diff --git a/example.chor b/example.chor index ef477733..d34aff07 100644 --- a/example.chor +++ b/example.chor @@ -1,5 +1,5 @@ { - "version": "v0.3", + "version": "v0.3.1", "robotConfiguration": { "mass": 54.33118313560075, "rotationalInertia": 6.000000000000001, @@ -5285,6 +5285,14 @@ 7 ], "type": "StopPoint" + }, + { + "scope": [ + "first", + "last" + ], + "type": "MaxVelocity", + "velocity": 2.75 } ], "usesControlIntervalGuessing": true, @@ -5292,7 +5300,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Triple Helix": { "waypoints": [ @@ -6616,7 +6624,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Alliance Auto": { "waypoints": [ @@ -7405,205 +7413,1739 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, - 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-1.1083751200097216e-19, + "timestamp": 5.7660929211402046 + } + ], + "eventMarkers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Ferry Auto.auto b/src/main/deploy/pathplanner/autos/4.5 Piece Speaker Mid NO VISION.auto similarity index 59% rename from src/main/deploy/pathplanner/autos/Ferry Auto.auto rename to src/main/deploy/pathplanner/autos/4.5 Piece Speaker Mid NO VISION.auto index 20f4b80f..e6c979da 100644 --- a/src/main/deploy/pathplanner/autos/Ferry Auto.auto +++ b/src/main/deploy/pathplanner/autos/4.5 Piece Speaker Mid NO VISION.auto @@ -2,38 +2,19 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.47255077958106995, - "y": 4.393003940582275 + "x": 1.3, + "y": 5.55 }, - "rotation": -60.340860212064435 + "rotation": -2.205754199429202e-31 }, "command": { "type": "sequential", "data": { "commands": [ - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Arm Preset Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Spinup no Stop" - } - } - ] - } - }, { "type": "named", "data": { - "name": "Spinup and Shoot" + "name": "One Piece Preload Shoot" } }, { @@ -43,7 +24,7 @@ { "type": "path", "data": { - "pathName": "Ferry Auto.1" + "pathName": "Center 4 Piece NO VISION.1" } }, { @@ -56,13 +37,26 @@ } }, { - "type": "race", + "type": "parallel", "data": { "commands": [ { - "type": "named", - "data": { - "name": "Spinup no Stop" + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center 4 Piece NO VISION.2" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] } }, { @@ -87,7 +81,7 @@ { "type": "path", "data": { - "pathName": "Ferry Auto.2" + "pathName": "Center 4 Piece NO VISION.3" } }, { @@ -100,13 +94,26 @@ } }, { - "type": "race", + "type": "parallel", "data": { "commands": [ { - "type": "named", - "data": { - "name": "Spinup no Stop" + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center 4 Piece NO VISION.4" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] } }, { @@ -131,7 +138,7 @@ { "type": "path", "data": { - "pathName": "Ferry Auto.3" + "pathName": "Center 4 Piece NO VISION.5" } }, { @@ -144,13 +151,26 @@ } }, { - "type": "race", + "type": "parallel", "data": { "commands": [ { - "type": "named", - "data": { - "name": "Spinup no Stop" + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Center 4 Piece NO VISION.6" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] } }, { @@ -175,43 +195,31 @@ { "type": "path", "data": { - "pathName": "Ferry Auto.4" - } - }, - { - "type": "named", - "data": { - "name": "Intake Floor" - } - } - ] - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Spinup no Stop" + "pathName": "Center 4 Piece NO VISION.7" } }, { - "type": "named", - "data": { - "name": "Arm Preset Shoot" + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.75 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] } } ] } }, - { - "type": "named", - "data": { - "name": "Spinup and Shoot" - } - }, { "type": "parallel", "data": { @@ -219,26 +227,7 @@ { "type": "path", "data": { - "pathName": "Ferry Auto.5" - } - }, - { - "type": "named", - "data": { - "name": "Intake Floor" - } - } - ] - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Spinup no Stop" + "pathName": "Center 4 Piece NO VISION.8" } }, { @@ -249,12 +238,6 @@ } ] } - }, - { - "type": "named", - "data": { - "name": "Spinup and Shoot" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/4.5 Piece Speaker Top NO VISION.auto b/src/main/deploy/pathplanner/autos/4.5 Piece Speaker Top NO VISION.auto new file mode 100644 index 00000000..cedac7c6 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/4.5 Piece Speaker Top NO VISION.auto @@ -0,0 +1,259 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.4745416641235352, + "y": 6.697556018829346 + }, + "rotation": 60.16056848873644 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "One Piece