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AceiusRedshiftAceiusRedshift
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Second working J sweep prototype
1 parent 4f636c4 commit 6567079

10 files changed

Lines changed: 348 additions & 12 deletions

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‎src/main/deploy/pathplanner/autos/Far Left Full Sweep.auto‎

Lines changed: 77 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,77 @@
1+
{
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"version": "2025.0",
3+
"command": {
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"type": "sequential",
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"data": {
6+
"commands": [
7+
{
8+
"type": "parallel",
9+
"data": {
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"commands": [
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{
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"type": "sequential",
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"data": {
14+
"commands": [
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
21+
"data": {
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"pathName": "Left Sweep Out"
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}
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},
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{
26+
"type": "sequential",
27+
"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 0.5
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}
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},
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{
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"type": "named",
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"data": {
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"name": "StartIntake"
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}
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}
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]
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}
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}
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]
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "Left Sweep In"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "LaunchInPlaceAgitate"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "Left Sweep Reset"
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}
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}
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]
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}
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}
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]
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}
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}
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]
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}
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},
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"resetOdom": true,
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"folder": "Sweep Only",
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"choreoAuto": false
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}

‎src/main/deploy/pathplanner/paths/Left Sweep In.path‎

Lines changed: 107 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,107 @@
1+
{
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"version": "2025.0",
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"waypoints": [
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{
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"anchor": {
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"x": 7.75,
7+
"y": 5.0
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},
9+
"prevControl": null,
10+
"nextControl": {
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"x": 7.854085753117357,
12+
"y": 6.052592047210485
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},
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"isLocked": false,
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"linkedName": "Left Sweep Middle"
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},
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{
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"anchor": {
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"x": 6.587132530120481,
20+
"y": 7.247746987951807
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},
22+
"prevControl": {
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"x": 7.353455688202985,
24+
"y": 6.838052023726868
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},
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"nextControl": {
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"x": 6.111103420747049,
28+
"y": 7.502243706311167
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},
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"isLocked": false,
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"linkedName": null
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},
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{
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"anchor": {
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"x": 4.0,
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"y": 7.4
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},
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"prevControl": {
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"x": 4.280798723515542,
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"y": 7.412193190735794
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},
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"nextControl": {
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"x": 3.7502353644396926,
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"y": 7.38915440995488
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},
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"isLocked": false,
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"linkedName": "Left Sweep Start"
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},
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{
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"anchor": {
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"x": 3.155831325301205,
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"y": 7.247746987951807
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},
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"prevControl": {
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"x": 3.363434455269518,
56+
"y": 7.408267990390196
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},
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"nextControl": {
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"x": 2.9580563617354465,
60+
"y": 7.094825230877927
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},
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"isLocked": false,
63+
"linkedName": null
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},
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{
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"anchor": {
67+
"x": 3.0465542168674697,
68+
"y": 6.056626506024097
69+
},
70+
"prevControl": {
71+
"x": 3.4425549647993225,
72+
"y": 7.698552544225509
73+
},
74+
"nextControl": null,
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"isLocked": false,
76+
"linkedName": "Left Sweep End"
77+
}
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],
79+
"rotationTargets": [
80+
{
81+
"waypointRelativePos": 1.0,
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"rotationDegrees": 0.0
83+
}
84+
],
85+
"constraintZones": [],
86+
"pointTowardsZones": [],
87+
"eventMarkers": [],
88+
"globalConstraints": {
89+
"maxVelocity": 3.0,
90+
"maxAcceleration": 3.0,
91+
"maxAngularVelocity": 540.0,
92+
"maxAngularAcceleration": 720.0,
93+
"nominalVoltage": 12.0,
94+
"unlimited": false
95+
},
96+
"goalEndState": {
97+
"velocity": 0,
98+
"rotation": 0.0
99+
},
100+
"reversed": false,
101+
"folder": "Secondary",
102+
"idealStartingState": {
103+
"velocity": 0,
104+
"rotation": -90.0
105+
},
106+
"useDefaultConstraints": true
107+
}

‎src/main/deploy/pathplanner/paths/Left Sweep Out.path‎

Lines changed: 95 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,95 @@
1+
{
2+
"version": "2025.0",
3+
"waypoints": [
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{
5+
"anchor": {
6+
"x": 4.0,
7+
"y": 7.4
8+
},
9+
"prevControl": null,
10+
"nextControl": {
11+
"x": 5.087900888173833,
12+
"y": 7.277157840614658
13+
},
14+
"isLocked": false,
15+
"linkedName": "Left Sweep Start"
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},
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{
18+
"anchor": {
19+
"x": 7.220939759036145,
20+
"y": 7.269602409638554
21+
},
22+
"prevControl": {
23+
"x": 6.725670446843524,
24+
"y": 7.620199071260089
25+
},
26+
"nextControl": {
27+
"x": 7.542616085851799,
28+
"y": 7.041890650545384
29+
},
30+
"isLocked": false,
31+
"linkedName": null
32+
},
33+
{
34+
"anchor": {
35+
"x": 7.75,
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"y": 6.111
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},
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"prevControl": {
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"x": 7.596106475234765,
40+
"y": 6.827514787943704
41+
},
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"nextControl": {
43+
"x": 7.802497934471371,
44+
"y": 5.866574209879072
45+
},
46+
"isLocked": false,
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"linkedName": null
48+
},
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{
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"anchor": {
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"x": 7.75,
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"y": 5.0
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},
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"prevControl": {
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"x": 7.7743116211986765,
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"y": 5.24881508208847
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},
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"nextControl": null,
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"isLocked": false,
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"linkedName": "Left Sweep Middle"
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}
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],
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"rotationTargets": [
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{
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"waypointRelativePos": 0.5,
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"rotationDegrees": 0.0
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},
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{
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"waypointRelativePos": 1.5,
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"rotationDegrees": -90.0
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}
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],
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"constraintZones": [],
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"pointTowardsZones": [],
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"eventMarkers": [],
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"globalConstraints": {
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"maxVelocity": 3.0,
78+
"maxAcceleration": 3.0,
79+
"maxAngularVelocity": 540.0,
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"maxAngularAcceleration": 720.0,
81+
"nominalVoltage": 12.0,
82+
"unlimited": false
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},
84+
"goalEndState": {
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"velocity": 0,
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"rotation": -90.0
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},
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"reversed": false,
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"folder": "Secondary",
90+
"idealStartingState": {
91+
"velocity": 0,
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"rotation": 0.0
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},
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"useDefaultConstraints": true
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}

