diff --git a/src/main/deploy/choreo/Pi.chor b/src/main/deploy/choreo/Pi.chor index 6ef0bc5..cd6988e 100644 --- a/src/main/deploy/choreo/Pi.chor +++ b/src/main/deploy/choreo/Pi.chor @@ -505,8 +505,8 @@ } }, "mass":{ - "exp":"100 lbs", - "val":45.359237 + "exp":"141 lbs", + "val":63.95652417 }, "inertia":{ "exp":"6 kg m ^ 2", diff --git a/src/main/deploy/choreo/blueAlgaeToProcess.traj b/src/main/deploy/choreo/blueAlgaeToProcess.traj index 62fbbdc..ea7301f 100644 --- a/src/main/deploy/choreo/blueAlgaeToProcess.traj +++ b/src/main/deploy/choreo/blueAlgaeToProcess.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.85, "y":4.0, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.1382317543029785, "y":1.9271469116210935, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.85, "y":4.0, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.1382317543029785, "y":1.9271469116210935, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":6.4, "y":0.48, "heading":-1.5707963267948966, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"5.85 m", "val":5.85}, "y":{"exp":"4 m", "val":4.0}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.1382317543029785 m", "val":6.1382317543029785}, "y":{"exp":"1.9271469116210938 m", "val":1.9271469116210935}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.85 m", "val":5.85}, "y":{"exp":"4 m", "val":4.0}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.1382317543029785 m", "val":6.1382317543029785}, "y":{"exp":"1.9271469116210938 m", "val":1.9271469116210935}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"6.4 m", "val":6.4}, "y":{"exp":"0.48 m", "val":0.48}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,50 +30,56 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.9429,1.52298], + 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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"blueStartingPose.x", "val":7.2}, "y":{"exp":"blueStartingPose.y", "val":3.8}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.300933361053467 m", "val":6.300933361053467}, "y":{"exp":"3.7982170581817627 m", "val":3.7982170581817623}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"blueL4G.x", "val":5.85}, "y":{"exp":"3.7 m", "val":3.7}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"blueStartingPose.x", 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"fx":[15.35797,15.35797,15.35797,15.35797], "fy":[2.51899,2.51899,2.51899,2.51899]}, + {"t":3.707, "x":1.36027, "y":1.00168, "heading":-2.19911, "vx":-0.44939, "vy":-0.07368, "omega":0.0, "ax":9.83127, "ay":1.61197, "alpha":0.0, "fx":[157.19351,157.19351,157.19351,157.19351], "fy":[25.77401,25.77401,25.77401,25.77401]}, + {"t":3.75271, "x":1.35, "y":1.0, "heading":-2.19911, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/blueL4FToSource.traj b/src/main/deploy/choreo/blueL4FToSource.traj index bf1f374..b23fb78 100644 --- a/src/main/deploy/choreo/blueL4FToSource.traj +++ b/src/main/deploy/choreo/blueL4FToSource.traj @@ -3,10 +3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.2, "y":3.1, "heading":2.0943951023931953, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.437833309173584, 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"heading":4.084070449666731, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,15 +15,16 @@ {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.2}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"blueL4F.x", "val":5.2}, 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a/src/main/deploy/choreo/blueL4GToAlgae.traj +++ b/src/main/deploy/choreo/blueL4GToAlgae.traj @@ -26,14 +26,14 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.21099], + "waypoints":[0.0,0.25051], "samples":[ - {"t":0.0, "x":5.85, "y":4.15, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00009, "ay":-14.04502, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[-159.2678,-159.2678,-159.2678,-159.2678]}, - {"t":0.0422, "x":5.85, "y":4.1375, "heading":3.14159, "vx":0.0, "vy":-0.59267, "omega":0.0, "ax":0.00004, "ay":-14.02907, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[-159.08694,-159.08694,-159.08694,-159.08694]}, - {"t":0.0844, "x":5.85, "y":4.1, "heading":3.14159, "vx":0.00001, "vy":-1.18467, "omega":0.0, "ax":-0.00026, "ay":0.0, "alpha":0.0, "fx":[-0.00289,-0.00289,-0.00289,-0.00289], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.12659, "x":5.85, "y":4.05, "heading":3.14159, "vx":-0.00001, "vy":-1.18467, "omega":0.0, "ax":0.00004, "ay":14.02907, 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b/src/main/deploy/choreo/blueL4IToSource.