Preload Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.1" + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.2" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spinup and Shoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.3" + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.4" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spinup and Shoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.5" + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.6" + } + }, + { + "type": "named", + "data": { + "name": "Spinup no Stop" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spinup and Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.7" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.75 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top 4 Piece NO VISION.8" + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + } + ] + } + } + ] + } + }, + "folder": "Speaker Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Allience Auto NO VISION.auto b/src/main/deploy/pathplanner/autos/Allience Auto NO VISION.auto deleted file mode 100644 index 57ad4a7b..00000000 --- a/src/main/deploy/pathplanner/autos/Allience Auto NO VISION.auto +++ /dev/null @@ -1,56 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.4568531811237335, - "y": 6.687067031860352 - }, - "rotation": 59.80838112264037 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "One Piece Preload Shoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 2.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Alliance Auto.1" - } - }, - { - "type": "named", - "data": { - "name": "Intake Floor" - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "Allience Backup Path.1" - } - } - ] - } - }, - "folder": "Speaker Autos", - "choreoAuto": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Triple Helix.auto b/src/main/deploy/pathplanner/autos/Mid 3 Piece Speaker.auto similarity index 69% rename from src/main/deploy/pathplanner/autos/Triple Helix.auto rename to src/main/deploy/pathplanner/autos/Mid 3 Piece Speaker.auto index 019fd112..d22d5b9f 100644 --- a/src/main/deploy/pathplanner/autos/Triple Helix.auto +++ b/src/main/deploy/pathplanner/autos/Mid 3 Piece Speaker.auto @@ -2,10 +2,10 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.2413955926895142, - "y": 5.541520118713379 + "x": 0.5285192728042603, + "y": 4.4514946937561035 }, - "rotation": 1.1897858804732057e-26 + "rotation": -59.186540237014036 }, "command": { "type": "sequential", @@ -17,12 +17,6 @@ "name": "One Piece Preload Shoot" } }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, { "type": "parallel", "data": { @@ -30,38 +24,45 @@ { "type": "path", "data": { - "pathName": "Center Four Piece Auto.1" + "pathName": "AutoPuro.1" } }, { - "type": "named", + "type": "sequential", "data": { - "name": "Intake Floor" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] } } ] } }, { - "type": "named", - "data": { - "name": "Lock Speaker" - } - }, - { - "type": "race", + "type": "parallel", "data": { "commands": [ { - "type": "named", + "type": "path", "data": { - "name": "Aim Arm Vision" + "pathName": "AutoPuro.2" } }, { "type": "named", "data": { - "name": "Spinup no Stop" + "name": "Aim Arm Vision" } } ] @@ -70,23 +71,23 @@ { "type": "named", "data": { - "name": "Spinup and Shoot" + "name": "Lock Speaker" } }, { - "type": "parallel", + "type": "race", "data": { "commands": [ { - "type": "path", + "type": "named", "data": { - "pathName": "Triple Helix.1" + "name": "Aim Arm Vision" } }, { "type": "named", "data": { - "name": "Intake Floor" + "name": "Spinup no Stop" } } ] @@ -95,34 +96,41 @@ { "type": "named", "data": { - "name": "Lock Speaker" + "name": "Spinup and Shoot" } }, { - "type": "race", + "type": "parallel", "data": { "commands": [ { - "type": "named", + "type": "path", "data": { - "name": "Aim Arm Vision" + "pathName": "AutoPuro.3" } }, { - "type": "named", + "type": "sequential", "data": { - "name": "Spinup no Stop" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] } } ] } }, - { - "type": "named", - "data": { - "name": "Spinup and Shoot" - } - }, { "type": "parallel", "data": { @@ -130,24 +138,18 @@ { "type": "path", "data": { - "pathName": "Triple Helix.2" + "pathName": "AutoPuro.4" } }, { "type": "named", "data": { - "name": "Intake Floor" + "name": "Aim Arm Vision" } } ] } }, - { - "type": "path", - "data": { - "pathName": "Triple Helix.3" - } - }, { "type": "named", "data": { @@ -178,12 +180,6 @@ "data": { "name": "Spinup and Shoot" } - }, - { - "type": "path", - "data": { - "pathName": "Triple Helix.4" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/Push Auto.auto b/src/main/deploy/pathplanner/autos/Push Auto.auto new file mode 100644 index 00000000..ab9a9e05 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Push