changed auto elevator

Coconuts2486-FRC · Feb 21, 2025 · 7d4d2b2 · 7d4d2b2
1 parent 9e51568
commit 7d4d2b2
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Showing 3 changed files with 233 additions and 21 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Copy of T6.auto b/src/main/deploy/pathplanner/autos/Copy of T6.auto
@@ -0,0 +1,225 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Start I"
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "L4"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.2
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "parallel",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Bottom"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Station I"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "sequential",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "CoralDetect"
+                            }
+                          },
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "Coral J"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "CoralIntake"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "L4"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.2
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "parallel",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Bottom"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Station J"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "sequential",
+                      "data": {
+                        "commands": [
+                          {
+                            "type": "named",
+                            "data": {
+                              "name": "CoralDetect"
+                            }
+                          },
+                          {
+                            "type": "path",
+                            "data": {
+                              "pathName": "Coral K"
+                            }
+                          }
+                        ]
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "CoralIntake"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "L4"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.2
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "parallel",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Bottom"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Station K"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "T",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/T6.auto b/src/main/deploy/pathplanner/autos/T6.auto
@@ -5,7 +5,7 @@
     "data": {
       "commands": [
         {
-          "type": "parallel",
+          "type": "sequential",
           "data": {
             "commands": [
               {
@@ -15,32 +15,19 @@
                 }
               },
               {
-                "type": "sequential",
+                "type": "race",
                 "data": {
                   "commands": [
                     {
-                      "type": "wait",
+                      "type": "named",
                       "data": {
-                        "waitTime": 1.0
+                        "name": "L4"
                       }
                     },
                     {
-                      "type": "race",
+                      "type": "wait",
                       "data": {
-                        "commands": [
-                          {
-                            "type": "named",
-                            "data": {
-                              "name": "L4"
-                            }
-                          },
-                          {
-                            "type": "wait",
-                            "data": {
-                              "waitTime": 1.4
-                            }
-                          }
-                        ]
+                        "waitTime": 1.1
                       }
                     }
                   ]

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -262,8 +262,8 @@ public RobotContainer() {
                 ElevatorConstants.kVelocity,
                 m_elevator),
             Commands.run(() -> m_coralScorer.setCoralPercent(.0), m_coralScorer)
-                .withTimeout(1)
-                .andThen(Commands.run(() -> m_coralScorer.setCoralPercent(.50), m_coralScorer))));
+                .withTimeout(0.8)
+                .andThen(Commands.run(() -> m_coralScorer.setCoralPercent(.70), m_coralScorer))));
     NamedCommands.registerCommand("L3", Commands.print("L3")); // Just print commands for right now.
     NamedCommands.registerCommand("L2", Commands.print("L2"));
     NamedCommands