diff --git a/.DataLogTool/datalogtool.json b/.DataLogTool/datalogtool.json index 35cf3257..a3a79c45 100644 --- a/.DataLogTool/datalogtool.json +++ b/.DataLogTool/datalogtool.json @@ -1,6 +1,6 @@ { "download": { - "localDir": "C:\\Users\\StuyPulse\\Desktop\\Robot Code\\Izzi\\logs", + "localDir": "C:\\Users\\StuyPulse\\Desktop\\Izzi\\logs", "serverTeam": "694" } } diff --git a/logs/DALY_E10_rio_2024-04-20_10-31-40.hoot b/logs/DALY_E10_rio_2024-04-20_10-31-40.hoot new file mode 100644 index 00000000..f65a0d28 Binary files /dev/null and b/logs/DALY_E10_rio_2024-04-20_10-31-40.hoot differ diff --git a/logs/DALY_E12_rio_2024-04-20_10-56-05.hoot b/logs/DALY_E12_rio_2024-04-20_10-56-05.hoot new file mode 100644 index 00000000..081327c0 Binary files /dev/null and b/logs/DALY_E12_rio_2024-04-20_10-56-05.hoot differ diff --git a/logs/DALY_E2_rio_2024-04-20_08-46-09.hoot b/logs/DALY_E2_rio_2024-04-20_08-46-09.hoot new file mode 100644 index 00000000..78c77bbe Binary files /dev/null and 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Binary files /dev/null and b/logs/NJCar_Q20_rio_2024-06-22_11-37-18.hoot differ diff --git a/logs/rio_2024-06-02_11-11-35.hoot b/logs/rio_2024-06-02_11-11-35.hoot new file mode 100644 index 00000000..9c3380e4 Binary files /dev/null and b/logs/rio_2024-06-02_11-11-35.hoot differ diff --git a/logs/rio_2024-06-02_12-12-45.hoot b/logs/rio_2024-06-02_12-12-45.hoot new file mode 100644 index 00000000..aa3d8261 Binary files /dev/null and b/logs/rio_2024-06-02_12-12-45.hoot differ diff --git a/logs/rio_2024-06-02_14-18-45.hoot b/logs/rio_2024-06-02_14-18-45.hoot new file mode 100644 index 00000000..2502cee0 Binary files /dev/null and b/logs/rio_2024-06-02_14-18-45.hoot differ diff --git a/src/main/deploy/pathplanner/paths/G to Shoot (HGF) Red.path b/src/main/deploy/pathplanner/paths/G to Shoot (HGF) Red.path index 72b3a8fb..548c20ad 100644 --- a/src/main/deploy/pathplanner/paths/G to Shoot (HGF) Red.path +++ b/src/main/deploy/pathplanner/paths/G to Shoot (HGF) Red.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 6.305711906979371, - "y": 0.9634780846769682 + "x": 5.553342461891771, + "y": 0.3747467694650074 }, "isLocked": false, "linkedName": "G Red" diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java index d7b62ee8..5a60036d 100644 --- a/src/main/java/com/stuypulse/robot/RobotContainer.java +++ b/src/main/java/com/stuypulse/robot/RobotContainer.java @@ -117,15 +117,13 @@ private void configureButtonBindings() { private void configureDriverBindings() { // intaking driver.getRightTriggerButton() - .whileTrue(new SwerveDriveDriveToNote(driver)) .whileTrue(new IntakeAcquire() - .deadlineWith(new LEDSet(LEDInstructions.INTAKE)) - .andThen(new BuzzController(driver))); - // .whileTrue(new WaitUntilCommand(Intake.getInstance()::hasNote) - // .deadlineWith(new LEDSet(LEDInstructions.INTAKE)) - // .andThen(new LEDSet(LEDInstructions.PICKUP) - // .withTimeout(3.0))); - + .andThen(new BuzzController(driver))) + .whileTrue(new WaitUntilCommand(Intake.getInstance()::hasNote) + .deadlineWith(new LEDSet(LEDInstructions.INTAKE)) + .andThen(new LEDSet(LEDInstructions.PICKUP) + .withTimeout(3.0))); + // intaking (also robot relative swerve) driver.getLeftTriggerButton() .whileTrue(new IntakeAcquire() @@ -368,7 +366,7 @@ public void configureAutons() { AutonConfig ReroutableTopFerry = new AutonConfig("Top Ferry", ReroutableTopFerry::new, "NTF Start To D", "D to Ferry Shot", "Ferry Shot to E", "E to Ferry Shot", "Ferry Shot to F", "F to Shoot (TopFerry)", "Rerouted