Auto.auto @@ -0,0 +1,113 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.529, + "y": 4.451 + }, + "rotation": -59.197157556317805 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "One Piece Preload Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Push Auto.1" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.75 + } + }, + { + "type": "named", + "data": { + "name": "Intake Floor" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Push Auto.2" + } + }, + { + "type": "named", + "data": { + "name": "Arm Preset Shoot" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Push Auto.3" + } + }, + { + "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 82f98c33..16952329 100644 --- a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java +++ b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java @@ -106,6 +106,7 @@ public RobotContainer() { configureSmartDashboard(); SmartDashboard.putBoolean("HasNote", false); + SmartDashboard.putData("lock speaker", new LockSpeaker(this.driveSubsystem, this.visionSubsystem)); configureDriverFeedback(); configureBindings(); @@ -114,27 +115,10 @@ public RobotContainer() { autoChooser = AutoBuilder.buildAutoChooser(); autoChooser.setDefaultOption("BaseLineAuto", new DriveTimeCommand(2.2, 0.3, driveSubsystem)); - // var preloadShoot = new ParallelCommandGroup(new WaitCommand(4), - // new CommandArm(armSubsystem, Constants.ArmSetpoint.SHOOT.value), - // new ShooterAutoCommand(shooterSubsystem, 4500)).withTimeout(4) - // .andThen(new IntakeFireCommand(1, this.intakeSubsystem).withTimeout(2)) - // .andThen(new ParallelCommandGroup(new DriveTimeCommand(0.5, 0.3, - // this.driveSubsystem), - // new ComboIntakeArmCommand(armSubsystem, shooterSubsystem, intakeSubsystem) - - // ).withTimeout(2)); - // var preloadShoot_only = new ParallelCommandGroup(new WaitCommand(4), - // new CommandArm(armSubsystem, Constants.ArmSetpoint.SHOOT.value), - // new ShooterAutoCommand(shooterSubsystem, 4500)).withTimeout(4) - // .andThen(new IntakeFireCommand(1, this.intakeSubsystem).withTimeout(2)); - - // autoChooser.addOption("Preload-shoot-intake", preloadShoot); - // autoChooser.addOption("Preload-shot-NODRIVE", preloadShoot_only); - var preLoadOnePiece = Commands.sequence( Commands.race(new CommandArm(this.armSubsystem, Constants.ArmSetpoint.SHOOT.value), - new NSpinupNoStop(this.shooterSubsystem, 5000)), - new NSpinupAndShoot(this.shooterSubsystem, this.intakeSubsystem, 5000)); + new NSpinupNoStop(this.shooterSubsystem, 4000)), + new NSpinupAndShoot(this.shooterSubsystem, this.intakeSubsystem, 4000)); autoChooser.addOption("preLoadOnePiece", preLoadOnePiece); SmartDashboard.putData("Auto Chooser", autoChooser); @@ -144,8 +128,8 @@ public RobotContainer() { new CommandArm(this.armSubsystem, Constants.ArmSetpoint.SHOOT.value)); SmartDashboard.putData("Intake Floor", new NFloorIntake(armSubsystem, intakeSubsystem)); SmartDashboard.putData("Fire in Amp", new NFireAmp(this.shooterSubsystem, this.intakeSubsystem)); - SmartDashboard.putData("Spinup and Shoot", new NSpinupAndShoot(shooterSubsystem, intakeSubsystem, 5000)); - SmartDashboard.putData("Spinup no Stop", new NSpinupNoStop(shooterSubsystem, 5000)); + SmartDashboard.putData("Spinup and Shoot", new NSpinupAndShoot(shooterSubsystem, intakeSubsystem, 4000)); + SmartDashboard.putData("Spinup no Stop", new NSpinupNoStop(shooterSubsystem, 4000)); SmartDashboard.putData("Aim Arm Vision", new ArmVision(armSubsystem, visionSubsystem, driveSubsystem).until(armSubsystem::atGoal)); // TODO: // Handle @@ -218,7 +202,7 @@ private void configurePathPlanner() { // New Commands NamedCommands.registerCommand("Arm Preset Shoot", new CommandArm(this.armSubsystem, Constants.ArmSetpoint.SHOOT.value)); - NamedCommands.registerCommand("Intake Floor", new NFloorIntake(armSubsystem, intakeSubsystem).withTimeout(2)); + NamedCommands.registerCommand("Intake Floor", new NFloorIntake(armSubsystem, intakeSubsystem).withTimeout(6)); NamedCommands.registerCommand("Fire in Amp", new NFireAmp(this.shooterSubsystem, this.intakeSubsystem)); NamedCommands.registerCommand("Spinup and Shoot", new NSpinupAndShoot(shooterSubsystem, intakeSubsystem, 5000)); NamedCommands.registerCommand("Spinup no Stop", new NSpinupNoStop(shooterSubsystem, 5000)); @@ -229,7 +213,7 @@ private void configurePathPlanner() { NamedCommands.registerCommand("Lock Speaker", new LockSpeaker(driveSubsystem, visionSubsystem)); NamedCommands.registerCommand("ComboIntake", new ComboIntakeArmCommand(this.armSubsystem, this.shooterSubsystem, this.intakeSubsystem) - .withTimeout(1)); + .withTimeout(6)); // NamedCommands.registerCommand("AmpShoot", new