Merge branch 'develop' into Oscar-Coral-Scorer

Coconuts2486-FRC · Feb 8, 2025 · 39bf9e7 · 39bf9e7
2 parents eda0f9e + 0162e39
commit 39bf9e7
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Showing 108 changed files with 6,202 additions and 897 deletions.
diff --git a/.SysId/sysid.json b/.SysId/sysid.json
@@ -0,0 +1 @@
+{}
diff --git a/.roboRIOTeamNumberSetter/roborioteamnumbersetter.json b/.roboRIOTeamNumberSetter/roborioteamnumbersetter.json
@@ -0,0 +1 @@
+{}
diff --git a/build.gradle b/build.gradle
@@ -3,7 +3,7 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.peterabeles.gversion" version "1.10.3"
     id "com.diffplug.spotless" version "7.0.2"
-    id "io.freefair.lombok" version "8.12"
+    id "io.freefair.lombok" version "8.12.1"
     id "com.google.protobuf" version "0.9.4"
 }
 

diff --git a/src/main/deploy/Choreo/Cherio Matey.traj b/src/main/deploy/Choreo/Cherio Matey.traj
diff --git a/src/main/deploy/choreo/CherioMatey.traj b/src/main/deploy/choreo/CherioMatey.traj
@@ -0,0 +1,47 @@
+{
+ "name":"CherioMatey",
+ "version":1,
+ "snapshot":{
+  "waypoints":[
+    {"x":6.177279949188232, "y":6.766982555389404, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":5.208662033081055, "y":6.746373653411865, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"6.177279949188232 m", "val":6.177279949188232}, "y":{"exp":"6.766982555389404 m", "val":6.766982555389404}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"5.208662033081055 m", "val":5.208662033081055}, "y":{"exp":"6.746373653411865 m", "val":6.746373653411865}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "sampleType":"Swerve",
+  "waypoints":[0.0,0.57419],
+  "samples":[
+    {"t":0.0, "x":6.17728, "y":6.76698, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-11.76071, "ay":-0.25023, "alpha":0.0, "fx":[-153.36884,-153.36884,-153.36884,-153.36884], "fy":[-3.26317,-3.26317,-3.26317,-3.26317]},
+    {"t":0.04785, "x":6.16382, "y":6.7667, "heading":0.0, "vx":-0.56274, "vy":-0.01197, "omega":0.0, "ax":-11.75833, "ay":-0.25018, "alpha":0.0, "fx":[-153.33779,-153.33779,-153.33779,-153.33779], "fy":[-3.26251,-3.26251,-3.26251,-3.26251]},
+    {"t":0.0957, "x":6.12343, "y":6.76584, "heading":0.0, "vx":-1.12536, "vy":-0.02394, "omega":0.0, "ax":-11.75459, "ay":-0.2501, "alpha":0.0, "fx":[-153.28901,-153.28901,-153.28901,-153.28901], "fy":[-3.26147,-3.26147,-3.26147,-3.26147]},
+    {"t":0.14355, "x":6.05613, "y":6.7644, "heading":0.0, "vx":-1.68781, "vy":-0.03591, "omega":0.0, "ax":-11.74786, "ay":-0.24995, "alpha":0.0, "fx":[-153.20123,-153.20123,-153.20123,-153.20123], "fy":[-3.2596,-3.2596,-3.2596,-3.2596]},
+    {"t":0.1914, "x":5.96192, "y":6.7624, "heading":0.0, "vx":-2.24993, "vy":-0.04787, "omega":0.0, "ax":-11.73216, "ay":-0.24962, "alpha":0.0, "fx":[-152.99658,-152.99658,-152.99658,-152.99658], "fy":[-3.25525,-3.25525,-3.25525,-3.25525]},
+    {"t":0.23925, "x":5.84083, "y":6.75982, "heading":0.0, "vx":-2.8113, "vy":-0.05981, "omega":0.0, "ax":-11.654, "ay":-0.24796, "alpha":0.0, "fx":[-151.97722,-151.97722,-151.97722,-151.97722], "fy":[-3.23356,-3.23356,-3.23356,-3.23356]},
+    {"t":0.28709, "x":5.69297, "y":6.75668, "heading":0.0, "vx":-3.36894, "vy":-0.07168, "omega":0.0, "ax":11.654, "ay":0.24796, "alpha":0.0, "fx":[151.97722,151.97722,151.97722,151.97722], "fy":[3.23356,3.23356,3.23356,3.23356]},
+    {"t":0.33494, "x":5.54511, "y":6.75353, "heading":0.0, "vx":-2.8113, "vy":-0.05981, "omega":0.0, "ax":11.73216, "ay":0.24962, "alpha":0.0, "fx":[152.99658,152.99658,152.99658,152.99658], "fy":[3.25525,3.25525,3.25525,3.25525]},
+    {"t":0.38279, "x":5.42402, "y":6.75096, "heading":0.0, "vx":-2.24993, "vy":-0.04787, "omega":0.0, "ax":11.74786, "ay":0.24995, "alpha":0.0, "fx":[153.20123,153.20123,153.20123,153.20123], "fy":[3.2596,3.2596,3.2596,3.2596]},
+    {"t":0.43064, "x":5.32982, "y":6.74895, "heading":0.0, "vx":-1.68781, "vy":-0.03591, "omega":0.0, "ax":11.75459, "ay":0.2501, "alpha":0.0, "fx":[153.28901,153.28901,153.28901,153.28901], "fy":[3.26147,3.26147,3.26147,3.26147]},
+    {"t":0.47849, "x":5.26251, "y":6.74752, "heading":0.0, "vx":-1.12536, "vy":-0.02394, "omega":0.0, "ax":11.75833, "ay":0.25018, "alpha":0.0, "fx":[153.33779,153.33779,153.33779,153.33779], "fy":[3.26251,3.26251,3.26251,3.26251]},
+    {"t":0.52634, "x":5.22213, "y":6.74666, "heading":0.0, "vx":-0.56274, "vy":-0.01197, "omega":0.0, "ax":11.76071, "ay":0.25023, "alpha":0.0, "fx":[153.36884,153.36884,153.36884,153.36884], "fy":[3.26317,3.26317,3.26317,3.26317]},
+    {"t":0.57419, "x":5.20866, "y":6.74637, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/deploy/Choreo/Cherio Matey.chor → src/main/deploy/choreo/ChoreoMatey.chor b/src/main/deploy/Choreo/Cherio Matey.chor → src/main/deploy/choreo/ChoreoMatey.chor
@@ -1,5 +1,5 @@
 {
- "name":"Cherio Matey",
+ "name":"ChoreoMatey",
  "version":1,
  "type":"Swerve",
  "variables":{
@@ -28,8 +28,8 @@
    }
   },
   "mass":{
-   "exp":"150 lbs",
-   "val":68.0388555
+   "exp":"115 lbs",
+   "val":52.16312255
   },
   "inertia":{
    "exp":"6 kg m ^ 2",