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.3, "y":5.1, "heading":-2.0943951023931953, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":4.153270244598389, "y":5.978420734405518, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":1.859175443649292, "y":6.661767959594727, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.3, "y":5.1, "heading":-2.0943951023931953, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":4.153270244598389, "y":5.978420734405518, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.859175443649292, "y":6.661767959594727, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.35, "y":7.2, "heading":2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"blueL4I.x", "val":5.3}, "y":{"exp":"blueL4I.y", "val":5.1}, "heading":{"exp":"blueL4I.heading", "val":-2.0943951023931953}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.153270244598389 m", "val":4.153270244598389}, "y":{"exp":"5.978420734405518 m", "val":5.978420734405518}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"1.859175443649292 m", "val":1.859175443649292}, "y":{"exp":"6.661767959594727 m", "val":6.661767959594727}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"blueL4I.x", "val":5.3}, "y":{"exp":"blueL4I.y", "val":5.1}, "heading":{"exp":"blueL4I.heading", "val":-2.0943951023931953}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.153270244598389 m", "val":4.153270244598389}, "y":{"exp":"5.978420734405518 m", "val":5.978420734405518}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"1.859175443649292 m", "val":1.859175443649292}, "y":{"exp":"6.661767959594727 m", "val":6.661767959594727}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"blueLeftFeeder.x", "val":1.35}, "y":{"exp":"blueLeftFeeder.y", "val":7.2}, 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"overrideIntervals":false}, + {"x":4.917968273162842, "y":0.8045048117637634, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.6889543533325195, "y":1.1461784839630127, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.0, "y":1.0, "heading":4.084070449666731, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"blueProcess.x", "val":6.4}, "y":{"exp":"blueProcess.y", "val":0.48}, "heading":{"exp":"-90 deg", "val":-1.5707963267948966}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.917968273162842 m", "val":4.917968273162842}, "y":{"exp":"0.8045048117637634 m", 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"fx":[158.59403,158.59403,158.59403,158.59403], "fy":[14.73812,14.73812,14.73812,14.73812]}, + {"t":2.13215, "x":1.0, "y":1.0, "heading":-2.19911, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/blueSourceToL4C.traj b/src/main/deploy/choreo/blueSourceToL4C.traj index c6bd97d..3edc10c 100644 --- a/src/main/deploy/choreo/blueSourceToL4C.traj +++ b/src/main/deploy/choreo/blueSourceToL4C.traj @@ -3,8 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.0, "y":1.0, "heading":4.084070449666731, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3976033926010132, "y":1.2723352909088137, "heading":0.0, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.0, "y":1.0, "heading":4.084070449666731, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.3976033926010132, "y":1.2723352909088137, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.424876928329468, "y":2.085593938827514, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.314245223999023, "y":2.645756244659424, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.7, "y":2.95, "heading":1.0471975511965976, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -12,16 +13,18 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":3, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, + {"from":4, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}, - {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.1}}, "enabled":true}], + {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}, + {"from":0, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":1.3}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.1}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"blueRightFeeder.x", "val":1.0}, "y":{"exp":"blueRightFeeder.y", "val":1.0}, "heading":{"exp":"blueRightFeeder.heading", 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b/src/main/deploy/choreo/blueSourceToL4K.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.35, "y":7.2, "heading":2.199114857512855, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.038147449493408, "y":6.645497798919678, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.3723018169403076, "y":5.994690895080566, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.35, "y":7.2, "heading":2.199114857512855, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.038147449493408, "y":6.645497798919678, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.3723018169403076, "y":5.994690895080566, "heading":0.0, "intervals":13, "split":false, 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b/src/main/deploy/choreo/blueSourceToL4L.