(Math.pow(xAxis, 2) + Math.pow(yAxis, 2)); - - if (theta > Math.PI) { - theta = -(Math.PI - (theta - Math.PI)); - } - - if (magnitude > 0.2) { - Util.consoleLog("%f", theta); - SmartDashboard.putNumber("axis_yaw", Math.toDegrees(theta)); - return Math.toDegrees(theta); - } else { - // this means the driver hasn't moved enough to trigger rotation - // kind of like deadzone but radius of angle instead of individual - // X and Y parts - return NO_VALUE; - } - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/Preset.java b/src/main/java/Team4450/Robot25/commands/Preset.java deleted file mode 100644 index 05ccf37..0000000 --- a/src/main/java/Team4450/Robot25/commands/Preset.java +++ /dev/null @@ -1,53 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import Team4450.Robot25.subsystems.ElevatedManipulator.PresetPosition; -import edu.wpi.first.wpilibj2.command.Command; - -/** - * Move the shooter and elevator to one of many "PresetPosition"s defined in the - * ElevatedManipulator subsystem class. Very helpful to chain commands with in RobotContainer! - */ -public class Preset extends Command { - private final ElevatedManipulator elevatedManipulator; - private PresetPosition preset; - - private boolean done = false; // whether it's done or not - - /** - * Move the shooter and elevator to one of many "PresetPosition"s defined in the - * ElevatedManipulator subsystem class. - * @param ElevatedManipulator the ElevatedManipulator subsystem - * @param preset the PresetPosition to go to - */ - public Preset(ElevatedManipulator elevatedManipulator, PresetPosition preset) { - this.elevatedManipulator = elevatedManipulator; - this.preset = preset; - addRequirements(elevatedManipulator); - } - - @Override - public void initialize() { - Util.consoleLog(); - } - - @Override - public void execute() { - // must be called every loop! - // most of the code for this is in ElevatedManipulator, so better to look - // there for info/code - Util.consoleLog("Preset Position:" + preset); - done = elevatedManipulator.executeSetPosition(preset); - } - - @Override - public boolean isFinished() { - return done; - } - - @Override - public void end(boolean interrupted) { - Util.consoleLog("interrupted=%b", interrupted); - } -} diff --git a/src/main/java/Team4450/Robot25/commands/RemoveAlgae.java b/src/main/java/Team4450/Robot25/commands/RemoveAlgae.java deleted file mode 100644 index 2db977c..0000000 --- a/src/main/java/Team4450/Robot25/commands/RemoveAlgae.java +++ /dev/null @@ -1,59 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.ElevatedManipulator; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class RemoveAlgae extends Command { - // private final AlgaeManipulator algaeManipulator; - private final ElevatedManipulator elevatedManipulator; - - private static enum State{REMOVE, HOLD}; - private State state = State.REMOVE; - - double startTime; - public RemoveAlgae(ElevatedManipulator elevatedManipulator){ - // this.algaeManipulator = algaeManipulator; - this.elevatedManipulator = elevatedManipulator; - } - - public void initialize(){ - state = State.REMOVE; - SmartDashboard.putString("Algae Manipulator Status", state.name()); - Util.consoleLog("Remove Algae Initialized"); - // startTime = Util.timeStamp(); - } - - public void execute(){ - switch(state){ - case REMOVE: - elevatedManipulator.algaeManipulator.startIntaking(); - - if(elevatedManipulator.algaeManipulator.hasAlgae()) - state = State.HOLD; - break; - - // case RETURN: - // if(elevatedManipulator.algaeManipulator.algaeExtendStatus == false) - // state = State.STOP; - // break; - - case HOLD: - elevatedManipulator.algaeManipulator.holdAlgae(); - SmartDashboard.putBoolean("Has Algae", elevatedManipulator.algaeManipulator.hasAlgae()); - break; - } - } - - public boolean isFinished(){ - return state == State.HOLD; - } - - public void end(boolean interrupted){ - Util.consoleLog("interrupted=%b", interrupted); - elevatedManipulator.algaeManipulator.holdAlgae(); - elevatedManipulator.intakeCoralInsteadOfAlgae = true; // Change to true to intake coral instead of algae - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/commands/RetractClimber.java b/src/main/java/Team4450/Robot25/commands/RetractClimber.java deleted file mode 100644 index c1835b8..0000000 --- a/src/main/java/Team4450/Robot25/commands/RetractClimber.java +++ /dev/null @@ -1,44 +0,0 @@ -package Team4450.Robot25.commands; - -import Team4450.Lib.Util; -import Team4450.Robot25.subsystems.Climber; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; - -public class RetractClimber extends Command { - private final Climber climber; - private boolean isFinished = false; - - public RetractClimber(Climber climber) { - this.climber = climber; - - addRequirements(climber); - - SmartDashboard.putString("Climber Status", "RETRACTING"); - } - - @Override - public void initialize() { - SmartDashboard.putString("Climber Status", "RETRACTING"); - } - - @Override - public void execute(){ - - climber.retractPiston(); - - if(climber.pistonStatus() == false) - isFinished = true; - } - - @Override - public boolean isFinished() { - return isFinished; // This command runs until interrupted - } - - @Override - public void end(boolean interrupted) { - Util.consoleLog("interrupted=%b", interrupted); - SmartDashboard.putString("Climber Status", "STOPPED"); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/subsystems/AlgaeGroundIntake.java b/src/main/java/Team4450/Robot25/subsystems/AlgaeGroundIntake.java deleted file mode 100644 index 5f8f8f8..