146 bind auto triggers (#151)

* Added triggers/commands Added triggers for target arm positioning and aligning, started commands to enact them. * Finished Auto Triggers Also contains test path (Test-Auto Auto) * Misc. Changes, Constants for Offset * Shaved excess imports * SpotlessApply * Modified to add scoring * weird changes Co-authored-by: Liam P. <Sloghead11@users.noreply.github.com> * Corrected/simplified triggers * refactored triggers to be named commands and corrected deadline logic * Updated with correct logic * formatted * final teeny eenie little bittle changes * yay finalized stuff --------- Co-authored-by: mmilunicmobile <mmilunicmobile@gmail.com> Co-authored-by: Liam P. <Sloghead11@users.noreply.github.com> Co-authored-by: Matthew Milunic <62996888+mmilunicmobile@users.noreply.github.com>
FRC2539 · Feb 6, 2025 · aadc2cf · aadc2cf
1 parent 8cf3dc1
commit aadc2cf
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Showing 15 changed files with 714 additions and 24 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Test Half Field.auto b/src/main/deploy/pathplanner/autos/Test Half Field.auto
@@ -9,6 +9,12 @@
           "data": {
             "pathName": "Half-Field Sprint"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L4"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/Test-Auto Auto.auto b/src/main/deploy/pathplanner/autos/Test-Auto Auto.auto
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red StartRight-SourceRight "
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red SourceRight-C_L4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "wait"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red C_L4-SourceRight"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "wait"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red SourceRight-C_L4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "wait"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/test matthew yay.auto b/src/main/deploy/pathplanner/autos/test matthew yay.auto
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "source to ab"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location B"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ab to bc"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "location C"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "height L2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Red C_L4-SourceRight.path b/src/main/deploy/pathplanner/paths/Red C_L4-SourceRight.path
@@ -0,0 +1,73 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 13.978,
+        "y": 5.422496749024708
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.821846999144302,
+        "y": 5.225778445369686
+      },
+      "isLocked": false,
+      "linkedName": "Red Reef CD"
+    },
+    {
+      "anchor": {
+        "x": 16.216089743589745,
+        "y": 6.966346153846153
+      },
+      "prevControl": {
+        "x": 15.522569813923187,
+        "y": 6.416928142732595
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Red Source Right"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "location C",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "height L4",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "place",
+      "waypointRelativePos": 1.0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 54.381510160748206
+  },
+  "reversed": false,
+  "folder": "AutoTest",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -122.10625595511773
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Red SourceRight-C_L4.path b/src/main/deploy/pathplanner/paths/Red SourceRight-C_L4.path
@@ -0,0 +1,73 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 16.216089743589745,
+        "y": 6.966346153846153
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.471575600017074,
+        "y": 5.982294727572125
+      },
+      "isLocked": false,
+      "linkedName": "Red Source Right"
+    },
+    {
+      "anchor": {
+        "x": 13.978,
+        "y": 5.422496749024708
+      },
+      "prevControl": {
+        "x": 15.773854545219386,
+        "y": 5.5667511706492
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Red Reef CD"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "location C",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "height L4",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "place",
+      "waypointRelativePos": 1.0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -122.10625595511773
+  },
+  "reversed": false,
+  "folder": "AutoTest",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 54.381510160748206
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Red StartRight-SourceRight .path b/src/main/deploy/pathplanner/paths/Red StartRight-SourceRight .path
@@ -0,0 +1,73 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 9.972179487179487,
+        "y": 6.243910256410256
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 10.777520702180267,
+        "y": 6.29031630098106
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 16.216089743589745,
+        "y": 6.966346153846153
+      },
+      "prevControl": {
+        "x": 13.887348178338486,
+        "y": 6.651331408074669
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Red Source Right"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "location Source Right",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "height Source",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "align",
+      "waypointRelativePos": 1.0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 54.381510160748206
+  },
+  "reversed": false,
+  "folder": "AutoTest",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}