From c3c16adc1cbaac8215c3106c350a85f8eb0b744c Mon Sep 17 00:00:00 2001 From: mwitcpalek Date: Sat, 12 Apr 2025 15:13:07 -0400 Subject: [PATCH 1/5] fix drive practice bugs --- src/main/deploy/choreo/midStartPtoESlow.traj | 2 +- .../auton/NonProcessorSlowMicCommand.java | 136 ++++++++++++++++++ .../robotState/ForceLowFloorAlgaeCommand.java | 4 +- .../robot/constants/ElevatorConstants.java | 2 +- .../frc/robot/subsystems/auto/AutoSwitch.java | 18 +-- 5 files changed, 151 insertions(+), 11 deletions(-) create mode 100644 src/main/java/frc/robot/commands/auton/NonProcessorSlowMicCommand.java diff --git a/src/main/deploy/choreo/midStartPtoESlow.traj b/src/main/deploy/choreo/midStartPtoESlow.traj index 0e344511..0db8b182 100644 --- a/src/main/deploy/choreo/midStartPtoESlow.traj +++ b/src/main/deploy/choreo/midStartPtoESlow.traj @@ -1,5 +1,5 @@ { - "name":"midStartPtoESlow", + "name":"midStartPToESlow", "version":1, "snapshot":{ "waypoints":[ diff --git a/src/main/java/frc/robot/commands/auton/NonProcessorSlowMicCommand.java b/src/main/java/frc/robot/commands/auton/NonProcessorSlowMicCommand.java new file mode 100644 index 00000000..2c964776 --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/NonProcessorSlowMicCommand.java @@ -0,0 +1,136 @@ +package frc.robot.commands.auton; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.commands.elevator.ZeroElevatorCommand; +import frc.robot.commands.pathHandler.StartPathHandlerCommand; +import frc.robot.constants.PathHandlerConstants; +import frc.robot.subsystems.algae.AlgaeSubsystem; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.pathHandler.PathHandler; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoreSide; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.vision.VisionSubsystem; +import java.util.ArrayList; +import java.util.List; + +public class NonProcessorSlowMicCommand extends SequentialCommandGroup + implements AutoCommandInterface { + private PathHandler pathHandler; + private DriveSubsystem driveSubsystem; + private DriveAutonServoCommand startPath; + private CoralSubsystem coralSubsystem; + private RobotStateSubsystem robotStateSubsystem; + private VisionSubsystem visionSubsystem; + private List NodeNames; + private List NodeLevels; + private List lightDistances = new ArrayList<>(); + private List postOffsets = new ArrayList<>(); + private char startNode; + + public NonProcessorSlowMicCommand( + DriveSubsystem driveSubsystem, + PathHandler pathHandler, + RobotStateSubsystem robotStateSubsystem, + AlgaeSubsystem algaeSubsystem, + BiscuitSubsystem biscuitSubsystem, + CoralSubsystem coralSubsystem, + ElevatorSubsystem elevatorSubsystem, + TagAlignSubsystem tagAlignSubsystem, + VisionSubsystem visionSubsystem, + String startPathName, + List NodeNames, + List NodeLevels, + List lightDistances, + List postOffsets, + char startNode, + Boolean startScoreLeft, + Pose2d startPose) { + addRequirements( + driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); + this.pathHandler = pathHandler; + this.driveSubsystem = driveSubsystem; + this.coralSubsystem = coralSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + + this.NodeNames = NodeNames; + this.NodeLevels = NodeLevels; + this.startNode = startNode; + this.lightDistances = lightDistances; + this.postOffsets = postOffsets; + + startPath = + new DriveAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + startPathName, + true, + true, + false, + startScoreLeft, + postOffsets.get(0)); + postOffsets.remove(0); + + addCommands( + new SequentialCommandGroup( + new ParallelCommandGroup( + new PrepOdomForAutoCommand( + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + new ZeroElevatorCommand(elevatorSubsystem)), + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + startPath, + new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), + + // new ParallelCommandGroup( + // new ZeroElevatorCommand(elevatorSubsystem), + // new ResetOdometryCommand( + // driveSubsystem, new Pose2d(7.1008875, 5.0756788, new Rotation2d(180))), + // new SequentialCommandGroup( + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + // new ResetOdometryCommand(driveSubsystem, AutonConstants.kNonProcessorShallow))), + // new ParallelCommandGroup( + // // new WaitCommand(0.03), new SetVisionUpdatesCommand(visionSubsystem, true)), + // startPath, + // new WaitForButtonPressCommand(button), + new StartPathHandlerCommand( + pathHandler, + PathHandlerConstants.kSlowShallowPathNames, + NodeNames, + NodeLevels, + startNode, + false))); + } + + @Override + public void reassignAlliance() { + startPath.reassignAlliance(); + driveSubsystem.teleResetGyro(); + coralSubsystem.setAutoPreload(); + robotStateSubsystem.setIsAutoPlacing(false); + robotStateSubsystem.setScoringLevel(ScoringLevel.L4); + robotStateSubsystem.setGetAlgaeOnCycle(false); + // robotStateSubsystem.setIsAuto(true); + robotStateSubsystem.setScoreSide(ScoreSide.RIGHT); + visionSubsystem.setVisionUpdating(true); + pathHandler.setPathNames(PathHandlerConstants.kSlowShallowPathNames); + pathHandler.setNodeNames(NodeNames); + pathHandler.setNodeLevels(NodeLevels); + pathHandler.setStartNode(startNode); + pathHandler.setGetAlgaeLast(false); + pathHandler.setLightDistances(lightDistances); + pathHandler.setPostOffsets(postOffsets); + // pathHandler.reassignAlliance(); + } +} diff --git a/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java index 09831cd4..7131aee8 100644 --- a/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java @@ -11,6 +11,7 @@ public class ForceLowFloorAlgaeCommand extends Command { RobotStateSubsystem robotState; boolean hasTriedToPickup = false; + boolean notSafeElevator = false; public ForceLowFloorAlgaeCommand( RobotStateSubsystem robotState, @@ -24,6 +25,7 @@ public ForceLowFloorAlgaeCommand( @Override public void initialize() { hasTriedToPickup = false; + notSafeElevator = !robotState.safeMoveElevator(); robotState.setAlgaeHeight(AlgaeHeight.LOW); robotState.toAlgaeFloorPickup(); } @@ -34,6 +36,6 @@ public boolean isFinished() { || robotState.getState() == RobotStates.MIC_ALGAE) { hasTriedToPickup = true; } - return robotState.getState() == RobotStates.STOW && hasTriedToPickup; + return (robotState.getState() == RobotStates.STOW && hasTriedToPickup) || notSafeElevator; } } diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java index cdecc67b..3de13314 100644 --- a/src/main/java/frc/robot/constants/ElevatorConstants.java +++ b/src/main/java/frc/robot/constants/ElevatorConstants.java @@ -49,7 +49,7 @@ public class ElevatorConstants { public static final Angle kL3AlgaeRemovalSetpoint = kL3AlgaeSetpoint; // Coral score - public static final Angle kL1CoralSetpoint = Rotations.of(3.931); // 13.04053 + public static final Angle kL1CoralSetpoint = Rotations.of(3.931); // 13.04053 -> 3.931 public static final Angle kL2CoralSetpoint = Rotations.of(20.1559 + 0.176); // 19.62793 -> 21.0786 -> public static final Angle kL3CoralSetpoint = diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java index 1ae81458..d2012d47 100644 --- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java +++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java @@ -480,7 +480,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) { new ArrayList<>(Arrays.asList(0.0, 0.0, 0.0)), 'e', true, - AutonConstants.kNonProcessorShallow); + AutonConstants.kProcessorShallow); } case 0x21 -> { @@ -507,7 +507,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) { } case 