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/AlgaeGroundIntake.java +++ /dev/null @@ -1,114 +0,0 @@ -package Team4450.Robot25.subsystems; - -import static Team4450.Robot25.Constants.ALGAE_GROUND; -import static Team4450.Robot25.Constants.ALGAE_GROUND_INTAKE; - -import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; -import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; -import com.revrobotics.spark.config.SparkMaxConfig; - -import Team4450.Lib.Util; -import Team4450.Lib.ValveDA; - -import com.revrobotics.spark.SparkLowLevel.MotorType; - -import edu.wpi.first.wpilibj.PneumaticsModuleType; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class AlgaeGroundIntake extends SubsystemBase { - private SparkMax algaeGroundMotor = new SparkMax(ALGAE_GROUND_INTAKE, MotorType.kBrushless); - private SparkMaxConfig algaeGroundConfig = new SparkMaxConfig(); - - private ValveDA algaeGroundPiston = new ValveDA(ALGAE_GROUND, PneumaticsModuleType.REVPH); - - private boolean isRunning = false; - public boolean algaeGroundPistonStatus = false; - - public AlgaeGroundIntake(){ - algaeGroundConfig.idleMode(IdleMode.kBrake); - - algaeGroundMotor.configure(algaeGroundConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); - - Util.consoleLog("Algae Ground Intake Initialized"); - } - - public void intialize(){ - - retractIn(); - - algaeGroundPistonStatus = false; - updateDS(); - } - - public void start(double speedfactor){ - isRunning = Math.abs(speedfactor) > 0.02; - - updateDS(); - - algaeGroundMotor.set(Util.clampValue(speedfactor, 1)); - } - - public void startRollers(){ - isRunning = true; - algaeGroundMotor.set(1); - updateDS(); - } - - public void feedAlgae(){ - algaeGroundMotor.set(0.4); - isRunning = true; - updateDS(); - } - public void start(){ - start(1); - isRunning = true; - updateDS(); - } - - public void stopRollers(){ - algaeGroundMotor.set(0); - isRunning = false; - updateDS(); - } - - public void extendOut(){ - Util.consoleLog(); - - algaeGroundPiston.SetA(); - - algaeGroundPistonStatus = true; - - updateDS(); - } - - public void retractIn(){ - Util.consoleLog(); - - algaeGroundPiston.SetB(); - - algaeGroundPistonStatus = false; - - updateDS(); - } - - public void setAlgaeGroundExtend(boolean status){ - Util.consoleLog(); - - if (status == true){ - extendOut(); - algaeGroundPistonStatus = true; - } else if (status == false){ - retractIn(); - algaeGroundPistonStatus = false; - } - updateDS(); - } - - public void updateDS(){ - SmartDashboard.putBoolean("Algae Ground Intake Running", isRunning); - SmartDashboard.putBoolean("Algae Ground Intake Piston Status", algaeGroundPistonStatus); - } -} diff --git a/src/main/java/Team4450/Robot25/subsystems/AlgaeManipulator.java b/src/main/java/Team4450/Robot25/subsystems/AlgaeManipulator.java deleted file mode 100644 index 5c3996e..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/AlgaeManipulator.java +++ /dev/null @@ -1,213 +0,0 @@ -package Team4450.Robot25.subsystems; - -import Team4450.Lib.Util; -import Team4450.Lib.ValveDA; -import static Team4450.Robot25.Constants.ALGAE_MANIPULATOR; -import static Team4450.Robot25.Constants.ALGAE_PIVOT; -import static Team4450.Robot25.Constants.ALGAE_EXTEND; - -import com.revrobotics.spark.SparkFlex; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; -import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; -import com.revrobotics.spark.config.SparkFlexConfig; -import com.revrobotics.spark.SparkLowLevel.MotorType; - -import edu.wpi.first.wpilibj.PneumaticsModuleType; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class AlgaeManipulator extends SubsystemBase { - private SparkFlex algaeMotor = new SparkFlex(ALGAE_MANIPULATOR, MotorType.kBrushless); - private SparkFlexConfig algaeConfig = new SparkFlexConfig(); - - private ValveDA algaePivot = new ValveDA(ALGAE_PIVOT, PneumaticsModuleType.REVPH); - private ValveDA algaeExtend = new ValveDA(ALGAE_EXTEND, PneumaticsModuleType.REVPH); - - public boolean isAlgaeMotorRunning = false; - public boolean algaePivotStatus = false; - public boolean algaeExtendStatus = false; - public double algCurrent; - - public AlgaeManipulator(){ - - algaeMotor.configure(algaeConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); - - algaePivot.setName("algaePivot"); - algaeExtend.setName("algaeExtend"); - - Util.consoleLog("Algae Manipulator Initialized"); - } - - public void intialize(){ - Util.consoleLog(); - - pivotDown(); - retractIn(); - - - algaePivotStatus = false; - algaeExtendStatus = false; - - updateDS(); - } - - public void periodic(){ - double algCurrent = this.getCurrent(); - SmartDashboard.putNumber("Algae Manipulator Current", algCurrent); - } - - public void start(double speedfactor){ - isAlgaeMotorRunning = Math.abs(speedfactor) > 0.02; - - updateDS(); - - algaeMotor.set(Util.clampValue(speedfactor, 1)); - } - - public void startIntaking(){ - isAlgaeMotorRunning = true; - algaeMotor.set(-0.5); - updateDS(); - } - - public