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.35, "y":7.2, "heading":2.199114857512855, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.8917157649993896, "y":6.726848602294922, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.063168525695801, "y":5.669287204742432, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.35, "y":7.2, "heading":2.199114857512855, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.8917157649993896, "y":6.726848602294922, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.063168525695801, "y":5.669287204742432, "heading":0.0, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.7, "y":5.1, "heading":-1.0471975511965976, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"blueLeftFeeder.x", "val":1.35}, "y":{"exp":"blueLeftFeeder.y", "val":7.2}, "heading":{"exp":"blueLeftFeeder.heading", "val":2.199114857512855}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.8917157649993896 m", "val":1.8917157649993896}, "y":{"exp":"6.726848602294922 m", "val":6.726848602294922}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"3.063168525695801 m", "val":3.063168525695801}, "y":{"exp":"5.669287204742432 m", 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"fx":[-119.54828,-119.54828,-119.54828,-119.54828], "fy":[105.22125,105.22125,105.22125,105.22125]}, + {"t":1.70929, "x":3.7, "y":5.1, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/redAlgaeToProcess.traj b/src/main/deploy/choreo/redAlgaeToProcess.traj index 705d917..f0cabac 100644 --- a/src/main/deploy/choreo/redAlgaeToProcess.traj +++ b/src/main/deploy/choreo/redAlgaeToProcess.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":11.75, "y":4.0, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":11.572470664978027, "y":6.33636474609375, "heading":0.0, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.75, "y":4.0, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.572470664978027, "y":6.33636474609375, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":11.5, "y":7.55, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"redAlgae.x", "val":11.75}, "y":{"exp":"redAlgae.y", "val":4.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"11.572470664978027 m", "val":11.572470664978027}, "y":{"exp":"6.33636474609375 m", "val":6.33636474609375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + 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"events":[] diff --git a/src/main/deploy/choreo/redCenterToL4G.traj b/src/main/deploy/choreo/redCenterToL4G.traj index 11a141e..e3e27f8 100644 --- a/src/main/deploy/choreo/redCenterToL4G.traj +++ b/src/main/deploy/choreo/redCenterToL4G.traj @@ -5,7 +5,7 @@ "waypoints":[ {"x":10.35, "y":4.22, "heading":0.0, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":11.170971870422363, "y":4.225747585296631, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":11.65, "y":4.22, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":11.65, "y":4.16, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -19,7 +19,7 @@ "waypoints":[ {"x":{"exp":"redStart.x", "val":10.35}, "y":{"exp":"4.22 m", "val":4.22}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"11.170971870422363 m", "val":11.170971870422363}, "y":{"exp":"4.225747585296631 m", "val":4.225747585296631}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"11.65 m", "val":11.65}, "y":{"exp":"4.22 m", "val":4.22}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"11.65 m", "val":11.65}, "y":{"exp":"4.16 m", "val":4.16}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -34,100 +34,100 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.03338,4.1069], + "waypoints":[0.0,2.03341,4.12506], "samples":[ - {"t":0.0, "x":10.35, "y":4.22, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.79961, "ay":0.00581, "alpha":0.00059, "fx":[9.09007,9.01384,9.08287,9.08287], "fy":[0.05675,0.07495,0.07495,0.05675]}, - {"t":0.0442, "x":10.35078, "y":4.22001, "heading":0.0, "vx":0.03535, "vy":0.00026, "omega":0.00003, "ax":0.79978, "ay":0.00581, "alpha":-0.00085, "fx":[9.08352,9.041,9.07644,9.07644], "fy":[0.05696,0.07477,0.07477,0.05696]}, - {"t":0.08841, "x":10.35313, "y":4.22002, "heading":0.0, "vx":0.0707, "vy":0.00051, "omega":-0.00001, "ax":0.79976, "ay":0.00581, "alpha":-0.00232, "fx":[9.0757,9.0757,9.06262,9.06262], "fy":[0.061,0.07115,0.0703,0.061]}, - 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,14 +14,15 @@ {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.1}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"redL4D.x", "val":13.6}, "y":{"exp":"redL4D.y", "val":5.25}, "heading":{"exp":"redL4D.heading", "val":-2.0943951023931953}, "intervals":838, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"15.779437065124512 m", "val":15.779437065124512}, "y":{"exp":"6.908074378967285 m", "val":6.908074378967285}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"redRightFeeder.x", "val":16.43}, "y":{"exp":"redRightFeeder.y", "val":7.1}, "heading":{"exp":"redRightFeeder.heading", "val":0.942477796076938}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,7 +31,8 @@ {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxVelocity", 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b/src/main/deploy/choreo/redL4FToSource.