diff --git a/src/main/deploy/pathplanner/autos/Back and Forth.auto b/src/main/deploy/pathplanner/autos/Back and Forth.auto
diff --git a/...eploy/pathplanner/autos/Cherio Matey.auto → ...eploy/pathplanner/autos/Choreo Matey.auto b/...eploy/pathplanner/autos/Cherio Matey.auto → ...eploy/pathplanner/autos/Choreo Matey.auto
@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Cherio Matey.0"
+            "pathName": "CherioMatey"
           }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Test Autos",
   "choreoAuto": true
 }
diff --git a/src/main/deploy/pathplanner/autos/Command Test.auto b/src/main/deploy/pathplanner/autos/Command Test.auto
@@ -0,0 +1,58 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "race",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "L4"
+                            }
+                          },
+                          {
+                            "type": "wait",
+                            "data": {
+                              "waitTime": 2.5
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Bottom"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Pathn"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...in/deploy/pathplanner/autos/Ft4 test.auto → ...n/deploy/pathplanner/autos/Fast 10ft.auto b/...in/deploy/pathplanner/autos/Ft4 test.auto → ...n/deploy/pathplanner/autos/Fast 10ft.auto
@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Consistancy Test"
+            "pathName": "Better Consistancy Test"
           }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Test Autos",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/Rotate 180.auto b/src/main/deploy/pathplanner/autos/Rotate 180.auto
@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Rotation Test"
+            "pathName": "Diagnol"
           }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Test Autos",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/Rotate 90.auto b/src/main/deploy/pathplanner/autos/Rotate 90.auto
@@ -14,6 +14,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Test Autos",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/T1.auto b/src/main/deploy/pathplanner/autos/T1.auto
@@ -0,0 +1,51 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Start I"
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "CoralScorer"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "L4"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "L0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "T",
+  "choreoAuto": false
+}