From 74246e051a250bf8c210b0aa0e916eb4faa01942 Mon Sep 17 00:00:00 2001 From: npwtub <145060985+npwtub@users.noreply.github.com> Date: Sat, 6 Apr 2024 08:58:07 -0400 Subject: [PATCH] Changes Combo Speaker-Amp auto into 3 Piece Speaker --- example.chor | 2606 ++++++++++------- .../choreo/3 Piece Speaker Amp Side.1.traj | 518 ++++ .../choreo/3 Piece Speaker Amp Side.2.traj | 329 +++ .../choreo/3 Piece Speaker Amp Side.3.traj | 401 +++ .../choreo/3 Piece Speaker Amp Side.4.traj | 320 ++ .../choreo/3 Piece Speaker Amp Side.traj | 1526 ++++++++++ src/main/deploy/choreo/Qual 4 Auto.1.traj | 518 ---- src/main/deploy/choreo/Qual 4 Auto.2.traj | 518 ---- src/main/deploy/choreo/Qual 4 Auto.3.traj | 122 - src/main/deploy/choreo/Qual 4 Auto.traj | 1022 ------- .../autos/1.5 Piece Speaker Top.auto | 100 - .../autos/3 Piece Speaker Amp Side.auto | 233 ++ .../jmhsrobotics/frc2024/RobotContainer.java | 2 +- 13 files changed, 4911 insertions(+), 3304 deletions(-) create mode 100644 src/main/deploy/choreo/3 Piece Speaker Amp Side.1.traj create mode 100644 src/main/deploy/choreo/3 Piece Speaker Amp Side.2.traj create mode 100644 src/main/deploy/choreo/3 Piece Speaker Amp Side.3.traj create mode 100644 src/main/deploy/choreo/3 Piece Speaker Amp Side.4.traj create mode 100644 src/main/deploy/choreo/3 Piece Speaker Amp Side.traj delete mode 100644 src/main/deploy/choreo/Qual 4 Auto.1.traj delete mode 100644 src/main/deploy/choreo/Qual 4 Auto.2.traj delete mode 100644 src/main/deploy/choreo/Qual 4 Auto.3.traj delete mode 100644 src/main/deploy/choreo/Qual 4 Auto.traj delete mode 100644 src/main/deploy/pathplanner/autos/1.5 Piece Speaker Top.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Speaker Amp Side.auto diff --git a/example.chor b/example.chor index dbee008..757af7d 100644 --- a/example.chor +++ b/example.chor @@ -14712,7 +14712,7 @@ "eventMarkers": [], "isTrajectoryStale": false }, - "Qual 4 Auto": { + "3 Piece Speaker Amp Side": { "waypoints": 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Preset Shoot" - } - } - ] - } - }, - "folder": "Speaker Autos", - "choreoAuto": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Speaker Amp Side.auto b/src/main/deploy/pathplanner/autos/3 Piece Speaker Amp Side.auto new file mode 100644 index 0000000..5a5206c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Speaker Amp Side.auto @@ -0,0 +1,233 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.475, + "y": 6.678 + }, + "rotation": 60.16056848873644 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "One Piece Preload Shoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 Piece Speaker Amp Side.1" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 Piece Speaker Amp Side.2" + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.25 + } + }, + { + "type": "named", + "data": { + "name": "IntakeAdjust" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Lock Speaker" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim Arm Vision" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spinup and Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 Piece Speaker Amp Side.3" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3 Piece Speaker Amp Side.4" + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.25 + } + }, + { + "type": "named", + "data": { + "name": "IntakeAdjust" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Lock Speaker" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim Arm Vision" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spinup and Shoot" + } + } + ] + } + }, + "folder": "Speaker Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java index bc1b3cf..a23de84 100644 --- a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java +++ b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java @@ -248,7 +248,7 @@ private void configureBindings() { this.control.extakeInput().whileTrue(new IntakeCommand(-1, this.intakeSubsystem, this.shooterSubsystem)); /* Shooter Controls */ - this.control.shooterInput().whileTrue(new ShooterAutoCommand(this.shooterSubsystem, 5000)); + this.control.shooterInput().whileTrue(new ShooterAutoCommand(this.shooterSubsystem, 5000)); this.control.ampShooterInput().whileTrue(new AmpShotCommand(intakeSubsystem, shooterSubsystem)); // temp climber controls