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":12.27, "y":5.1, "heading":-1.0471975511965976, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":13.017396926879885, "y":5.880369186401367, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":15.987959861755373, "y":6.705524921417236, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":12.27, "y":5.1, "heading":-1.0471975511965976, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":12.897367477416992, "y":5.723854064941406, "heading":0.0, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":15.693835258483888, "y":6.651253700256348, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":16.43, "y":7.1, "heading":0.942477796076938, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,16 +13,17 @@ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.2}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"redL4F.x", "val":12.27}, "y":{"exp":"redL4F.y", "val":5.1}, "heading":{"exp":"redL4F.heading", "val":-1.0471975511965976}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"13.017396926879883 m", "val":13.017396926879885}, "y":{"exp":"5.880369186401367 m", "val":5.880369186401367}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"15.987959861755371 m", "val":15.987959861755373}, "y":{"exp":"6.705524921417236 m", "val":6.705524921417236}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, 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"props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.6 m / s", "val":0.6}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1.2 m / s ^ 2", "val":1.2}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -40,111 +42,163 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.47069,2.77325,3.98316], + "waypoints":[0.0,1.34099,3.36396,5.10483], "samples":[ - {"t":0.0, "x":12.27, "y":5.1, "heading":-1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.68123, "ay":0.73128, "alpha":0.0, "fx":[7.72237,7.73371,7.71851,7.72545], "fy":[8.29622,8.29297,8.28906,8.29212]}, - {"t":0.03502, "x":12.27042, "y":5.10045, "heading":-1.0472, "vx":0.02385, "vy":0.02561, "omega":0.0, "ax":0.68171, "ay":0.73122, "alpha":0.0, 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"fy":[73.59555,73.59555,73.59555,73.59555]}, + {"t":1.75998, "x":16.4, "y":1.0, "heading":-0.94248, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/redMoveAuto.traj b/src/main/deploy/choreo/redMoveAuto.traj index 1efe7db..677affb 100644 --- a/src/main/deploy/choreo/redMoveAuto.traj +++ b/src/main/deploy/choreo/redMoveAuto.traj @@ -24,7 +24,7 @@ "sampleType":"Swerve", "waypoints":[0.0,1.64925], "samples":[ - {"t":0.0, "x":10.35698, "y":0.55023, "heading":0.0, "vx":0.99873, "vy":0.02909, "omega":0.0, "ax":0.0135, "ay":0.00039, "alpha":0.0, "fx":[0.1531,0.1531,0.1531,0.1531], "fy":[0.00446,0.00446,0.00446,0.00446]}, + {"t":0.0, "x":10.35698, "y":0.55023, "heading":0.0, "vx":0.99873, "vy":0.02909, "omega":0.0, "ax":0.0135, "ay":0.00039, "alpha":0.0, "fx":[0.21587,0.21587,0.21587,0.21587], "fy":[0.00629,0.00629,0.00629,0.00629]}, {"t":0.04712, "x":10.40405, "y":0.5516, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, {"t":0.09424, "x":10.45115, "y":0.55298, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, {"t":0.14136, "x":10.49824, "y":0.55435, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, @@ -58,7 +58,7 @@ {"t":1.46076, "x":11.8168, "y":0.59275, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, {"t":1.50788, "x":11.86389, "y":0.59412, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, {"t":1.55501, "x":11.91098, "y":0.5955, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":1.60213, "x":11.95807, "y":0.59687, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":-0.0045, "ay":-0.00013, "alpha":0.0, "fx":[-0.05105,-0.05105,-0.05105,-0.05105], "fy":[-0.00149,-0.00149,-0.00149,-0.00149]}, + {"t":1.60213, "x":11.95807, "y":0.59687, "heading":0.0, "vx":0.99936, "vy":0.02911, "omega":0.0, "ax":-0.0045, "ay":-0.00013, "alpha":0.0, "fx":[-0.07198,-0.07198,-0.07198,-0.07198], "fy":[-0.0021,-0.0021,-0.0021,-0.0021]}, {"t":1.64925, "x":12.00516, "y":0.59824, "heading":0.0, "vx":0.99915, "vy":0.0291, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, diff --git a/src/main/deploy/choreo/redNoProcessToL4I.traj b/src/main/deploy/choreo/redNoProcessToL4I.traj index fda5b06..f7aad6d 100644 --- a/src/main/deploy/choreo/redNoProcessToL4I.traj +++ b/src/main/deploy/choreo/redNoProcessToL4I.