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markkassabmarkkassab
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Merge pull request #106 from errorcodexero/work_april_2
Work april 2
2 parents dc58e45 + ebbffe1 commit f28612b

8 files changed

Lines changed: 262 additions & 45 deletions

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src/main/deploy/pathplanner/paths/a5CollectLoop2(loopie).path renamed to src/main/deploy/pathplanner/paths/a7CollectLoop.path

Lines changed: 62 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -8,56 +8,72 @@
88
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@@ -68,33 +84,37 @@
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76-
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92+
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86-
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89-
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110+
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"name": "Constraints Zone",
96-
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117+
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@@ -118,19 +138,21 @@
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}
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121-
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141+
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142+
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144+
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145+
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123-
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125-
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150+
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153+
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131154
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132155
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133-
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@@ -141,13 +163,13 @@
141163
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144-
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166+
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145167
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"reversed": false,
147-
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169+
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148170
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150-
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172+
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153175
}

‎src/main/deploy/pathplanner/paths/a7DepotCollectFast.path‎

Lines changed: 107 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,107 @@
1+
{
2+
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3+
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17+
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31+
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103+
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104+
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‎src/main/deploy/pathplanner/paths/a7StartToCollect.path‎

Lines changed: 54 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,54 @@
1+
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2+
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28+
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29+
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32+
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33+
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34+
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35+
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36+
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37+
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38+
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39+
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40+
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41+
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42+
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43+
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44+
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45+
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47+
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49+
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50+
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53+
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54+
}

‎src/main/deploy/pathplanner/settings.json‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,12 @@
44
"holonomicMode": true,
55
"pathFolders": [
66
"DepotAuto",
7-
"Trench NZ Depot",
7+
"CooperativeDepot",
88
"PreloadOnly",
99
"T2NZ2TSame",
1010
"T2NZ2TSameAlt",
1111
"TestCollect",
12+
"Trench NZ Depot",
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"Trench2Trench"
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],
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"autoFolders": [],

‎src/main/java/frc/robot/RobotContainer.java‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -249,6 +249,7 @@ public RobotContainer() {
249249
autoChooser_ = new LoggedDashboardChooser<>("Auto Choices");
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251251
autoChooser_.addDefaultOption("Neutral Zone Loop W/ Depot", AutoCommands.a6CollectNZDepot(drivebase_, shooter_, intake_, hopper_));
252+
autoChooser_.addOption("Cooperative Depot Auto", AutoCommands.a7CoopDepot(drivebase_, shooter_, intake_, hopper_));
252253
autoChooser_.addOption("Neutral Zone Loop - Left Trench", AutoCommands.a5CollectNZ(drivebase_, shooter_, intake_, hopper_, false));
253254
autoChooser_.addOption("Neutral Zone Loop - Right Trench", AutoCommands.a5CollectNZ(drivebase_, shooter_, intake_, hopper_, true));
254255
autoChooser_.addOption("Preload Only (untested)", AutoCommands.a4OnlyPreload(drivebase_, shooter_, intake_, hopper_));
@@ -304,8 +305,8 @@ private void configureBindings() {
304305

305306
// When the shooter isnt shooting, get it ready to shoot.
306307
shooter_.setDefaultCommand(shooter_.spinUpVelocityCommand(() -> {
307-
var shift = HubShiftUtil.getOfficialShiftInfo();
308-
return shift.active() ? RotationsPerSecond.of(50) : RotationsPerSecond.zero();
308+
return RotationsPerSecond.zero();
309+
// return HubShiftUtil.getOfficialShiftInfo().active() ? RotationsPerSecond.of(50) : RotationsPerSecond.zero();
309310
}));
310311

311312
//While the X button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.

‎src/main/java/frc/robot/RobotState.java‎

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Original file line numberDiff line numberDiff line change
@@ -70,7 +70,6 @@ public static void periodic() {
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inAllianceZone = currentPose.getMeasureX().minus(allianceWall).abs(Meters) < ShooterConstants.Positions.spinUpZone.in(Meters);
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7272
// Other logging
73-
7473
Logger.recordOutput("ShiftInfo", HubShiftUtil.getOfficialShiftInfo());
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LoggedTracer.record("RobotState");

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