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Move elevator safety sensor to elevator #122

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Move elevator safety sensor to elevator #122

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131 changes: 29 additions & 102 deletions src/main/java/org/curtinfrc/frc2025/Autos.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,18 +41,17 @@ public static AutoRoutine onePieceCentre(
waitSeconds(1),
parallel(
drive.autoAlign(() -> DriveSetpoints.G.getPose()),
elevator.goToSetpoint(ElevatorSetpoints.L3, () -> true))
elevator.goToSetpoint(ElevatorSetpoints.L3))
.until(elevator.atSetpoint.and(drive.atSetpoint)),
parallel(
drive.autoAlign(() -> DriveSetpoints.G.getPose()),
elevator.goToSetpoint(ElevatorSetpoints.L3, () -> true),
elevator.goToSetpoint(ElevatorSetpoints.L3),
ejector.eject(30))
.until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(() -> DriveSetpoints.FAR.getPose()),
ejector.eject(40),
elevator.goToSetpoint(
() -> ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate()))
elevator.goToSetpoint(() -> ElevatorSetpoints.AlgaePopLow))
.withTimeout(2)
.withName("AlgaePop"),
drive
Expand All @@ -76,7 +75,7 @@ public static AutoRoutine onePieceCentre(
// .until(drive.atSetpoint)
// .andThen(
// elevator
// .goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
// .goToSetpoint(ElevatorSetpoints.L3)
// .until(elevator.atSetpoint)
// .andThen(
// parallel(ejector.eject(15)),
Expand All @@ -85,7 +84,7 @@ public static AutoRoutine onePieceCentre(
// .until(ejector.backSensor.negate()))
// .andThen(
// elevator
// .goToSetpoint(ElevatorSetpoints.BASE, intake.backSensor.negate())
// .goToSetpoint(ElevatorSetpoints.BASE)
// .until(elevator.atSetpoint))
// .andThen(
// parallel(drive.autoAlign(() -> DriveSetpoints.FAR.getPose()),
Expand All @@ -111,10 +110,7 @@ public static AutoRoutine onePieceLeft(
.until(ejector.backSensor.negate()));
trajectory
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));
return routine;
}

Expand All @@ -140,10 +136,7 @@ public static AutoRoutine twoPieceLeft(

startToFirst
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

firstToHP
.done()
Expand All @@ -166,10 +159,7 @@ public static AutoRoutine twoPieceLeft(

hpToSecond
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

return routine;
}
Expand Down Expand Up @@ -199,10 +189,7 @@ public static AutoRoutine threePieceLeft(

startToFirst
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

firstToHP
.done()
Expand Down Expand Up @@ -235,10 +222,7 @@ public static AutoRoutine threePieceLeft(

hpToSecond
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

hpToThird
.done()
Expand All @@ -250,21 +234,15 @@ public static AutoRoutine threePieceLeft(
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopLow).asProxy(),
ejector.eject(30))
.withTimeout(1),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));

hpToThird
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

return routine;
}
Expand Down Expand Up @@ -296,10 +274,7 @@ public static AutoRoutine fourPieceLeft(

startToI
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

iToHp
.done()
Expand Down Expand Up @@ -332,10 +307,7 @@ public static AutoRoutine fourPieceLeft(

hpToJ
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

hpToL
.done()
Expand All @@ -359,10 +331,7 @@ public static AutoRoutine fourPieceLeft(

hpToL
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

hpToK
.done()
Expand All @@ -374,21 +343,15 @@ public static AutoRoutine fourPieceLeft(
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopLow).asProxy(),
ejector.eject(30))
.withTimeout(1),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));

hpToK
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

return routine;
}
Expand Down Expand Up @@ -427,10 +390,7 @@ public static AutoRoutine fivePieceLeft(

startToI
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

iToHp
.done()
Expand Down Expand Up @@ -463,10 +423,7 @@ public static AutoRoutine fivePieceLeft(

hpToJ
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

hpToL
.done()
Expand All @@ -490,10 +447,7 @@ public static AutoRoutine fivePieceLeft(

hpToL
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

hpToK
.done()
Expand All @@ -505,21 +459,15 @@ public static AutoRoutine fivePieceLeft(
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopLow).asProxy(),
ejector.eject(30))
.withTimeout(0.5),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));

hpToK
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

kToHp
.done()
Expand All @@ -532,10 +480,7 @@ public static AutoRoutine fivePieceLeft(

hpToK2
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

hpToK2
.done()
Expand Down Expand Up @@ -586,10 +531,7 @@ public static AutoRoutine fivePieceRight(

startToF
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

fToHp
.done()
Expand Down Expand Up @@ -622,10 +564,7 @@ public static AutoRoutine fivePieceRight(

hpToE
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

hpToD
.done()
Expand All @@ -649,10 +588,7 @@ public static AutoRoutine fivePieceRight(

hpToD
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

hpToC
.done()
Expand All @@ -664,21 +600,15 @@ public static AutoRoutine fivePieceRight(
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_RIGHT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopLow).asProxy(),
ejector.eject(30))
.withTimeout(0.5),
cToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));

hpToC
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L3).until(ejector.backSensor.negate()));

cToHp
.done()
Expand All @@ -691,10 +621,7 @@ public static AutoRoutine fivePieceRight(

hpToC2
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
.onTrue(elevator.goToSetpoint(ElevatorSetpoints.L2).until(ejector.backSensor.negate()));

hpToC2
.done()
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/org/curtinfrc/frc2025/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
* (log replay from a file).
*/
public final class Constants {
public static final RobotType robotType = RobotType.COMPBOT;
public static final RobotType robotType = RobotType.SIMBOT;
public static final double ROBOT_X = 0.705;
public static final double ROBOT_Y = 0.730;
public static final double FIELD_LENGTH = aprilTagLayout.getFieldLength();
Expand Down
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