‎src/main/deploy/pathplanner/paths/Left Sweep Reset.path‎

Lines changed: 54 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,54 @@
1+
{
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"version": "2025.0",
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"waypoints": [
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{
5+
"anchor": {
6+
"x": 3.0465542168674697,
7+
"y": 6.056626506024097
8+
},
9+
"prevControl": null,
10+
"nextControl": {
11+
"x": 2.9649322188572373,
12+
"y": 7.429825772894727
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},
14+
"isLocked": false,
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"linkedName": "Left Sweep End"
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},
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{
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"anchor": {
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"x": 4.0,
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"y": 7.4
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},
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"prevControl": {
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"x": 2.86078313253012,
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"y": 7.44444578313253
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},
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"nextControl": null,
27+
"isLocked": false,
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"linkedName": "Left Sweep Start"
29+
}
30+
],
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"rotationTargets": [],
32+
"constraintZones": [],
33+
"pointTowardsZones": [],
34+
"eventMarkers": [],
35+
"globalConstraints": {
36+
"maxVelocity": 3.0,
37+
"maxAcceleration": 3.0,
38+
"maxAngularVelocity": 540.0,
39+
"maxAngularAcceleration": 720.0,
40+
"nominalVoltage": 12.0,
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"unlimited": false
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},
43+
"goalEndState": {
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"velocity": 0,
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"rotation": 0.0
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},
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"reversed": false,
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"folder": "Secondary",
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"idealStartingState": {
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"velocity": 0,
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"rotation": 0.0
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},
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"useDefaultConstraints": true
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}

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

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -624,7 +624,10 @@ private void registerNamedCommands() {
624624

625625
// Launcher commands
626626
namedCommands.put("PrimeToLaunch", LaunchCommands.primeToLaunch(drive, launcher));
627-
namedCommands.put("LaunchInPlace", LaunchCommands.launchInPlace(drive, vision, launcher, hopper));
627+
namedCommands.put("LaunchInPlace", LaunchCommands.launchInPlace(drive, vision, launcher, hopper, 0));
628+
namedCommands.put(
629+
"LaunchInPlaceAgitate",
630+
new StagedAgitateFeed(intake).withDeadline(LaunchCommands.launchInPlace(drive, vision, launcher, hopper, 2)));
628631

629632
// Hang commands
630633
namedCommands.put("HangUp", Commands.none());

‎src/main/java/frc/robot/commands/LaunchCommands.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ public static Command primeToLaunch(Drive drive, Launcher launcher) {
5454
}));
5555
}
5656

57-
public static Command launchInPlace(Drive drive, AprilTagVision vision, Launcher launcher, Hopper hopper) {
57+
public static Command launchInPlace(Drive drive, AprilTagVision vision, Launcher launcher, Hopper hopper, double withExtraTime) {
5858
Debouncer alignedWithHubDebouncer = new Debouncer(1);
5959
BooleanSupplier isAligned = () -> alignedWithHubDebouncer.calculate((MathUtil.isNear(
6060
LaunchCalculator.getInstance()
@@ -74,7 +74,7 @@ public static Command launchInPlace(Drive drive, AprilTagVision vision, Launcher
7474
Commands.waitUntil(launcher::isReadyDebounced).withTimeout(1),
7575
hopper.runOnce(() -> hopper.setMode(HopperRunMode.FIRING))));
7676

77-
return Commands.parallel(launchFuel, autoAlign, Commands.waitSeconds(3))
77+
return Commands.parallel(launchFuel, autoAlign, Commands.waitSeconds(3 + withExtraTime))
7878
.finallyDo((interrupted) -> {
7979
hopper.setMode(HopperRunMode.STOPPED);
8080
launcher.stop();

‎src/main/java/frc/robot/subsystems/hopper/HopperConstants.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ public record MotorConstants(
1010
int deviceId, double gearRatio, boolean inverted, boolean brakeMode, double stallCurrent) {}
1111

1212
public static final MotorConstants FEEDER_CONSTANTS =
13-
new MotorConstants(14, (1.0 / 3.0) * (1.0 / 3.0), true, false, 30);
13+
new MotorConstants(14, (1.0 / 3.0) * (1.0 / 3.0), true, false, 120);
1414
public static final MotorConstants LIFTER_CONSTANTS =
1515
new MotorConstants(5, (1.0 / 3.0) * (1.0 / 3.0) * (1.0 / 3.0), true, false, 40);
1616

‎src/main/java/frc/robot/subsystems/hopper/HopperMotorIOSparkMax.java‎

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Original file line numberDiff line numberDiff line change
@@ -56,7 +56,6 @@ public HopperMotorIOSparkMax(MotorConstants constants) {
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5757
@Override
5858
public void updateInputs(HopperMotorIOInputs inputs) {
59-
6059
SparkUtil.clearError();
6160
ifOk(motor, relativeEncoder::getPosition, value -> inputs.positionRad = Units.rotationsToRadians(value));
6261
ifOk(

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