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,14 +14,15 @@ {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxVelocity", "props":{"max":0.6}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.1}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"redRightFeeder.x", "val":16.43}, "y":{"exp":"redRightFeeder.y", "val":7.1}, "heading":{"exp":"redRightFeeder.heading", "val":0.942477796076938}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, 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"split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"14.09584903717041 m", "val":14.09584903717041}, "y":{"exp":"5.595446586608887 m", "val":5.595446586608887}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":839, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"redL4C.x", "val":13.85}, "y":{"exp":"redL4C.y", "val":5.1}, "heading":{"exp":"redL4C.heading", "val":-2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,7 +31,8 @@ {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}, {"from":0, "to":1, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":15.180194854736328, "y":1.315138339996338, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":13.995975494384766, "y":2.2425384521484375, "heading":0.0, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":13.995975494384766, "y":2.2425384521484375, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":13.6, "y":2.8, "heading":2.0943951023931953, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,9 +17,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"redLeftFeeder.x", "val":16.4}, "y":{"exp":"redLeftFeeder.y", "val":1.0}, "heading":{"exp":"redLeftFeeder.heading", 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"y":{"exp":"1.315138339996338 m", "val":1.315138339996338}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"13.995975494384766 m", "val":13.995975494384766}, "y":{"exp":"2.2425384521484375 m", "val":2.2425384521484375}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"redL4K.x", "val":13.6}, "y":{"exp":"redL4K.y", "val":2.8}, "heading":{"exp":"redL4K.heading", "val":2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -34,59 +34,62 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.51389,1.38311,1.71293], + "waypoints":[0.0,0.53056,1.4009,1.74783], "samples":[ - {"t":0.0, "x":16.4, "y":1.0, 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"snapshot":{ "waypoints":[ - {"x":16.4, "y":1.0, "heading":5.340707511102648, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":15.45128059387207, "y":1.258067607879639, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":14.238526344299316, "y":2.3138768672943115, "heading":0.0, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":16.4, "y":1.0, "heading":5.340707511102648, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":15.45128059387207, "y":1.258067607879639, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":14.238526344299316, "y":2.3138768672943115, "heading":0.0, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, 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"intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"redLeftFeeder.x", "val":16.4}, "y":{"exp":"redLeftFeeder.y", "val":1.0}, "heading":{"exp":"redLeftFeeder.heading", "val":5.340707511102648}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"15.45128059387207 m", "val":15.45128059387207}, "y":{"exp":"1.2580676078796387 m", "val":1.258067607879639}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"14.238526344299316 m", "val":14.238526344299316}, "y":{"exp":"2.3138768672943115 m", "val":2.3138768672943115}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"redL4L.x", "val":13.87}, "y":{"exp":"redL4L.y", "val":2.96}, "heading":{"exp":"redL4L.heading", 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class Config { - private static Config defaultConfig = - new Config(Preferences.getString("defaultConfig", "default")); + private static Config defaultConfig = new Config(Preferences.getString("defaultConfig", "dcmp")); public static Config getDefault() { return defaultConfig; diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 4689ef6..c8b3e9e 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -253,7 +253,7 @@ public static final class ClimberConstants { kMaxVelocityInchesPerSecond / kVelocityConversionFactor; public static final double kMaxAccelerationRPMPerSecond = kMaxVelocityRPM; // 100% accel in 1s - public static final double kDeployPosition = 7.0; // inches + public static final double kDeployPosition = 8.5; // inches public static final double kRetractPosition = 2.25; // inches } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fc1bba2..ab8a153 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -38,11 +38,11 @@ import frc.robot.auto.BlueL4Auto; import frc.robot.auto.BlueMoveAuto; import frc.robot.auto.BlueNoProcess3PieceAuto; -import frc.robot.auto.BlueProcess3PieceAuto; +import frc.robot.auto.BlueProcess2PieceAuto; import frc.robot.auto.RedL4Auto; import frc.robot.auto.RedMoveAuto; import frc.robot.auto.RedNoProcess3PieceAuto; -import frc.robot.auto.RedProcess3PieceAuto; +import frc.robot.auto.RedProcess2PieceAuto; import frc.robot.climber.Climber; import frc.robot.drivetrain.Drivetrain; import frc.robot.drivetrain.commands.DriveToPoseCommand; @@ -215,7 +215,9 @@ public void disabledPeriodic() { @Override public void autonomousInit() { - swerve.calibrateOdometry(); + autoSelector + .get() + .ifPresent(auto -> auto.getInitialPose().ifPresent(pose -> swerve.resetOdometry(pose))); swerve.setDefaultCommand(swerve.createStopCommand()); lifter.setDefaultCommand(lifter.remainAtCurrentHeight()); leds.replaceDefaultCommandImmediately( @@ -253,10 +255,11 @@ public void testInit() { public void