add new autos

MiamiBeachBots · Mar 2, 2024 · dc92575 · dc92575
1 parent 91aa6a7
commit dc92575
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Showing 4 changed files with 157 additions and 3 deletions.
diff --git a/.../pathplanner/autos/ShootSpeakerClose.auto → ...pathplanner/autos/ShootSpeakerCenter.auto b/.../pathplanner/autos/ShootSpeakerClose.auto → ...pathplanner/autos/ShootSpeakerCenter.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.5,
-      "y": 5.5
+      "x": 1.3959954881393342,
+      "y": 5.55
     },
     "rotation": 180.0
   },

diff --git a/src/main/deploy/pathplanner/autos/ShootSpeakerLeft.auto b/src/main/deploy/pathplanner/autos/ShootSpeakerLeft.auto
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7167669684840067,
+      "y": 6.745441850370149
+    },
+    "rotation": -122.66091272167378
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AimSpeakerCommand"
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ArmCommand"
+                      }
+                    },
+                    {
+                      "type": "race",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "ShooterCommand"
+                            }
+                          },
+                          {
+                            "type": "wait",
+                            "data": {
+                              "waitTime": 2.0
+                            }
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AimLowerCommand"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpeakerToLine"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/ShootSpeakerRight.auto b/src/main/deploy/pathplanner/autos/ShootSpeakerRight.auto
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.787031987758696,
+      "y": 4.356431195030721
+    },
+    "rotation": 120.96375653207355
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AimSpeakerCommand"
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ArmCommand"
+                      }
+                    },
+                    {
+                      "type": "race",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "ShooterCommand"
+                            }
+                          },
+                          {
+                            "type": "wait",
+                            "data": {
+                              "waitTime": 2.0
+                            }
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AimLowerCommand"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpeakerToLine"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -242,7 +242,9 @@ private void bindShooterSysIDCommands() {
 
   private void initializeAutonomous() {
     // Network Table Routine Options
-    autoDashboardChooser.setDefaultOption("ShootSpeakerClose", "ShootSpeakerClose");
+    autoDashboardChooser.setDefaultOption("ShootSpeakerCenter", "ShootSpeakerCenter");
+    autoDashboardChooser.addOption("ShootSpeakerLeft", "ShootSpeakerLeft");
+    autoDashboardChooser.addOption("ShootSpeakerRight", "ShootSpeakerRight");
     autoDashboardChooser.addOption("ShootSpeakerFar", "ShootSpeakerFar");
     autoDashboardChooser.addOption("DriveForward", "DriveForward");
     autoDashboardChooser.addOption("Do Nothing", "DoNothing");