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Team2537 · Mar 23, 2024 · 0736a0a · 0736a0a
1 parent 0b2eb95
commit 0736a0a
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Showing 7 changed files with 283 additions and 18 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,14 +1,16 @@
 {
-  "robotWidth": 0.64,
-  "robotLength": 0.84,
+  "robotWidth": 0.7239,
+  "robotLength": 0.9271,
   "holonomicMode": true,
   "pathFolders": [
+    "Amp Two Note",
     "Drift Test Paths",
-    "Amp Two Note"
+    "Source Three Note"
   ],
   "autoFolders": [
+    "Amp Side Autos",
     "Drift Tests",
-    "Amp Side Autos"
+    "Source Side Autos"
   ],
   "defaultMaxVel": 2.7,
   "defaultMaxAccel": 2.0,

diff --git a/src/main/deploy/pathplanner/autos/Source_ThreeNote.auto b/src/main/deploy/pathplanner/autos/Source_ThreeNote.auto
@@ -0,0 +1,105 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.81,
+      "y": 4.43
+    },
+    "rotation": -60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Set Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Aim Subwoofer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Source_PodiumNote"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Sequence"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Podium_MicroAdjustment"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Aim"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Source_CentralNote"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Sequence"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Aim"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Source Side Autos",
+  "choreoAuto": false
+}
diff --git a/...athplanner/autos/Three_Note_Auto_Aim.auto → ...loy/pathplanner/autos/Three_Note_Amp.auto b/...athplanner/autos/Three_Note_Auto_Aim.auto → ...loy/pathplanner/autos/Three_Note_Amp.auto
diff --git a/src/main/deploy/pathplanner/paths/Podium_MicroAdjustment.path b/src/main/deploy/pathplanner/paths/Podium_MicroAdjustment.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.7,
+        "y": 4.09
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.004958988519973,
+        "y": 4.403274541213847
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0752240077946618,
+        "y": 5.550936522700434
+      },
+      "prevControl": {
+        "x": 1.9229831326995024,
+        "y": 4.953683858865578
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.7,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Three Note",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Source_CentralNote.path b/src/main/deploy/pathplanner/paths/Source_CentralNote.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.08,
+        "y": 5.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.13,
+        "y": 5.55
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7,
+        "y": 5.55
+      },
+      "prevControl": {
+        "x": 2.6500000000000004,
+        "y": 5.55
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.7,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Three Note",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Source_PodiumNote.path b/src/main/deploy/pathplanner/paths/Source_PodiumNote.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.81,
+        "y": 4.426324656904809
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.1679081714786952,
+        "y": 3.9338352480084557
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6958983447254643,
+        "y": 4.087081954481534
+      },
+      "prevControl": {
+        "x": 1.6702725299837478,
+        "y": 4.048512210582352
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.7,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Three Note",
+  "previewStartingState": {
+    "rotation": -60.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/commands/Autos.kt b/src/main/java/frc/robot/commands/Autos.kt
@@ -126,21 +126,25 @@ object Autos {
         return SwerveSubsystem.getAutonomousCommand("Two_Note", true)
     }
 
-    private fun threeNote(): Command {
+    private fun threeNoteCenter(): Command {
         return SwerveSubsystem.getAutonomousCommand("Three_Note", true)
     }
 
-    private fun threeNoteAutoAim(): Command {
-        return SwerveSubsystem.getAutonomousCommand("Three_Note_Auto_Aim", true)
+    private fun threeNoteAmp(): Command {
+        return SwerveSubsystem.getAutonomousCommand("Three_Note_Amp", true)
     }
 
-    private fun intakeTest(): Command {
-        return SwerveSubsystem.getAutonomousCommand("Two_Note_Intake", true)
+    private fun threeNoteSource(): Command {
+        return SwerveSubsystem.getAutonomousCommand("Source_ThreeNote", true)
     }
 
-    private fun twoNoteAmp(): Command {
-        return SwerveSubsystem.getAutonomousCommand("Two_Note_Amp", true)
-    }
+//    private fun intakeTest(): Command {
+//        return SwerveSubsystem.getAutonomousCommand("Two_Note_Intake", true)
+//    }
+//
+//    private fun twoNoteAmp(): Command {
+//        return SwerveSubsystem.getAutonomousCommand("Two_Note_Amp", true)
+//    }
 
 
 
@@ -157,14 +161,12 @@ object Autos {
         EXAMPLE_PATH("Example Path", { examplePath() }),
         TEST_AUTO("Test Auto", { testAuto() }),
         SHOOT_DRIVE_MID("Shoot & Drive Source", { shootDriveSource() }),
-        SHOOT_DRIVE_RIGHT("Shoot & Drive Right", { shootAndDriveRight() }),
-        SHOOT_DRIVE_LEFT("Shoot & Drive Left", { shootDriveSource() }),
+        SHOOT_DRIVE_RIGHT("Shoot & Drive Amp", { shootAndDriveRight() }),
         BASIC_SHOOT("Basic Shoot", { onlyShoot() }),
         TWO_NOTE("Two Note", {twoNote()}),
-        INTAKE_TEST("Intake Test", { intakeTest() }),
-        THREE_NOTE("Three Note", {threeNote()}),
-        TWO_NOTE_AMP("Two Note Amp", {twoNoteAmp()}),
-        THREE_NOTE_AUTO_AIM("Three Note Auto Aim", {threeNoteAutoAim()}),
+        THREE_NOTE_CENTER("Three Note Center", {threeNoteCenter()}),
+        THREE_NOTE_AMP("Three Note Amp", {threeNoteAmp()}),
+        THREE_NOTE_SOURCE("Three Note Source", {threeNoteSource()}),
         ;
 
         companion object {