testPeriodic() {} Gamepiece getLoadedGamepiece() { + if (coralRoller.hasCoral.getAsBoolean()) { + return Gamepiece.CORAL; + } if (algaeRoller.hasAlgae.getAsBoolean()) { return Gamepiece.ALGAE; - } else if (coralRoller.hasCoral.getAsBoolean()) { - return Gamepiece.CORAL; } return null; } @@ -409,7 +412,8 @@ public boolean getAsBoolean() { // elevator.algaeFloorIntakeCG(), elevator.coralIntakeCG(), algaeMode)); operator.rightTrigger().onTrue(new ConditionalCommand( - elevator.algaeFloorIntakeCG(), elevator.coralIntakeCG(), algaeMode)); + elevator.algaeFloorIntakeCG(), elevator.coralIntakePositionCG(), algaeMode)); + operator.rightTrigger().and(algaeMode.negate()).whileTrue(coralRoller.intake()); // Jiggle coral operator.rightBumper().whileTrue(coralRoller.jiggle().repeatedly()); @@ -475,9 +479,9 @@ private void configureAutoOptions() { autoSelector.addAuto( new AutoOption(Alliance.Blue, 2, new BlueNoProcess3PieceAuto(swerve, elevator))); autoSelector.addAuto( - new AutoOption(Alliance.Red, 3, new RedProcess3PieceAuto(swerve, elevator))); + new AutoOption(Alliance.Red, 3, new RedProcess2PieceAuto(swerve, elevator))); autoSelector.addAuto( - new AutoOption(Alliance.Blue, 3, new BlueProcess3PieceAuto(swerve, elevator))); + new AutoOption(Alliance.Blue, 3, new BlueProcess2PieceAuto(swerve, elevator))); autoSelector.addAuto( new AutoOption(Alliance.Blue, 4, new BlueMoveAuto(swerve))); autoSelector.addAuto( diff --git a/src/main/java/frc/robot/auto/BlueProcess2PieceAuto.java b/src/main/java/frc/robot/auto/BlueProcess2PieceAuto.java new file mode 100644 index 0000000..f85b4e4 --- /dev/null +++ b/src/main/java/frc/robot/auto/BlueProcess2PieceAuto.java @@ -0,0 +1,41 @@ +package frc.robot.auto; + +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import frc.robot.drivetrain.Drivetrain; +import frc.robot.elevator.Elevator; +import java.util.Optional; + +public class BlueProcess2PieceAuto extends L4MultiAuto { + + public BlueProcess2PieceAuto(Drivetrain drivetrain, Elevator elevatorSystem) { + super("BlueProcess2PieceAuto", drivetrain, elevatorSystem); + } + + AutoRoutine blueProcess3PieceRoutine = + super.getAutoFactory().newRoutine("blueProcess2PieceRoutine"); + + AutoTrajectory blueCenterToL4F = blueProcess3PieceRoutine.trajectory("blueCenterToL4F"); + AutoTrajectory blueL4FToSource = blueProcess3PieceRoutine.trajectory("blueL4FToSource"); + AutoTrajectory blueSourceToL4D = blueProcess3PieceRoutine.trajectory("blueSourceToL4D"); + + @Override + public Optional getInitialPose() { + return blueCenterToL4F.getInitialPose(); + } + + @Override + public AutoRoutine getAutoRoutine() { + + // Score at L4F + blueProcess3PieceRoutine.active().onTrue(blueCenterToL4F.cmd()); + scoreToL4Then(blueCenterToL4F, 1.0, blueL4FToSource.cmd()); + + // Grab some coral then score at L4D + grabSomeCoralThen(blueL4FToSource, blueSourceToL4D.cmd()); + scoreToL4Then(blueSourceToL4D, 2.5, coralRoller.stop()); + + return blueProcess3PieceRoutine; + } +} diff --git a/src/main/java/frc/robot/auto/BlueProcess3PieceAuto2.java b/src/main/java/frc/robot/auto/BlueProcess3PieceAuto2.java new file mode 100644 index 0000000..c30b95e --- /dev/null +++ b/src/main/java/frc/robot/auto/BlueProcess3PieceAuto2.java @@ -0,0 +1,51 @@ +package frc.robot.auto; + +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import frc.robot.drivetrain.Drivetrain; +import frc.robot.elevator.CoralRoller; +import frc.robot.elevator.Elevator; +import java.util.Optional; + +public class BlueProcess3PieceAuto2 extends L4MultiAuto { + + CoralRoller coralRoller; + Elevator elevator; + + public BlueProcess3PieceAuto2(Drivetrain drivetrain, Elevator elevatorSystem) { + super("BlueProcess3PieceAuto2", drivetrain, elevatorSystem); + } + + AutoRoutine blueProcess3PieceRoutine = + super.getAutoFactory().newRoutine("blueProcess3PieceRoutine"); + + AutoTrajectory blueCenterToL4F = blueProcess3PieceRoutine.trajectory("blueCenterToL4F"); + AutoTrajectory blueL4FToSource = blueProcess3PieceRoutine.trajectory("blueL4FToSource"); + AutoTrajectory blueSourceToL4D = blueProcess3PieceRoutine.trajectory("blueSourceToL4D"); + AutoTrajectory blueL4DToSource = blueProcess3PieceRoutine.trajectory("blueL4DToSource"); + AutoTrajectory blueSourceToL4C = blueProcess3PieceRoutine.trajectory("blueSourceToL4C"); + + @Override + public Optional getInitialPose() { + return blueCenterToL4F.getInitialPose(); + } + + @Override + public AutoRoutine getAutoRoutine() { + + // Score at L4F + blueProcess3PieceRoutine.active().onTrue(blueCenterToL4F.cmd()); + scoreToL4Then(blueCenterToL4F, 1.0, blueL4FToSource.cmd()); + + // Grab some coral then score at L4D + grabSomeCoralThen(blueL4FToSource, blueSourceToL4D.cmd()); + scoreToL4Then(blueSourceToL4D, 1.3, blueL4DToSource.cmd()); + + // Grab some coral then score at L4C + grabSomeCoralThen(blueL4DToSource, blueSourceToL4C.cmd()); + scoreToL4Then(blueSourceToL4C, 1.3, coralRoller.stop()); + + return blueProcess3PieceRoutine; + } +} diff --git a/src/main/java/frc/robot/auto/L4MultiAuto.java