void runDefault(){ - isAlgaeMotorRunning = true; - algaeMotor.set(-0.1); - updateDS(); - } - - public void holdAlgae(){ - isAlgaeMotorRunning = true; - algaeMotor.set(-0.20); - updateDS(); - } - public void startOuttaking(){ - isAlgaeMotorRunning = true; - algaeMotor.set(1); - updateDS(); - } - - public void processAlgae(){ - isAlgaeMotorRunning = true; - algaeMotor.set(0.05); - updateDS(); - } - - public void start(){ - start(0.1); - isAlgaeMotorRunning = true; - updateDS(); - } - - public void stop(){ - Util.consoleLog(); - // if(hasAlgae() == true) { - // holdAlgae(); - // isAlgaeMotorRunning = true; - // } - // else if(hasAlgae() == false){ - algaeMotor.stopMotor(); - // isAlgaeMotorRunning = false; - // } - - pivotDown(); - - isAlgaeMotorRunning = false; - algaePivotStatus = false; - updateDS(); - } - - public void pivotUp(){ - Util.consoleLog(); - - algaePivot.SetA(); - - algaePivotStatus = true; - - updateDS(); - } - - public void pivotDown(){ - Util.consoleLog(); - - algaePivot.SetB(); - - algaePivotStatus = false; - - updateDS(); - } - - public void extendOut(){ - Util.consoleLog(); - - algaeExtend.SetA(); - - algaeExtendStatus = true; - - updateDS(); - } - - public void retractIn(){ - Util.consoleLog(); - - algaeExtend.SetB(); - - algaeExtendStatus = false; - - updateDS(); - } - - public void setAlgaePivot(boolean status){ - Util.consoleLog(); - - if (status == true){ - pivotUp(); - algaePivotStatus = true; - } else if (status == false){ - pivotDown(); - algaePivotStatus = false; - } - - updateDS(); - } - - public void setAlgaeExtend(boolean status){ - Util.consoleLog(); - - if (status == true){ - extendOut(); - algaeExtendStatus = true; - } else if (status == false){ - retractIn(); - algaeExtendStatus = false; - } - - updateDS(); - } - - public boolean hasAlgae(){ - if(isAlgaeMotorRunning && this.getCurrent() > 20.0){ - return true; - } else if(this.getCurrent() > 80.0){ - return true; - } else if(this.getCurrent() < 20.0){ - return false; - } else { - return false; - } - } - - public double getCurrent(){ - double algCurrent = algaeMotor.getOutputCurrent(); - SmartDashboard.putNumber("Algae Manipulator Current", algCurrent); - return algCurrent; - } - - private void updateDS() { - SmartDashboard.putBoolean("Algae Manipulator Running", isAlgaeMotorRunning); - SmartDashboard.putBoolean("Algae Pivot On", algaePivotStatus); - SmartDashboard.putBoolean("Algae Extended Out", algaeExtendStatus); - SmartDashboard.putNumber("Algae Manipulator Velocity:", algaeMotor.getEncoder().getVelocity()); - } -} diff --git a/src/main/java/Team4450/Robot25/subsystems/Climber.java b/src/main/java/Team4450/Robot25/subsystems/Climber.java deleted file mode 100644 index 384b76f..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/Climber.java +++ /dev/null @@ -1,45 +0,0 @@ -package Team4450.Robot25.subsystems; - -import Team4450.Lib.Util; -import Team4450.Lib.ValveSA; -import static Team4450.Robot25.Constants.CLIMBER_PISTON; - -import edu.wpi.first.wpilibj.PneumaticsModuleType; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Climber extends SubsystemBase { - private ValveSA climberPiston = new ValveSA(CLIMBER_PISTON, PneumaticsModuleType.REVPH); - - private boolean pistonExtended = false; - - public Climber() { - Util.consoleLog("Climber Initialized"); - } - - public void extendPiston() { - Util.consoleLog(); - climberPiston.Open(); - pistonExtended = true; - updateDS(); - } - - public void retractPiston() { - Util.consoleLog(); - climberPiston.Close(); - pistonExtended = false; - updateDS(); - } - - public boolean pistonStatus(){ - return pistonExtended; - } - - public void periodic(){ - SmartDashboard.putBoolean("Climber Piston", pistonExtended); - } - - private void updateDS() { - SmartDashboard.putBoolean("Climber Piston", pistonExtended); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/subsystems/CoralManipulator.java b/src/main/java/Team4450/Robot25/subsystems/CoralManipulator.java deleted file mode 100644 index 1031b9f..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/CoralManipulator.java +++ /dev/null @@ -1,141 +0,0 @@ -package Team4450.Robot25.subsystems; - -import Team4450.Lib.Util; -import Team4450.Lib.ValveDA; -import static Team4450.Robot25.Constants.CORAL_MANIPULATOR; -import static Team4450.Robot25.Constants.CORAL_PIVOT; - -import com.revrobotics.spark.SparkFlex; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; -import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; -import com.revrobotics.spark.config.SparkFlexConfig; -import com.revrobotics.spark.SparkLowLevel.MotorType; - -import edu.wpi.first.wpilibj.PneumaticsModuleType; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class CoralManipulator extends SubsystemBase { - private SparkFlex coralMotor = new SparkFlex(CORAL_MANIPULATOR, MotorType.kBrushless); - private SparkFlexConfig coralConfig = new SparkFlexConfig(); - - private ValveDA coralPivot = new ValveDA(CORAL_PIVOT, PneumaticsModuleType.REVPH); - - private boolean isRunning = false; - public boolean coralPivotStatus = false; - - public CoralManipulator(){ - coralConfig.idleMode(IdleMode.kBrake); - - coralMotor.configure(coralConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); - - coralPivot.setName("coralPivot"); - - - Util.consoleLog("Coral