0x22 -> { - return new ProcessorShallowAutonCommand( + return new ProcessorShallowSlowAutonCommand( driveSubsystem, pathHandler, robotStateSubsystem, @@ -518,14 +518,16 @@ private AutoCommandInterface getAutoCommand(int switchPos) { tagAlignSubsystem, visionSubsystem, "midStartPToESlow", - new ArrayList(Arrays.asList('d', 'c', 'c')), - new ArrayList( - Arrays.asList(ScoringLevel.L4, ScoringLevel.L4, ScoringLevel.L3)), - new ArrayList<>(Arrays.asList(0.0, 0.0, 0.0, 0.0)), - new ArrayList<>(Arrays.asList(0.0, 0.0, 0.0, 0.0)), + new ArrayList(Arrays.asList('d', 'c')), + new ArrayList(Arrays.asList(ScoringLevel.L4, ScoringLevel.L4)), + new ArrayList<>( + Arrays.asList( + PathHandlerConstants.kLoadLightDistance, + PathHandlerConstants.kLoadLightDistance, + PathHandlerConstants.kLoadLightDistance)), + new ArrayList<>(Arrays.asList(0.0, 0.0, 0.0)), 'e', true, - true, AutonConstants.kProcessorMid); } From c78a88415759b74a8f4402c0bfe21213c3d7bc9c Mon Sep 17 00:00:00 2001 From: Marisa Witcpalek <35316453+mwitcpalek@users.noreply.github.com> Date: Sat, 12 Apr 2025 15:25:53 -0400 Subject: [PATCH 2/5] Rename midStartPtoESlow.traj to midStartPToESlow.traj --- .../choreo/{midStartPtoESlow.traj => midStartPToESlow.traj} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/main/deploy/choreo/{midStartPtoESlow.traj => midStartPToESlow.traj} (100%) diff --git a/src/main/deploy/choreo/midStartPtoESlow.traj b/src/main/deploy/choreo/midStartPToESlow.traj similarity index 100% rename from src/main/deploy/choreo/midStartPtoESlow.traj rename to src/main/deploy/choreo/midStartPToESlow.traj From 80ac1e05045411f3fce94f1a9ab14ef8e820f567 Mon Sep 17 00:00:00 2001 From: David Shen Date: Sat, 12 Apr 2025 17:58:02 -0400 Subject: [PATCH 3/5] camera pitch and yaw, stealing autons, start path tweak --- src/main/deploy/choreo/OppBargeToOppG.traj | 376 ++++++++++++++---- src/main/deploy/choreo/OppGToOppBarge.traj | 323 ++++++++++++--- src/main/deploy/choreo/midStartPtoESlow.traj | 153 ++++--- .../DriveAlgaeWaitAutonServoCommand.java | 10 +- ...StealOneAlgeaNoSuperCycleAutonCommand.java | 1 + ...StealTwoAlgeaNoSuperCycleAutonCommand.java | 161 ++++++++ .../frc/robot/constants/VisionConstants.java | 6 +- .../frc/robot/subsystems/auto/AutoSwitch.java | 21 + 8 files changed, 834 insertions(+), 217 deletions(-) create mode 100644 src/main/java/frc/robot/commands/auton/StealTwoAlgeaNoSuperCycleAutonCommand.java diff --git a/src/main/deploy/choreo/OppBargeToOppG.traj b/src/main/deploy/choreo/OppBargeToOppG.traj index 667d0999..d95c3d30 100644 --- a/src/main/deploy/choreo/OppBargeToOppG.traj +++ b/src/main/deploy/choreo/OppBargeToOppG.traj @@ -3,26 +3,36 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":9.826, "y":5.08871412277, "heading":3.141592653589793, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":10.958967590332032, "y":4.449285507202148, "heading":1.0534404506460873, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.826, "y":5.08871412277, "heading":3.141592653589793, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":10.182872772216797, "y":4.888049602508545, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":11.157674789428713, "y":4.397355079650879, "heading":1.0534404506460873, "intervals":214, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":11.698677, "y":4.3309, "heading":0.0, "intervals":18, "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}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":3.3}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.2}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":1.