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"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" + } + } + ] + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/Centre14523.auto b/src/main/deploy/pathplanner/autos/Centre14523.auto index a63d7f5..ac1bbf9 100644 --- a/src/main/deploy/pathplanner/autos/Centre14523.auto +++ b/src/main/deploy/pathplanner/autos/Centre14523.auto @@ -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" + } + } + ] + } + } + ] } } ] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 2a9e37b..6ee50fb 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -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); @@ -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)) diff --git a/src/main/java/frc/robot/subsystems/Index.java b/src/main/java/frc/robot/subsystems/Index.java index 9df92e7..7963e16 100644 --- a/src/main/java/frc/robot/subsystems/Index.java +++ b/src/main/java/frc/robot/subsystems/Index.java @@ -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"); } } diff --git a/src/main/warp-paths-v1.chor b/src/main/warp-paths-v1.chor index b7bc33d..a671e1a 100644 --- a/src/main/warp-paths-v1.chor +++ b/src/main/warp-paths-v1.chor @@ -5947,13 +5947,13 @@ "controlIntervalCount": 8 }, { - "x": 2.6737282276153564, - "y": 7.015964031219482, + "x": 2.71484112739563, + "y": 7.083828449249268, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 13 }, { "x": 1.26797354221344, @@ -6007,11 +6007,11 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