Manipulator Initialized"); - } - - public void intialize(){ - Util.consoleLog(); - - pivotDown(); - - coralPivotStatus = false; - - updateDS(); - } - - public boolean hasCoral(){ - return this.getCurrent() > 80.0; - } - - public void start(double speedfactor){ - isRunning = Math.abs(speedfactor) > 0.02; - - updateDS(); - - coralMotor.set(Util.clampValue(speedfactor, 1)); - } - - public void startIntaking(){ - coralMotor.set(1); - isRunning = true; - updateDS(); - } - - public void startL1Outtaking(){ - coralMotor.set(-0.3); - isRunning = true; - updateDS(); - } - - public void startOuttaking(){ - coralMotor.set(-0.70); - isRunning = true; - updateDS(); - } - - public void start(){ - start(1); - - isRunning = true; - updateDS(); - } - - public void stop(){ - Util.consoleLog(); - - coralMotor.stopMotor(); - // pivotDown(); - - isRunning = false; - coralPivotStatus = false; - updateDS(); - } - - public void pivotUp(){ - Util.consoleLog(); - - coralPivot.SetA(); - - coralPivotStatus = true; - updateDS(); - - } - - public void setCoralPivot(boolean status){ - Util.consoleLog("Setting Coral Pivot to: " + status); - - if (status == true){ - pivotUp(); - coralPivotStatus = true; - } else if(status == false){ - pivotDown(); - coralPivotStatus = false; - } - - updateDS(); - } - public void pivotDown(){ - Util.consoleLog(); - - coralPivot.SetB(); - - coralPivotStatus = false; - updateDS(); - } - - public double getCurrent(){ - double current = coralMotor.getOutputCurrent(); - SmartDashboard.putNumber("Coral Manipulator Current", current); - return current; - } - - private void updateDS() { - SmartDashboard.putBoolean("Coral Manipulator Running", isRunning); - - // SmartDashboard.putBoolean("Coral Pivot On", coralPivotStatus); - // SmartDashboard.putBoolean("Has Coral", hasCoral()); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/subsystems/DriveBase.java b/src/main/java/Team4450/Robot25/subsystems/DriveBase.java index e8a5619..9c8bec4 100644 --- a/src/main/java/Team4450/Robot25/subsystems/DriveBase.java +++ b/src/main/java/Team4450/Robot25/subsystems/DriveBase.java @@ -15,23 +15,16 @@ import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.controllers.PPHolonomicDriveController; -//import com.pathplanner.lib.util.ReplanningConfig; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; -//import com.pathplanner.lib.util.HolonomicPathFollowerConfig; import Team4450.Robot25.Constants.AutoConstants; import Team4450.Robot25.Constants.DriveConstants; import Team4450.Robot25.Constants.ModuleConstants; import Team4450.Robot25.utility.SwerveUtils; -import Team4450.Robot25.AdvantageScope; import Team4450.Robot25.Constants; import Team4450.Robot25.RobotContainer; import Team4450.Lib.Util; -import Team4450.Lib.FXEncoder; -import Team4450.Lib.Talon_FX; -import edu.wpi.first.hal.SimDouble; -import edu.wpi.first.hal.simulation.SimDeviceDataJNI; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.filter.SlewRateLimiter; @@ -43,7 +36,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.util.WPIUtilJNI; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; @@ -99,9 +91,6 @@ public class DriveBase extends SubsystemBase { private Optional pathplannerOverride = Optional.empty(); - // Field2d object creates the field display on the simulation and gives us an API - // to control what is displayed (the simulated robot). - private final Field2d field2d = new Field2d(); // Slew rate filter variables for controlling lateral acceleration @@ -178,12 +167,6 @@ public DriveBase() { rearLeft.setTranslation2d(new Translation2d(-DriveConstants.kTrackWidth / 2.0, DriveConstants.kTrackWidth / 2.0)); rearRight.setTranslation2d(new Translation2d(-DriveConstants.kTrackWidth / 2.0, -DriveConstants.kTrackWidth / 2.0)); - // Set up simulated NavX. - - if (RobotBase.isSimulation()) RobotContainer.navx.initializeSim(); - - // Field2d drives the field display under simulation. - SmartDashboard.putData("Field2d", field2d); // Save initial brake mode to we can toggle it later. @@ -214,10 +197,6 @@ public void periodic() { rearRight.getPosition() }); - // update 3d simulation: look in AdvantageScope.java for more - AdvantageScope.getInstance().setRobotPose(currentPose); - AdvantageScope.getInstance().update(); - SmartDashboard.putNumber("Gyro angle", getGyroYaw()); SmartDashboard.putString("Robot pose", currentPose.toString()); @@ -233,8 +212,6 @@ public void periodic() { SmartDashboard.putNumber("Distance Traveled(m)", distanceTraveled); - // Track gyro yaw to support simulation of resettable yaw. - yawAngle += navx.getAngle() - lastYawAngle; lastYawAngle = navx.getAngle(); @@ -257,36 +234,6 @@ public void periodic() { // Updates sim display of swerve modules. setField2dModulePoses(); - AdvantageScope.getInstance().setSwerveModules(frontLeft, frontRight, rearLeft, rearRight); - - } - - /** - * Called on every scheduler loop when in simulation. - */ - @Override - public void simulationPeriodic() - { - // We are not using this call now because the REV simulation does not work - // correctly. Will leave the code in place in case this issue gets fixed. - //if (robot.isEnabled()) REVPhysicsSim.getInstance().run(); - - // want to simulate navX