AmpShotCommand(intakeSubsystem, // shooterSubsystem).withTimeout(1)); NamedCommands.registerCommand("AmpShoot", new AutoAmpShotCommand(this.intakeSubsystem, this.shooterSubsystem)); @@ -261,7 +245,7 @@ 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, 4000)); this.control.ampShooterInput().whileTrue(new AmpShotCommand(intakeSubsystem, shooterSubsystem)); // temp climber controls @@ -299,7 +283,6 @@ public void configureSmartDashboard() { // SmartDashboard.putData("LockAprilTagCommand", new LockAprilTag(7, // this.driveSubsystem, this.visionSubsystem)); } - public void configureTeam() { this.control.AprilLockOn() .whileTrue(Commands.repeatingSequence(new ArmVision(armSubsystem, visionSubsystem, driveSubsystem))); diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/DriveCommand.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/DriveCommand.java index 2fda54aa..74894364 100644 --- a/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/DriveCommand.java +++ b/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/DriveCommand.java @@ -39,7 +39,7 @@ public DriveCommand(DriveSubsystem driveSubsystem, VisionSubsystem visionSubsyst this.visionSubsystem = visionSubsystem; this.control = control; - this.lockPID = new PIDController(0.005, 0, 0); + this.lockPID = new PIDController(0.0125, 0, 0.0001); addRequirements(this.driveSubsystem); } diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/LockSpeaker.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/LockSpeaker.java index 5e849162..3932dfa4 100644 --- a/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/LockSpeaker.java +++ b/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/commands/LockSpeaker.java @@ -10,6 +10,7 @@ import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import monologue.Logged; @@ -27,8 +28,8 @@ public class LockSpeaker extends Command implements Logged { public LockSpeaker(DriveSubsystem drive, VisionSubsystem vision) { this.drive = drive; this.vision = vision; - this.lockPID = new PIDController(0.005, 0, 0); - // SmartDashboard.putData(lockPID); + this.lockPID = new PIDController(0.01, 0, 0); + SmartDashboard.putData("LockPID", lockPID); this.angleGoal = 180; diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java index 727d1f35..24dc2e8e 100644 --- a/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java +++ b/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java @@ -28,6 +28,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import monologue.Logged; @@ -80,7 +81,7 @@ public void periodic() { targets = results.getTargets(); - // SmartDashboard.putBoolean("Vision/isConnected", this.cam.isConnected()); + SmartDashboard.putBoolean("Vision/isConnected", this.cam.isConnected()); int len = targets.size(); Pose3d[] posList = new Pose3d[len]; flucialIDs = new double[len]; @@ -93,7 +94,7 @@ public void periodic() { flucialIDs[i] = targets.get(i).getFiducialId(); } - // SmartDashboard.putNumberArray("Vision/flucialIDs", flucialIDs); + SmartDashboard.putNumberArray("Vision/flucialIDs", flucialIDs); // SmartDashboard.putBooelean("hasTaget", this.); log("flucialIDs", flucialIDs); log("targets", posList); diff --git a/src/main/deploy/pathplanner/autos/Choreo 4 Piece Speaker Auto.auto b/src/main/path/Mid 3 Piece Speaker.auto similarity index 61% rename from src/main/deploy/pathplanner/autos/Choreo 4 Piece Speaker Auto.auto rename to src/main/path/Mid 3 Piece Speaker.auto index 976d1afe..ff069a20 100644 --- a/src/main/deploy/pathplanner/autos/Choreo 4 Piece Speaker Auto.auto +++ b/src/main/path/Mid 3 Piece Speaker.auto @@ -2,38 +2,19 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.244184136390686, - "y": 5.574731826782227 + "x": 0.5285192728042603, + "y": 4.4514946937561035 }, - "rotation": -1.832005421123575e-18 + "rotation": -59.186540237014036 }, "command": { "type": "sequential", "data": { "commands": [ - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Arm Preset Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Spinup no Stop" - } - } - ] - } - }, { "type": "named", "data": { - "name": "Spinup and Shoot" + "name": "One Piece Preload Shoot" } }, { @@ -43,7 +24,7 @@ { "type": "path", "data": { - "pathName": "Speaker Auto.1" + "pathName": "AutoPuro.1" } }, { @@ -56,53 +37,9 @@ } }, { - "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", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Speaker Auto.2" - } - }, - { - "type": "named", - "data": { - "name": "Intake Floor" - } - } - ] + "pathName": "AutoPuro.2" } }, { @@ -143,7 +80,7 @@ { "type": "path", "data": { - "pathName": "Speaker Auto.3" + "pathName": "AutoPuro.3" } }, { @@ -155,6 +92,12 @@ 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