D To E", "Rerouted E To F", "Rerouted E to Ferry Shot"); - + AutonConfig M76 = new AutonConfig("M76", ReroutableTopFerryM76::new, "NTF Start To D", "D to Ferry Shot", "Ferry Shot to E", "E to Ferry Shot", "M76 Midline", "F to Shoot (TopFerry)", "Rerouted D To E", "Rerouted E To F", "Rerouted E to Ferry Shot", "M76 E to Midline"); @@ -389,7 +387,7 @@ public void configureAutons() { ReroutableTopFerry .registerBlue(autonChooser) - .registerRed(autonChooser); + .registerDefaultRed(autonChooser); // HGF.registerDefaultBlue(autonChooser); // HGF_RED.registerRed(autonChooser); @@ -403,7 +401,7 @@ public void configureAutons() { ReroutableCBAED.registerBlue(autonChooser); ReroutableCBAED_RED.registerRed(autonChooser); - CBA.registerDefaultBlue(autonChooser); + CBA.registerBlue(autonChooser); CBA_RED.registerRed(autonChooser); CBF.registerBlue(autonChooser) diff --git a/src/main/java/com/stuypulse/robot/commands/auton/Ferry/ReroutableTopFerry.java b/src/main/java/com/stuypulse/robot/commands/auton/Ferry/ReroutableTopFerry.java index 9296e004..511db0b8 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/Ferry/ReroutableTopFerry.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/Ferry/ReroutableTopFerry.java @@ -60,7 +60,7 @@ public ReroutableTopFerry(PathPlannerPath... paths) { // shoot D, intake E SwerveDrive.getInstance().followPathCommand(paths[1]), new SwerveDriveStop(), - new ConveyorShootRoutine(), + new ConveyorShootRoutine(.75), INTAKE_E, new ConditionalCommand( @@ -70,7 +70,7 @@ public ReroutableTopFerry(PathPlannerPath... paths) { // shoot E, intake F SwerveDrive.getInstance().followPathCommand(paths[3]), new SwerveDriveStop(), - new ConveyorShootRoutine(), + new ConveyorShootRoutine(.75), new ShooterPodiumShot(), new SwerveDriveResetOdometry(() -> getPathStartPose(paths[4])), @@ -103,7 +103,7 @@ public ReroutableTopFerry(PathPlannerPath... paths) { // shoot E, intake F SwerveDrive.getInstance().followPathCommand(E_FERRY_REROUTE), new SwerveDriveStop(), - new ConveyorShootRoutine(), + new ConveyorShootRoutine(.75), new ShooterPodiumShot(), new SwerveDriveResetOdometry(() -> getPathStartPose(paths[4])), diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java index 52a6a115..9556e508 100644 --- a/src/main/java/com/stuypulse/robot/constants/Ports.java +++ b/src/main/java/com/stuypulse/robot/constants/Ports.java @@ -45,8 +45,8 @@ public interface FrontLeft { } public interface BackLeft { - int DRIVE = 15; - int TURN = 14; + int DRIVE = 14; + int TURN = 15; int ENCODER = 3; } diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java index d5ddd84f..04484035 100644 --- a/src/main/java/com/stuypulse/robot/constants/Settings.java +++ b/src/main/java/com/stuypulse/robot/constants/Settings.java @@ -405,7 +405,7 @@ public interface Alignment { double PODIUM_SHOT_MAX_ANGLE = 80; SmartNumber AMP_WALL_SETUP_DISTANCE = new SmartNumber("Alignment/Amp/Setup Pose Distance to Wall", Units.inchesToMeters(25.5)); - SmartNumber AMP_WALL_SCORE_DISTANCE = new SmartNumber("Alignment/Amp/Score Pose Distance to Wall", Units.inchesToMeters(22.5 - 1.75)); // NOTE: remove "- 1.5" for battlecry + SmartNumber AMP_WALL_SCORE_DISTANCE = new SmartNumber("Alignment/Amp/Score Pose Distance to Wall", Units.inchesToMeters(22.5)); // NOTE: remove "- 1.5" for battlecry SmartNumber TRAP_SETUP_DISTANCE = new SmartNumber("Alignment/Trap/Setup Pose Distance", Units.inchesToMeters(21.0)); SmartNumber TRAP_CLIMB_DISTANCE = new SmartNumber("Alignment/Trap/Climb Distance", Units.inchesToMeters(18.0));