gyro changing as robot turns - // information available is radians per second and this happens every 20ms - // radians/2pi = 360 degrees so 1 degree per second is radians / 2pi - // increment is made every 20 ms so radian adder would be (rads/sec) * (20/1000) - // degree adder would be radian adder * 360/2pi - // so degree increment multiplier is 360/100pi = 1.1459 - - double temp = chassisSpeeds.omegaRadiansPerSecond * 1.1459155; - - simAngle += temp; - - RobotContainer.navx.setSimAngle(simAngle); - - Unmanaged.feedEnable(20); - - //talon_FX.simulationPeriodic(); } /** @@ -487,12 +434,9 @@ public void driveChassisSpeeds(ChassisSpeeds speeds) { /** * Drives robot by commanding swerve modules from a ChassisSpeeds object. * Identical to driveChassisSpeeds() but reserved for PathPlanner to enable - * simulation overrides and other changes we may want to make. * @param speeds The ChassisSpeeds object. */ public void driveChassisSpeedsPP(ChassisSpeeds speeds) { - if (RobotBase.isSimulation()) this.chassisSpeeds = new ChassisSpeeds(0, 0, -speeds.omegaRadiansPerSecond); - driveChassisSpeeds(speeds); } @@ -631,7 +575,6 @@ public Rotation2d getGyroYaw2d() /** * Update the pose of a swerve module on the field2d object. Module * pose is connected to the robot pose so they move together on the - * field simulation display. * @param module Swerve module to update. */ private void updateModulePose(MAXSwerveModule module) @@ -923,11 +866,8 @@ public void stop() private void configureAutoBuilder() { Util.consoleLog(); - // different PID values for real/simulation because they are quite different. PIDConstants rotPID = new PIDConstants(AutoConstants.kHolonomicPathFollowerP, 0.0, 0.0); - if (RobotBase.isSimulation()) rotPID = new PIDConstants(0.5, 0.0, 0.0); - // Load the RobotConfig from the GUI settings. RobotConfig config = null; @@ -978,4 +918,4 @@ public void setPPRotationOverrideOffset(double degrees) { } public void clearPPRotationOverride() {pathplannerOverride = Optional.empty();} -} \ No newline at end of file +} diff --git a/src/main/java/Team4450/Robot25/subsystems/ElevatedManipulator.java b/src/main/java/Team4450/Robot25/subsystems/ElevatedManipulator.java deleted file mode 100644 index 550b6e3..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/ElevatedManipulator.java +++ /dev/null @@ -1,355 +0,0 @@ -package Team4450.Robot25.subsystems; - -import Team4450.Lib.Util; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class ElevatedManipulator extends SubsystemBase { - - public final CoralManipulator coralManipulator; - // public final CoralGroundIntake coralGroundIntake; - public final AlgaeManipulator algaeManipulator; - public final AlgaeGroundIntake algaeGroundIntake; - public final Elevator elevator; - - public static enum PresetPosition{ - /* Reset Position */ RESET, - /* Coral Station Intaking Position */ CORAL_STATION_INTAKE, - /* Coral Scoring Position L1 */ CORAL_SCORING_L1, - /*Coral Scoring Position L1 New */ CORAL_SCORING_L1_NEW, - /* Coral Scoring Position L2 */ CORAL_SCORING_L2, - /* Coral Scoring Position L3 */ CORAL_SCORING_L3, - /* Coral Scoring Position L4 */ CORAL_SCORING_L4, - /* Algae Removing Position L2 */ ALGAE_REMOVE_L2, - /*Algae Removing Position L3 */ ALGAE_REMOVE_L3, - /* Alage Net Scoring Position */ ALGAE_NET_SCORING, - /* Algae Processor Scoring Position */ ALGAE_PROCESSOR_SCORING, - /*Algae Lollipop Removing Position */ ALGAE_LOLLIPOP, - /*Algae Ground Intake Position */ ALGAE_GROUND_INTAKE, - /*Climb Position */ CLIMB, - /* No Position */ NONE, - }; - - public boolean scoreCoralInsteadOfAlgae = true; - - public boolean intakeCoralInsteadOfAlgae = true; - - public boolean outtakeProcessor = false; - - private double endGoalElevatorHeight; - - private boolean endGoalCoralPivotStatus; - - private boolean endGoalAlgaeExtendStatus; - - private boolean endGoalAlgaePivotStatus; - - private boolean endGoalAlgaeGroundPistonStatus; - - private boolean isAtSafeAlgaeHeight; - - private boolean atTarget; - - private PresetPosition position = PresetPosition.NONE; - - private double elevatorOffset = 0.01; - - public ElevatedManipulator(CoralManipulator coralManipulator, - AlgaeManipulator algaeManipulator, - AlgaeGroundIntake algaeGroundIntake, - Elevator elevator){ - Util.consoleLog(); - - this.coralManipulator = coralManipulator; - // this.coralGroundIntake = coralGroundIntake; - this.algaeManipulator = algaeManipulator; - this.algaeGroundIntake = algaeGroundIntake; - this.elevator = elevator; - - SmartDashboard.putString("Elevator Position Phase", "Initalized"); - } - - public boolean executeSetPosition(PresetPosition position){ - this.position = position; - - switch(position){ - case RESET: - endGoalElevatorHeight = 0.05 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case CORAL_STATION_INTAKE: - endGoalElevatorHeight = 0.3655 + elevatorOffset; - endGoalCoralPivotStatus = true; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case CORAL_SCORING_L1: - endGoalElevatorHeight = 0.44 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - case CORAL_SCORING_L1_NEW: - endGoalElevatorHeight = 0.05 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case CORAL_SCORING_L2: - endGoalElevatorHeight = 0.59 