b/src/main/java/frc/robot/auto/L4MultiAuto.java new file mode 100644 index 0000000..99fdea2 --- /dev/null +++ b/src/main/java/frc/robot/auto/L4MultiAuto.java @@ -0,0 +1,56 @@ +package frc.robot.auto; + +import choreo.auto.AutoTrajectory; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.drivetrain.Drivetrain; +import frc.robot.elevator.CoralRoller; +import frc.robot.elevator.Elevator; + +public abstract class L4MultiAuto extends AutoMode { + protected final String name; + protected final CoralRoller coralRoller; + protected final Elevator elevator; + + public L4MultiAuto(String name, Drivetrain drivetrain, Elevator elevatorSystem) { + super(drivetrain); + this.name = name; + elevator = elevatorSystem; + coralRoller = elevator.getCoralRoller(); + } + + @Override + public String getName() { + return name; + } + + /** + * Attempts to score a coral at L4 height when the provided trajectory finishes. + * + *

As the robot approaches the scoring position, the elevator is raised. The coral is jiggled + * slightly, and then ejected. After ejecting, the elevator is lowered back to coral intake height + * + * @param scoreTrajectory The active trajectory leading to the scoring position + * @param finalApprochTime The time in the trajectory when the elevator should raise + * @param nextAction an action to perform after the scoring is complete + */ + protected void scoreToL4Then( + AutoTrajectory scoreTrajectory, double finalApprochTime, Command nextAction) { + + scoreTrajectory.atTime(finalApprochTime).onTrue(elevator.coralL4PositionCG()); + scoreTrajectory.atTime(finalApprochTime).onTrue(coralRoller.jiggle()); + scoreTrajectory.doneDelayed(0.2).onTrue(coralRoller.outtakeToL4().withTimeout(0.2)); + scoreTrajectory.doneDelayed(0.4).onTrue(elevator.coralIntakeCG()); + scoreTrajectory.doneDelayed(0.4).onTrue(nextAction); + } + + /** + * Grabs some coral once the provided trajectory finishes. + * + * @param sourceTrajectory The active trajectory leading to the coral source + * @param nextAction an action to perform after the coral is grabbed + */ + protected void grabSomeCoralThen(AutoTrajectory sourceTrajectory, Command nextAction) { + sourceTrajectory.done().onTrue(coralRoller.intake().until(coralRoller.hasCoral)); + sourceTrajectory.doneDelayed(1.0).onTrue(nextAction); + } +} diff --git a/src/main/java/frc/robot/auto/RedProcess2PieceAuto.java b/src/main/java/frc/robot/auto/RedProcess2PieceAuto.java new file mode 100644 index 0000000..d22ed15 --- /dev/null +++ b/src/main/java/frc/robot/auto/RedProcess2PieceAuto.java @@ -0,0 +1,41 @@ +package frc.robot.auto; + +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import frc.robot.drivetrain.Drivetrain; +import frc.robot.elevator.Elevator; +import java.util.Optional; + +public class RedProcess2PieceAuto extends L4MultiAuto { + + public RedProcess2PieceAuto(Drivetrain drivetrain, Elevator elevatorSystem) { + super("RedProcess2PieceAuto", drivetrain, elevatorSystem); + } + + AutoRoutine redProcess3PieceRoutine = + super.getAutoFactory().newRoutine("redProcess2PieceRoutine"); + + AutoTrajectory redCenterToL4F = redProcess3PieceRoutine.trajectory("redCenterToL4F"); + AutoTrajectory redL4FToSource = redProcess3PieceRoutine.trajectory("redL4FToSource"); + AutoTrajectory redSourceToL4D = redProcess3PieceRoutine.trajectory("redSourceToL4D"); + + @Override + public Optional getInitialPose() { + return redCenterToL4F.getInitialPose(); + } + + @Override + public AutoRoutine getAutoRoutine() { + + // Score at L4F + redProcess3PieceRoutine.active().onTrue(redCenterToL4F.cmd()); + scoreToL4Then(redCenterToL4F, 1.0, redL4FToSource.cmd()); + + // Grab some coral then score at L4D + grabSomeCoralThen(redL4FToSource, redSourceToL4D.cmd()); + scoreToL4Then(redSourceToL4D, 2.5, coralRoller.stop()); + + return redProcess3PieceRoutine; + } +} diff --git a/src/main/java/frc/robot/auto/RedProcess3PieceAuto2.java b/src/main/java/frc/robot/auto/RedProcess3PieceAuto2.java new file mode 100644 index 0000000..b062ea4 --- /dev/null +++ b/src/main/java/frc/robot/auto/RedProcess3PieceAuto2.java @@ -0,0 +1,47 @@ +package frc.robot.auto; + +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import frc.robot.drivetrain.Drivetrain; +import frc.robot.elevator.Elevator; +import java.util.Optional; + +public class RedProcess3PieceAuto2 extends L4MultiAuto { + + public RedProcess3PieceAuto2(Drivetrain drivetrain, Elevator elevatorSystem) { + super("RedProcess3PieceAuto2", drivetrain, elevatorSystem); + } + + AutoRoutine redProcess3PieceRoutine = + super.getAutoFactory().newRoutine("redProcess3PieceRoutine"); + + AutoTrajectory redCenterToL4F = redProcess3PieceRoutine.trajectory("redCenterToL4F"); + AutoTrajectory redL4FToSource = redProcess3PieceRoutine.trajectory("redL4FToSource"); + AutoTrajectory redSourceToL4D = redProcess3PieceRoutine.trajectory("redSourceToL4D"); + AutoTrajectory redL4DToSource = redProcess3PieceRoutine.trajectory("redL4DToSource"); + AutoTrajectory redSourceToL4C = redProcess3PieceRoutine.trajectory("redSourceToL4C"); + + @Override + public Optional getInitialPose() { + return redCenterToL4F.getInitialPose(); + } + + @Override + public AutoRoutine getAutoRoutine() { + + // Score at L4F + redProcess3PieceRoutine.active().onTrue(redCenterToL4F.cmd()); + scoreToL4Then(redCenterToL4F, 1.0, redL4FToSource.cmd()); + + // Grab some coral then score at L4D + grabSomeCoralThen(redL4FToSource, redSourceToL4D.cmd()); + scoreToL4Then(redSourceToL4D, 1.3, redL4DToSource.cmd()); + + // Grab some coral then score at L4C + grabSomeCoralThen(redL4DToSource, redSourceToL4C.cmd()); + scoreToL4Then(redSourceToL4C, 1.3, coralRoller.stop()); + + return redProcess3PieceRoutine; + } +} diff --git a/src/main/java/frc/robot/elevator/AlgaeRoller.java b/src/main/java/frc/robot/elevator/AlgaeRoller.java index f3c25b5..ca587cd 100644 --- a/src/main/java/frc/robot/elevator/AlgaeRoller.java +++ b/src/main/java/frc/robot/elevator/AlgaeRoller.java @@ -69,6 +69,8 @@ public void periodic() { SmartDashboard.putNumber("Algae Roller/Velocity", encoder.getVelocity()); SmartDashboard.putNumber("Algae Roller/Applied Duty Cycle", leaderMotor.getAppliedOutput()); SmartDashboard.putNumber("Algae Roller/Current", leaderMotor.getOutputCurrent()); + + SmartDashboard.putNumber("Algae Roller/Follower Current", followerMotor.getOutputCurrent()); SmartDashboard.putBoolean("Algae Loaded", hasAlgae.getAsBoolean()); SmartDashboard.putBoolean("Algae isRolling", isRolling.getAsBoolean()); } diff --git a/src/main/java/frc/robot/elevator/Elevator.java b/src/main/java/frc/robot/elevator/Elevator.java index 65fff50..63abca0 100644 --- a/src/main/java/frc/robot/elevator/Elevator.java +++ b/src/main/java/frc/robot/elevator/Elevator.java @@ -106,6 +106,17 @@ public Command coralIntakeCG() { }); } + public Command coralIntakePositionCG() { + return new InstantCommand( + () -> { + lifter.setHeight(LifterState.CoralIntake).schedule(); + coralWrist.setAngle(CoralWristState.Intake).schedule(); + algaeWrist.setAngle(AlgaeWristState.CoralMode).schedule(); + coralRoller.stop().schedule(); + algaeRoller.stop().schedule(); + }); + } + public Command algaeBargePositionCG() { return new InstantCommand( () -> { diff --git a/src/main/java/frc/robot/elevator/ElevatorConstants.java b/src/main/java/frc/robot/elevator/ElevatorConstants.java index 17f527c..81c5255 100644 --- a/src/main/java/frc/robot/elevator/ElevatorConstants.java +++ b/src/main/java/frc/robot/elevator/ElevatorConstants.java @@ -66,7 +66,7 @@ public static enum LifterState { Min(0.0), AlgaeIntakeFloor(1.0), EncoderReset(0.36), - CoralL1(2.0), + CoralL1(4.0), CoralL2(12.8), CoralL3(28.0), CoralL4(57.25), @@ -100,7 +100,7 @@ public static final class CoralRollerConstants { public static final double kVelocityConversionFactor = kPositionConversionFactor / 60.0; public static final Voltage kIntakeVoltage = Volts.of(5.0); - public static final Voltage kOuttakeToL1Voltage = Volts.of(-2.5); + public static final Voltage kOuttakeToL1Voltage = Volts.of(-1.5); public static final Voltage kOuttakeToL2Voltage = Volts.of(-5.0); public static final Voltage kOuttakeToL3Voltage = Volts.of(-5.0); public static final Voltage kOuttakeToL4Voltage = Volts.of(-5.0); @@ -155,7 +155,7 @@ public static enum CoralWristState { Initial(90), Min(15), Max(135), - L1(125), + L1(90), L2(65), L3(65), // TODO: reevaluate diff --git a/src/main/java/frc/robot/vision/Camera.java b/src/main/java/frc/robot/vision/Camera.java index 7e0b3f4..3b80a2b 100644 --- a/src/main/java/frc/robot/vision/Camera.java +++ b/src/main/java/frc/robot/vision/Camera.java @@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.Subsystem; import frc.robot.Constants; import frc.robot.Constants.VisionConstants; -import java.io.IOException; import java.util.List; import java.util.Optional; import org.photonvision.EstimatedRobotPose; @@ -49,16 +48,16 @@ private Camera(String name, Translation3d translation, Rotation3d rotation) { this.curStdDevs = VisionConstants.kMultiTagStdDevs; // TODO: switch back to official field layout - AprilTagFieldLayout tagLayout; - try { - tagLayout = new AprilTagFieldLayout(VisionConstants.kStemGymAprilTagLayoutPath); - } catch (IOException e) { - System.err.println("Error loading custom AprilTag layout: " + e.getMessage()); - tagLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); - } - - // AprilTagFieldLayout tagLayout = - // AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark); + // AprilTagFieldLayout tagLayout; + // try { + // tagLayout = new AprilTagFieldLayout(VisionConstants.kStemGymAprilTagLayoutPath); + // } catch (IOException e) { + // System.err.println("Error loading custom AprilTag layout: " + e.getMessage()); + // tagLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); + // } + + AprilTagFieldLayout tagLayout = + AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark); this.poseEstimator = new PhotonPoseEstimator(tagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, transform);