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April 9 (#105)
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* Add reroutable 4 piece HGF

* Trap changes

* rest of trap changes

* Switch ferry auto

* Change led attention command

* change section to use a variable arity parameter

* Delete src/main/java/com/stuypulse/robot/constants/SLColor.java

* Update advantagescope config

* Fix advantagescope pose logging

* Top ferry tuning

* Fix reroute paths

* Fix reroute path align and shoot

* Trap improvements

* Fix last shot of HGF

* Comment reroutable hgf

* Add rerouted cbaed

* Reroutable hgf red

* Add 0.5 buffer on stopping trap score button

* Add SwerveDriveStop

---------

Co-authored-by: Ivan Chen <[email protected]>
Co-authored-by: Prog694 <[email protected]>
Co-authored-by: Keobkeig <[email protected]>
Co-authored-by: BenG49 <[email protected]>
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@SP-COMPuter @anivanchen
@Keobkeig @BenG49
5 people authored Apr 11, 2024
1 parent b891061 commit 14e516c
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Showing 27 changed files with 548 additions and 138 deletions.
144 changes: 104 additions & 40 deletions advantagescope-config.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,12 @@
"x": -8,
"y": -8,
"width": 1552,
"height": 840,
"height": 832,
"state": {
"sidebar": {
"width": 364,
"width": 290,
"expanded": [
"/SmartDashboard",
"/SmartDashboard/Amper/Lift",
"/Vision/shooter_camera",
"/Vision/climber_camera",
"/SmartDashboard/Odometry/Estimator",
Expand All @@ -21,7 +20,7 @@
]
},
"tabs": {
"selected": 2,
"selected": 5,
"tabs": [
{
"type": 0,
Expand Down Expand Up @@ -55,27 +54,27 @@
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Back Right/Velocity",
"color": "#aacaee",
"color": "#80588e",
"show": false
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Left/Target Velocity",
"color": "#c0b487",
"color": "#e48b32",
"show": false
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Left/Velocity",
"color": "#858584",
"color": "#aacaee",
"show": false
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Right/Target Velocity",
"color": "#3b875a",
"color": "#c0b487",
"show": false
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Right/Velocity",
"color": "#d993aa",
"color": "#858584",
"show": false
}
]
Expand All @@ -84,7 +83,7 @@
"fields": [
{
"key": "NT:/SmartDashboard/Robot State",
"color": "#eb987e",
"color": "#3b875a",
"show": true
}
]
Expand All @@ -98,12 +97,12 @@
"fields": [
{
"key": "NT:/SmartDashboard/Swerve/Modules/Back Left/Drive Current",
"color": "#80588e",
"color": "#d993aa",
"show": false
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Back Left/Drive Voltage",
"color": "#e48b32",
"color": "#eb987e",
"show": false
}
]
Expand Down Expand Up @@ -158,17 +157,17 @@
"fields": [
{
"key": "NT:/SmartDashboard/Robot State",
"color": "#a64b6b",
"color": "#c0b487",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Note Shot",
"color": "#dbd345",
"color": "#858584",
"show": true
},
{
"key": "NT:/SmartDashboard/Is DS Attached",
"color": "#7e331f",
"color": "#3b875a",
"show": false
}
]
Expand All @@ -182,32 +181,32 @@
"fields": [
{
"key": "NT:/SmartDashboard/Shooter/Feeder Current",
"color": "#c0b487",
"color": "#d993aa",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Right Current",
"color": "#858584",
"color": "#eb987e",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Left Current",
"color": "#3b875a",
"color": "#5d4f92",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Feeder Requested Voltage",
"color": "#d993aa",
"color": "#a64b6b",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Left Requested Voltage",
"color": "#eb987e",
"color": "#dbd345",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Right Requested Voltage",
"color": "#5d4f92",
"color": "#7e331f",
"show": true
}
]
Expand All @@ -228,12 +227,12 @@
"fields": [
{
"key": "NT:/SmartDashboard/Conveyor/Gandalf Motor Current",
"color": "#e48b32",