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case CORAL_SCORING_L3: - endGoalElevatorHeight = 0.98 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case CORAL_SCORING_L4: - endGoalElevatorHeight = 1.590 + elevatorOffset; - endGoalCoralPivotStatus = false; - if(algaeManipulator.hasAlgae()) - endGoalAlgaeExtendStatus = true; - else - endGoalAlgaeExtendStatus = false; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_REMOVE_L2: - endGoalElevatorHeight = 0.37 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_REMOVE_L3: - endGoalElevatorHeight = 0.80 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_NET_SCORING: - // endGoalElevatorHeight = 1.72; - endGoalElevatorHeight = 1.62 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - if(hasAlgae() == true) - endGoalAlgaePivotStatus = true; - else - endGoalAlgaePivotStatus = true; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_PROCESSOR_SCORING: - endGoalElevatorHeight = 0.05 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_LOLLIPOP: - endGoalElevatorHeight = 0.1469 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case ALGAE_GROUND_INTAKE: - endGoalElevatorHeight = 0.05 + elevatorOffset; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = true; - break; - - - case CLIMB: - endGoalElevatorHeight = 0; - endGoalCoralPivotStatus = false; - endGoalAlgaeExtendStatus = true; - endGoalAlgaePivotStatus = false; - endGoalAlgaeGroundPistonStatus = false; - break; - - case NONE: - break; - } - - return execute(); - } - - public boolean executeSetPosition(double elevatorPosition, boolean coralPivotStatus, double coralGroundIntakePosition, boolean algaeExtendStatus, boolean algaePivotStatus, boolean algaeGroundPistonStatus){ - this.position = PresetPosition.NONE; - this.endGoalCoralPivotStatus = coralPivotStatus; - this.endGoalAlgaeExtendStatus = algaeExtendStatus; - this.endGoalAlgaePivotStatus = algaePivotStatus; - this.endGoalElevatorHeight = elevatorPosition; - this.endGoalAlgaeGroundPistonStatus = algaeGroundPistonStatus; - - return execute(); - } - - public boolean execute() { - - - //Handle Coral Pivot - coralManipulator.setCoralPivot(endGoalCoralPivotStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Coral Pivot"); - atTarget = true; - - - - - //Determine if we are extending or retracting - //endGoalAlgaeExtendStatus is equal to true when we are extending & algaeExtendStatus is equal to false when we aren't extended - //endGoalAlgaeExtendStatus is equal to false when we are retracting & algaeExtendStatus is equal to true when we are extended - boolean isExtending = endGoalAlgaeExtendStatus && !algaeManipulator.algaeExtendStatus; - boolean isRetracting = !endGoalAlgaeExtendStatus && algaeManipulator.algaeExtendStatus; - boolean setPivotOnly = endGoalAlgaeExtendStatus == algaeManipulator.algaeExtendStatus; - boolean isSafe = false; - - - // Handle Algae Extend, Pivot, and Ground Piston based on direction - if (isExtending) { - // Extend ground intake piston first - if (algaeGroundIntake.algaeGroundPistonStatus != endGoalAlgaeGroundPistonStatus) { - algaeGroundIntake.setAlgaeGroundExtend(endGoalAlgaeGroundPistonStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Ground Piston Extend"); - atTarget = true; - } - if (algaeManipulator.algaeExtendStatus != endGoalAlgaeExtendStatus) { - algaeManipulator.setAlgaeExtend(endGoalAlgaeExtendStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Extend"); - atTarget = true; - isSafe = true; - } - if (isSafe) { - algaeManipulator.setAlgaePivot(endGoalAlgaePivotStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Pivot Up"); - atTarget = true; - isSafe = false; - } - } else if (isRetracting) { - // Retract pivot first - algaeManipulator.setAlgaePivot(endGoalAlgaePivotStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Pivot Down"); - atTarget = true; - - if (algaeManipulator.algaeExtendStatus != endGoalAlgaeExtendStatus) { - algaeManipulator.setAlgaeExtend(endGoalAlgaeExtendStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Retract"); - atTarget = true; - } - if (algaeGroundIntake.algaeGroundPistonStatus != endGoalAlgaeGroundPistonStatus) { - algaeGroundIntake.setAlgaeGroundExtend(endGoalAlgaeGroundPistonStatus); - SmartDashboard.putString("Elevator Position Phase", "Setting Algae Ground Piston Retract"); - atTarget = true; - } - } - - if (setPivotOnly) { - algaeManipulator.setAlgaePivot(endGoalAlgaePivotStatus); - } - - // if(isPivotAtTarget(endGoalCoralGroundPivotAngle)){ - // coralGroundIntake.setAngle(endGoalCoralGroundPivotAngle); - // coralGroundIntake.movePivotRelative(0); - // SmartDashboard.putString("Elevator Position Phase", "Setting Coral Ground Pivot"); - // } else { - // coralGroundIntake.setAngle(endGoalCoralGroundPivotAngle); - // SmartDashboard.putString("Elevator Position Phase", "Coral Ground Pivot at Target"); - // } - // Handle Elevator - if (atTarget) { - if (isElevatorAtTarget(endGoalElevatorHeight)) { - elevator.setElevatorHeight(endGoalElevatorHeight); - elevator.move(0); - SmartDashboard.putString("Elevator Position Phase", "Elevator at Target"); - } else { - elevator.setElevatorHeight(endGoalElevatorHeight); - SmartDashboard.putString("Elevator Position Phase", "Setting Elevator Height"); - } - } - - return