testing changes 7-14

ProfessorAtomicManiac · ProfessorAtomicManiac · commit ac563fbd2136 · 2024-07-14T18:50:48.000-07:00
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -5,7 +5,9 @@
   "pathFolders": [
     "Center Limelight 4 Piece"
   ],
-  "autoFolders": [],
+  "autoFolders": [
+    "Center Limelight 4 Piece"
+  ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 1.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 1.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.356139746680443,
+      "y": 5.531293435066112
+    },
+    "rotation": -1.9026452141219743
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Limelight 1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Center Limelight 4 Piece",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 2.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 2.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Limelight 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Center Limelight 4 Piece",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 3.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece 3.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Limelight 3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Center Limelight 4 Piece",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto
@@ -17,12 +17,6 @@
             "name": "Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center Limelight 1"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -110,6 +104,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "Center Limelight 4 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 2.path b/src/main/deploy/pathplanner/paths/Center Limelight 2.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.0257443358488607,
-        "y": 6.857291439701363
+        "x": 1.8701178634584756,
+        "y": 6.195878932042224
       },
       "prevControl": {
-        "x": 1.3343326564655966,
-        "y": 6.623574815684485
+        "x": 1.198978701274938,
+        "y": 5.991619187029844
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 4.398705354995547,
+    "rotation": 44.193070544897665,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 3.path b/src/main/deploy/pathplanner/paths/Center Limelight 3.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.0841042629952553,
-        "y": 4.435354463125988
+        "x": 1.899297827031673,
+        "y": 4.960593807443538
       },
       "prevControl": {
-        "x": 1.5095508956204307,
-        "y": 4.746976628481825
+        "x": 1.3247444596568483,
+        "y": 5.272215972799375
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -16.38954033403484,
+    "rotation": -43.36342295838326,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Limelight 4.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.443490905939159,
-        "y": 2.2857638132337867
+        "x": 7.064151379487593,
+        "y": 2.344123740380181
       },
       "prevControl": {
-        "x": 6.138573088511591,
-        "y": 1.3411591244989065
+        "x": 5.759233562060025,
+        "y": 1.3995190516453007
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 5.path b/src/main/deploy/pathplanner/paths/Center Limelight 5.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.5149846740974624,
-        "y": 2.7559085248656867
+        "x": 2.8330566613739863,
+        "y": 3.4821423197348755
       },
       "prevControl": {
-        "x": 2.9337269587943684,
-        "y": 1.3341323954296802
+        "x": 3.2517989460708923,
+        "y": 2.0603661902988692
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -35.83765295427821,
+    "rotation": -41.42366562500259,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Limelight 6.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.832557086915123,
-        "y": 3.2778825747224944
+        "x": 7.696383923573536,
+        "y": 3.063896175185714
       },
       "prevControl": {
-        "x": 7.433291187552956,
-        "y": 1.9047974086233364
+        "x": 7.297118024211369,
+        "y": 1.690811009086556
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/org/carlmontrobotics/Config.java b/src/main/java/org/carlmontrobotics/Config.java
@@ -22,7 +22,7 @@ public abstract class Config implements Sendable {
 
     // Add additional config settings by declaring a protected field, and...
     protected boolean exampleFlagEnabled = false;
-    protected boolean swimShady = false;
+    protected boolean swimShady = true;
     protected boolean setupSysId = false;
     protected boolean useSmartDashboardControl = false; // whether to control arm position + rpm of
                                                        // outtake through SmartDashboard
diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java
@@ -109,7 +109,8 @@ public static final class Effectorc {
 	public static final class Armc {
 
 		// Motor port
-		public static final int ARM_MOTOR_PORT_MASTER = 13;
+		public static final int ARM_MOTOR_PORT_MASTER =
+				CONFIG.isSwimShady() ? 20 : 13;
 		public final static int ARM_MOTOR_PORT_FOLLOWER = 18;
 		// Config for motors
 		public static final boolean MOTOR_INVERTED_MASTER = false;
@@ -300,7 +301,7 @@ public static final class Drivetrainc {
 				: new double[] { 2, 0.0, 0.0 };
 		public static final double[] yPIDController = xPIDController;
 		public static final double[] thetaPIDController = CONFIG.isSwimShady() ? new double[] { 0.10, 0.0, 0.001 }
-				: new double[] {0.10, 0.0, 0.001};
+				: new double[] {0.05, 0.0, 0.00};
 
 		public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu,
 				autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels,
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -111,8 +111,7 @@ public class RobotContainer {
           "Right Limelight 4 Piece", "Left Limelight 4 Piece",
           "Center Limelight 4 Piece", "Center Limelight 4 Piece Path Following",
 
