Skip to content
This repository has been archived by the owner on Jan 10, 2025. It is now read-only.

Commit

Permalink
Auto1423 (#103)
Browse files Browse the repository at this point in the history
  • Loading branch information
@totallysomeoneyoudontknow
totallysomeoneyoudontknow authored Aug 22, 2024
1 parent c7b1298 commit f97e9ef
Show file tree
Hide file tree
Showing 21 changed files with 27,376 additions and 16,862 deletions.
947 changes: 484 additions & 463 deletions src/main/deploy/choreo/Centre1423.1.traj
View file

Large diffs are not rendered by default.

2,104 changes: 1,052 additions & 1,052 deletions src/main/deploy/choreo/Centre1423.2.traj
View file

Large diffs are not rendered by default.

842 changes: 400 additions & 442 deletions src/main/deploy/choreo/Centre1423.3.traj
View file

Large diffs are not rendered by default.

1,060 changes: 488 additions & 572 deletions src/main/deploy/choreo/Centre1423.4.traj
View file

Large diffs are not rendered by default.

4,881 changes: 2,388 additions & 2,493 deletions src/main/deploy/choreo/Centre1423.traj
View file

Large diffs are not rendered by default.

744 changes: 372 additions & 372 deletions src/main/deploy/choreo/Centre14523.1.traj
View file

Large diffs are not rendered by default.

1,988 changes: 994 additions & 994 deletions src/main/deploy/choreo/Centre14523.2.traj
View file

Large diffs are not rendered by default.

666 changes: 333 additions & 333 deletions src/main/deploy/choreo/Centre14523.3.traj
View file

Large diffs are not rendered by default.

1,998 changes: 999 additions & 999 deletions src/main/deploy/choreo/Centre14523.4.traj
View file

Large diffs are not rendered by default.

796 changes: 398 additions & 398 deletions src/main/deploy/choreo/Centre14523.5.traj
View file

Large diffs are not rendered by default.

6,136 changes: 3,068 additions & 3,068 deletions src/main/deploy/choreo/Centre14523.traj
View file

Large diffs are not rendered by default.

677 changes: 677 additions & 0 deletions src/main/deploy/choreo/Centre1523.1.traj
View file

Large diffs are not rendered by default.

1,706 changes: 1,706 additions & 0 deletions src/main/deploy/choreo/Centre1523.2.traj
View file

Large diffs are not rendered by default.

446 changes: 446 additions & 0 deletions src/main/deploy/choreo/Centre1523.3.traj
View file

Large diffs are not rendered by default.

677 changes: 677 additions & 0 deletions src/main/deploy/choreo/Centre1523.4.traj
View file

Large diffs are not rendered by default.

3,428 changes: 3,428 additions & 0 deletions src/main/deploy/choreo/Centre1523.traj
View file

Large diffs are not rendered by default.

86 changes: 59 additions & 27 deletions src/main/deploy/pathplanner/autos/Centre1253.auto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,40 +5,72 @@
"x": 1.2383723258972168,
"y": 5.75889778137207
},
"rotation": -2.586146940140809e-26
"rotation": 7.169960982930215e-27
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"type": "parallel",
"data": {
"name": "Arm"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.1"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.2"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.3"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.4"
"commands": [
{
"type": "named",
"data": {
"name": "Spinup"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Arm"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.1"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.2"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre12_5_3.3"
}
}
]
}
}
]
}
}
]
Expand Down
92 changes: 89 additions & 3 deletions src/main/deploy/pathplanner/autos/Centre14523.auto
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,16 +5,102 @@
"x": 1.233476996421814,
"y": 5.618833065032959
},
"rotation": 1.035051827793095e-26
"rotation": 2.7733612772267898e-27
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"type": "parallel",
"data": {
"pathName": "Centre14523"
"commands": [
{
"type": "named",
"data": {
"name": "Spinup"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Arm"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre14523.1"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre14523.2"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre14523.3"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre14523.4"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
},
{
"type": "path",
"data": {
"pathName": "Centre14523.5"
}
},
{
"type": "named",
"data": {
"name": "Passthrough"
}
}
]
}
}
]
}
}
]
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/Robot.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -118,10 +118,10 @@ public Robot() {
NamedCommands.registerCommand(
"Intake", Commands.deferredProxy(() -> m_superstructure.intake()));
NamedCommands.registerCommand("OTFArm", m_arm.moveToPosition(0.7528).andThen(m_arm.maintain()));
NamedCommands.registerCommand("Spinup", m_shooter.spinup(200).andThen(m_shooter.maintain()));
NamedCommands.registerCommand("Spinup", m_shooter.spinup(500).andThen(m_shooter.maintain()));
NamedCommands.registerCommand("Passthrough", Commands.deferredProxy(() -> m_index.shoot()));

m_autoChooser.setDefaultOption("Centre1253", m_drivetrain.getAutoPath("Centre1423"));
m_autoChooser.setDefaultOption("Centre1423", m_drivetrain.getAutoPath("Centre1423"));
SmartDashboard.putData(m_autoChooser);
SmartDashboard.putNumber("Arm", armangle);

Expand Down Expand Up @@ -161,7 +161,7 @@ public Robot() {
Commands.parallel(
m_intake.intake(5).until(m_index.m_hasNote).andThen(m_intake.stop()),
m_index
.intake(-5)
.intake(-4.5)
.until(m_index.m_hasNote)
.andThen(new WaitCommand(0.5))
.andThen(m_index.intake(2))
Expand Down
6 changes: 4 additions & 2 deletions src/main/java/frc/robot/subsystems/Index.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,11 @@ public Index() {}

public Command shoot() {
if (!m_hasNote.getAsBoolean()) {
return runOnce(() ->{}).withName("Empty Index");
return runOnce(() -> {}).withName("Empty Index");
} else {
return run(() -> m_motor.setVoltage(-8)).until(m_hasNote.negate()).withName("Index PassThrough");
return run(() -> m_motor.setVoltage(-8))
.until(m_hasNote.negate())
.withName("Index PassThrough");
}
}

Expand Down
Loading

0 comments on commit f97e9ef

Please sign in to comment.