atTarget; - } - - public void periodic() { - SmartDashboard.putString("Preset Targret", position.name()); - } - - public void unlockPosition(){ - elevator.unlockPosition(); - } - - public void moveRelative(double elevatorHeightChange) { - elevator.move(elevatorHeightChange * 0.9); - } - - public void setElevatorHeight(double height){ - elevator.setElevatorHeight(height); - } - - public boolean hasCoral(){ - return coralManipulator.hasCoral(); - } - - public boolean hasAlgae(){ - return algaeManipulator.hasAlgae(); - } - public boolean isElevatorAtTarget(double height){ - return elevator.isElevatorAtTarget(height); - } - - public boolean isAtSafeAlgaeHeight(){ - if(elevator.getElevatorHeight() > 0.30) - return isAtSafeAlgaeHeight == true; - return false; - } - - // public boolean isPivotAtTarget(double goal){ - // return coralGroundIntake.isPivotAtTarget(goal); - // } - - public void resetEncoders(){ - elevator.resetEncoders(); - } -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/subsystems/Elevator.java b/src/main/java/Team4450/Robot25/subsystems/Elevator.java deleted file mode 100644 index 706f458..0000000 --- a/src/main/java/Team4450/Robot25/subsystems/Elevator.java +++ /dev/null @@ -1,221 +0,0 @@ -package Team4450.Robot25.subsystems; - -import static Team4450.Robot25.Constants.ELEVATOR_LEFT; -import static Team4450.Robot25.Constants.ELEVATOR_RIGHT; -import static Team4450.Robot25.Constants.ELEVATOR_WINCH_FACTOR; - -import com.revrobotics.spark.SparkFlex; -import com.revrobotics.RelativeEncoder; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; -import com.revrobotics.spark.config.SparkFlexConfig; -import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; - -import Team4450.Lib.Util; -import com.revrobotics.spark.SparkLowLevel.MotorType; - -import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -//Elevator Subsystem that shouldn't be used on it's own, but rather as a part of the ElevatedManipulator Subsystem -public class Elevator extends SubsystemBase { - private SparkFlex motorMain = new SparkFlex(ELEVATOR_LEFT, MotorType.kBrushless); - private SparkFlex motorFollower = new SparkFlex(ELEVATOR_RIGHT, MotorType.kBrushless); - private SparkFlexConfig mainConfig = new SparkFlexConfig(); - private SparkFlexConfig followerConfig = new SparkFlexConfig(); - - //We use a ProfiledPIDController for acceleration and deceleration control - private ProfiledPIDController mainPID; - private RelativeEncoder mainEncoder; - private RelativeEncoder followerEncoder; - - private final double TOLERANCE_ROTATIONS = 1.0; - private final double START_ROTATIONS = 0.00 / ELEVATOR_WINCH_FACTOR; //NEEDS TO BE CHANGED TO ACTUAL VALUE - - private double targetPosition = Double.NaN; //in units of Rotations - private boolean isManualControl = false; - private boolean isSlow = false; - public boolean limiter = false; - - private DriveBase driveBase; - - public Elevator(DriveBase driveBase) { - Util.consoleLog(); - - this.driveBase = driveBase; - - //Invert the follower motor: true - followerConfig.follow(motorMain, true); // follow the main motor - followerConfig.idleMode(IdleMode.kBrake); - motorFollower.configure(followerConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); - - mainConfig.idleMode(IdleMode.kBrake); - motorMain.configure(mainConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); - - mainEncoder = motorMain.getEncoder(); - followerEncoder = motorFollower.getEncoder(); - - resetEncoders(); - - mainPID = new ProfiledPIDController(0.12, 0, 0, new Constraints( - (0.8125/ -ELEVATOR_WINCH_FACTOR), 2 / -ELEVATOR_WINCH_FACTOR // velocity / acceleration - )); - - // PID constants, but also the motion profiling constraints - - // mainPID = new ProfiledPIDController(0.12, 0, 0, new Constraints( - // (1.625 / -ELEVATOR_WINCH_FACTOR), 8 / -ELEVATOR_WINCH_FACTOR // velocity / acceleration - // )); - - SmartDashboard.putData("winch_pid", mainPID); - mainPID.setTolerance(TOLERANCE_ROTATIONS); - } - - public void periodic(){ - SmartDashboard.putNumber("winch_measured", mainEncoder.getPosition()); - SmartDashboard.putNumber("winch_1_m", mainEncoder.getPosition()* ELEVATOR_WINCH_FACTOR); - SmartDashboard.putNumber("winch_2_m", followerEncoder.getPosition()* ELEVATOR_WINCH_FACTOR); - SmartDashboard.putNumber("winch_setpoint", targetPosition); - - if (Double.isNaN(targetPosition)) return; - - //SOFT LIMITS - if (targetPosition < -52) - targetPosition = -52; - if (targetPosition > 0) - targetPosition = 0; - - - - // Calculate the distance to the target - double distanceToTarget = Math.abs(targetPosition - mainEncoder.getPosition()); - double slowDownThreshold = 0.2 * targetPosition; // 20% of the target position - - // Adjust motor output based on distance to target - double motorOutput; - - //Main PID/Profile Loop which is used to control the elevator, and uses targetPosition - //which has units of rotations. - // double nonclamped = 0.0; // Initialize nonclamped with a default value - - mainPID.setGoal(targetPosition); - double nonclamped = mainPID.calculate(mainEncoder.getPosition()); - - if(isSlow == true){ - motorOutput = Util.clampValue(nonclamped, 0.30); - } - - if (distanceToTarget <= slowDownThreshold && isManualControl == false) { - double slowDownFactor = 0.1; // Adjust this factor as needed - motorOutput = Util.clampValue(nonclamped * slowDownFactor, 0.15); - SmartDashboard.putString("Elevator Position Phase", "Slowing Down Elevator"); - } else { - motorOutput = Util.clampValue(nonclamped, 0.40); - - } - - - SmartDashboard.putNumber("Elevator Speed", motorOutput); - motorMain.set(motorOutput); - SmartDashboard.putNumber("Elevator Amperage", motorMain.getOutputCurrent()); - - // height 0.59 L2 1 drive speed and rotation speed - // height 0.99 L3 0.48 drive speed and 0.68 rotation speed - // height 1.59 L4 0.2 drive speed and 0.4 rotation speed - if(limiter == true){ - if (!driveBase.slowModeEnabled) { - driveBase.speedLimiter = Math.pow(2, -(3.1 * this.getElevatorHeight() - 0.65)); - driveBase.rotSpeedLimiter = Math.pow(2, -(3.1 * this.getElevatorHeight() - 0.65)) + 0.2; - if (driveBase.speedLimiter > 1) { - driveBase.speedLimiter = 1; - } - if (driveBase.rotSpeedLimiter > 1) { - driveBase.rotSpeedLimiter = 1; - } - if (driveBase.speedLimiter < 0.2) { - driveBase.speedLimiter = 0.2; - } - if (driveBase.rotSpeedLimiter < 0.4) { - driveBase.rotSpeedLimiter = 0.4; - } - Util.consoleLog("%.2f %.2f", driveBase.speedLimiter, driveBase.rotSpeedLimiter); - } - } - } - - /** - * remove setpoint generation, essentially making the elevator go limp - * and disables normal move() commands. - */ - public void unlockPosition(){ - targetPosition = Double.NaN; - } - - public double getElevatorPosition(){ - double position = mainEncoder.getPosition(); - SmartDashboard.putNumber("Elevator Position", position); - return position; - } - - /** - * Increase/Decrease the target position by a certain amount - * Changed typically using the joysticks - */ - - public void move(double change){ - isManualControl = true; - targetPosition -= change; - } - - public void moveSlowToHeight(double height){ - isSlow = true; - targetPosition = height/ELEVATOR_WINCH_FACTOR; - } - /** - * Bypass all setpoint generation and just run direct motor power. This - * also bypasses all soft limits, so use EXTREME CAUTION! Remember, the elevator - * is capable of TEARING OFF LIMBS AND DESTROYING ITSELF if not used properly. - * Should never use this unless you know what you're doing. - */ - - public void moveUnsafe(double speed){ - targetPosition = Double.NaN; - motorMain.set(speed); - SmartDashboard.putNumber("moveUnsafe Speed", speed); - } - - //Sets the target position of the elevator in meters, which is converted to rotations - public void setElevatorHeight(double height){ - // driveBase.setElevatorHeightSpeed(height); - targetPosition = height/ELEVATOR_WINCH_FACTOR; //meters to rotations - } - - //Checks if the elevator is at the target height by converting given height to rotations: returns rotations - public boolean isElevatorAtTarget(double height){ - double setpoint = height/ELEVATOR_WINCH_FACTOR; - return Math.abs(setpoint - mainEncoder.getPosition()) < TOLERANCE_ROTATIONS; - } - - //Gets the height of the elevator in meters by converting rotations to meters: returns meters - public double getElevatorHeight(){ - double elevatorHeight = mainEncoder.getPosition() * ELEVATOR_WINCH_FACTOR; - return elevatorHeight; - } - - //Resets the encoders to the current position, which sets it to the "zero/starting" position - public void resetEncoders(){ - mainEncoder.setPosition(START_ROTATIONS); - followerEncoder.setPosition(START_ROTATIONS); - targetPosition = START_ROTATIONS; - } - - //Sets the setpoint to current position which locks the Elevator in place. - public void lockPosition(){ - targetPosition = mainEncoder.getPosition(); - mainPID.reset(targetPosition); - } - -} \ No newline at end of file diff --git a/src/main/java/Team4450/Robot25/subsystems/MAXSwerveModule.java b/src/main/java/Team4450/Robot25/subsystems/MAXSwerveModule.java index b624d44..9e3aa58 100644 --- a/src/main/java/Team4450/Robot25/subsystems/MAXSwerveModule.java +++ b/src/main/java/Team4450/Robot25/subsystems/MAXSwerveModule.java @@ -151,18 +151,6 @@ public MAXSwerveModule(int drivingCANId, int turningCANId, double chassisAngular this.chassisAngularOffset = chassisAngularOffset; drivingEncoder.setPosition(0); - - if (RobotBase.isSimulation()) - { - // Note that the REV simulation does not work correctly. We have hacked - // a solution where we drive the sim through our code, not by reading the - // REV simulated encoder position and velocity, which are incorrect. However, - // registering the motor controller with the REV sim is still needed. - - turningSim = new SparkSim(turningSparkMax, DCMotor.getNeo550(1)); - - drivingSim = new SparkSim(drivingSparkFlex, DCMotor.getNeoVortex(1)); - } } /** diff --git a/src/main/java/Team4450/Robot25/wpilib/TimedRobot.java b/src/main/java/Team4450/Robot25/wpilib/TimedRobot.java index a1df147..d728701 100644 --- a/src/main/java/Team4450/Robot25/wpilib/TimedRobot.java +++ b/src/main/java/Team4450/Robot25/wpilib/TimedRobot.java @@ -107,10 +107,6 @@ public void close() { public void startCompetition() { robotInit(); - if (isSimulation()) { - simulationInit(); - } - // Tell the DS that the robot is ready to be enabled System.out.println("********** Robot program startup complete **********"); DriverStationJNI.observeUserProgramStarting();