"color": "#2b66a2",
"show": true
},
{
"key": "NT:/SmartDashboard/Intake/Current",
"color": "#2b66a2",
"color": "#e5b31b",
"show": true
},
{
Expand All @@ -248,32 +247,32 @@
},
{
"key": "NT:/SmartDashboard/Shooter/Left Current",
"color": "#aacaee",
"color": "#e48b32",
"show": true
},
{
"key": "NT:/SmartDashboard/Shooter/Right Current",
"color": "#c0b487",
"color": "#aacaee",
"show": true
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Back Left/Drive Current",
"color": "#858584",
"color": "#c0b487",
"show": true
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Back Right/Drive Current",
"color": "#3b875a",
"color": "#858584",
"show": true
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Left/Drive Current",
"color": "#d993aa",
"color": "#3b875a",
"show": true
},
{
"key": "NT:/SmartDashboard/Swerve/Modules/Front Right/Drive Current",
"color": "#eb987e",
"color": "#d993aa",
"show": true
}
]
Expand All @@ -282,7 +281,7 @@
"fields": [
{
"key": "NT:/SmartDashboard/Robot State",
"color": "#5d4f92",
"color": "#eb987e",
"show": true
}
]
Expand All @@ -296,7 +295,7 @@
"fields": [
{
"key": "NT:/SmartDashboard/PDP/Battery Voltage (volts)",
"color": "#e5b31b",
"color": "#5d4f92",
"show": true
}
]
Expand Down Expand Up @@ -331,7 +330,7 @@
"fields": [
{
"key": "NT:/SmartDashboard/Robot State",
"color": "#80588e",
"color": "#af2437",
"show": true
}
]
Expand All @@ -345,14 +344,67 @@
"fields": [
{
"key": "NT:/SmartDashboard/Amper/Voltage",
"color": "#af2437",
"color": "#80588e",
"show": true
}
]
}
},
"title": "Lift"
},
{
"type": 1,
"legendHeight": 0.3,
"legends": {
"left": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "NT:/SmartDashboard/Amper/Intake Speed",
"color": "#af2437",
"show": true
},
{
"key": "NT:/SmartDashboard/Conveyor/Gandalf Motor Speed",
"color": "#80588e",
"show": true
},
{
"key": "NT:/SmartDashboard/Intake/Speed",
"color": "#e48b32",
"show": true
}
]
},
"discrete": {
"fields": [
{
"key": "NT:/SmartDashboard/Intake/Has Note",
"color": "#2b66a2",
"show": true
},
{
"key": "NT:/SmartDashboard/Amper/Has Note",
"color": "#e5b31b",
"show": true
}
]
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": []
}
},
"title": "Conveyor"
},
{
"type": 5,
"uuid": "uy1sf3yn3frhpjct2dslc7qpkcoh7sf8",
Expand Down Expand Up @@ -412,6 +464,18 @@
"key": "NT:/SmartDashboard/Field/Estimator Pose",
"sourceTypeIndex": 0,
"sourceType": 5
},
{
"type": "Trajectory",
"key": "NT:/PathPlanner/activePath",
"sourceTypeIndex": 0,
"sourceType": 5
},
{
"type": "Red Ghost",
"key": "NT:/PathPlanner/targetPose",
"sourceTypeIndex": 0,
"sourceType": 5
}
]
],
Expand All @@ -427,14 +491,14 @@
"cameraIndex": -1,
"orbitFov": 50,
"cameraPosition": [
-6.732997560240504,
10.099499096206074,
0.43926360402853587
4.454861703087695,
11.248239601448542,
0.05242092605150896
],
"cameraTarget": [
-5.5755802131592755,
-0.5897574748872353,
0.4047789098522105
4.454850952010099,
0.4964485807859034,
0.05242080219404849
]
},
"title": "3D Field"
Expand All @@ -445,5 +509,5 @@
}
],
"satellites": [],
"version": "3.2.0"
"version": "3.2.1"
}
20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/D to Ferry Shot.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,24 +3,24 @@
"waypoints": [
{
"anchor": {
"x": 8.2,
"y": 7.431149973519566
"x": 8.0,
"y": 7.529999999999999
},
"prevControl": null,
"nextControl": {
"x": 7.282397412017046,
"y": 7.154451711681202
"x": 7.0823974120170465,
"y": 7.253301738161635
},
"isLocked": false,
"linkedName": "D"
"linkedName": "D Top Ferry"
},
{
"anchor": {
"x": 5.499492913428859,
"x": 5.199999999999999,
"y": 6.563657142562062
},
"prevControl": {
"x": 5.937512085763499,
"x": 5.63801917233464,
"y": 6.650774025129159
},
"nextControl": null,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"maxVelocity": 4.5,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
Expand All @@ -48,5 +48,5 @@
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
"useDefaultConstraints": true
}
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