-      "Left-Amp",
-
+          "Left-Amp",
   };
   DigitalInput[] autoSelectors =
       new DigitalInput[Math.min(autoNames.length, 10)];
@@ -142,6 +141,7 @@ public RobotContainer() {
         autoSelector.addOption(n, i);
         i++;
       }
+      autoSelector.addOption("bruh", i);
 
       ShuffleboardTab autoSelectorTab = Shuffleboard.getTab("Auto Chooser Tab");
       autoSelectorTab.add(autoSelector).withSize(2, 1);
@@ -360,8 +360,9 @@ private void registerAutoCommands() {
             new AlignToApriltag(drivetrain, limelight));
     NamedCommands.registerCommand("Shoot", new SequentialCommandGroup(
             new ParallelCommandGroup(new AlignToApriltag(drivetrain, limelight),
-                    new AimArmSpeaker(arm, limelight)),
-            new RampRPMAuton(intakeShooter), new PassToOuttake(intakeShooter),
+                    new AimArmSpeaker(arm, limelight),
+                    new RampRPMAuton(intakeShooter)),
+            new PassToOuttake(intakeShooter),
             new ArmToPos(arm, GROUND_INTAKE_POS)));
     NamedCommands.registerCommand("Limelight Intake CCW",
             new ParallelCommandGroup(new Intake(intakeShooter),
@@ -372,15 +373,14 @@ private void registerAutoCommands() {
                     new AutoMATICALLYGetNote(drivetrain, limelight,
                             intakeShooter, -1)));
 
-
     NamedCommands.registerCommand("StopIntake",
         new InstantCommand(intakeShooter::stopIntake));
     NamedCommands.registerCommand("StopOutake",
         new InstantCommand(intakeShooter::stopOuttake));
     NamedCommands.registerCommand("StopBoth",
         new ParallelCommandGroup(new InstantCommand(intakeShooter::stopIntake),
             new InstantCommand(intakeShooter::stopOuttake)));
-    for (int i = 0; i < 6; i++) {
+    for (int i = 1; i <= 6; i++) {
         NamedCommands.registerCommand("Follow Center Limelight " + i,
                 new AutonPathfind(drivetrain, "Center Limelight " + i));
     }
@@ -403,6 +403,16 @@ private void setupAutos() {
          * Autoc.pathConstraints ), new PathPlannerAuto(name) );
          */
       }
+      String[] centerLimelight4 = {"Center Limelight 4 Piece 1",
+              "Center Limelight 4 Piece 2", "Center Limelight 4 Piece 3"};
+      SequentialCommandGroup commandGroup = new SequentialCommandGroup();
+      for (int i = 0; i < 3; i++) {
+          commandGroup.addCommands(new PathPlannerAuto(centerLimelight4[i]),
+                  new ParallelCommandGroup(new Intake(intakeShooter),
+                          new AutoMATICALLYGetNote(drivetrain, limelight,
+                                  intakeShooter, -1)));
+      }
+      autoCommands.add(commandGroup);
     }
 
 
diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java
diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java
diff --git a/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java b/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java
diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java

Original file line number	Diff line number	Diff line change
`@@ -17,12 +17,6 @@`
`17`	`17`	`"name": "Shoot"`
`18`	`18`	`}`
`19`	`19`	`},`
`20`		`- {`
`21`		`- "type": "path",`
`22`		`- "data": {`
`23`		`- "pathName": "Center Limelight 1"`
`24`		`- }`
`25`		`- },`
`26`	`20`	`{`
`27`	`21`	`"type": "named",`
`28`	`22`	`"data": {`
`@@ -110,6 +104,6 @@`
`110`	`104`	`]`
`111`	`105`	`}`
`112`	`106`	`},`
`113`		`- "folder": null,`
	`107`	`+ "folder": "Center Limelight 4 Piece",`
`114`	`108`	`"choreoAuto": false`
`115`	`109`	`}`