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"FieldMaxX - barge.x", "val":9.826}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"10.958967590332032 m", "val":10.958967590332032}, "y":{"exp":"4.449285507202148 m", "val":4.449285507202148}, "heading":{"exp":"1.0534404506460873 rad", "val":1.0534404506460873}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"FieldMaxX - barge.x", "val":9.826}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":128, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"10.182872772216797 m", "val":10.182872772216797}, "y":{"exp":"4.888049602508545 m", "val":4.888049602508545}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"11.157674789428711 m", "val":11.157674789428713}, "y":{"exp":"4.397355079650879 m", "val":4.397355079650879}, "heading":{"exp":"1.0534404506460873 rad", "val":1.0534404506460873}, "intervals":214, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"FieldMaxX - G.x", "val":11.698677}, "y":{"exp":"FieldMaxY - G.y", "val":4.3309}, "heading":{"exp":"G.heading - 180 deg", "val":0.0}, "intervals":18, "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}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"3.3 m / s", "val":3.3}}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}, + {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.2 rad / s", "val":0.2}}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"1 rad / s", "val":1.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -30,77 +40,291 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.66398,1.8885], + "waypoints":[0.0,0.36989,0.98601,2.03225], "samples":[ - {"t":0.0, "x":9.826, "y":5.08871, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":4.96008, "ay":-1.56652, "alpha":-47.17883, "fx":[-14.43164,-2.40097,150.44109,197.12036], "fy":[197.00808,-199.06127,-130.53944,28.1399]}, - {"t":0.02656, "x":9.82775, "y":5.08816, "heading":3.14159, "vx":0.13174, "vy":-0.04161, "omega":-1.25304, "ax":5.55676, "ay":-1.66775, "alpha":-44.84832, "fx":[19.97268,2.70248,150.09696,197.74224], "fy":[195.71476,-199.00605,-130.88274,22.97192]}, - {"t":0.05312, "x":9.83321, "y":5.08647, "heading":3.10831, "vx":0.27932, "vy":-0.0859, "omega":-2.44418, "ax":6.73365, 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"fixHeading":true, "overrideIntervals":false}, + {"x":5.386148929595947, "y":2.160667657852173, "heading":2.2432744351211547, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.894185251845, "y":2.7146580097364, "heading":2.0943951023931953, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"midStartP.x", "val":7.1}, "y":{"exp":"midStartP.y", "val":1.8818}, "heading":{"exp":"midStartP.heading", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.597927093505859 m", "val":5.597927093505859}, "y":{"exp":"2.1490352153778076 m", "val":2.1490352153778076}, "heading":{"exp":"2.4805492802737046 rad", "val":2.4805492802737046}, 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"fy":[-12.6005,-12.53235,-12.32387,-12.42872]}, + {"t":1.731, "x":4.97496, "y":2.60991, "heading":2.11053, "vx":-0.31956, "vy":0.40274, "omega":-0.0431, "ax":0.6562, "ay":-0.75393, "alpha":0.03781, "fx":[10.90082,11.07916,10.96209,10.81191], "fy":[-12.68764,-12.59661,-12.44776,-12.5385]}, + {"t":1.76315, "x":4.96502, "y":2.62247, "heading":2.10915, "vx":-0.29846, "vy":0.3785, "omega":-0.04188, "ax":0.65009, "ay":-0.75922, "alpha":0.03283, "fx":[10.809,10.94436,10.86466,10.72892], "fy":[-12.75491,-12.70784,-12.5398,-12.621]}, + {"t":1.79531, "x":4.95576, "y":2.63425, "heading":2.1078, "vx":-0.27756, "vy":0.35409, "omega":-0.04083, "ax":0.64439, "ay":-0.76409, "alpha":0.0322, "fx":[10.70892,10.86218,10.76135,10.63412], "fy":[-12.83897,-12.76196,-12.63531,-12.71205]}, + {"t":1.82746, "x":4.94717, "y":2.64524, "heading":2.10649, "vx":-0.25684, "vy":0.32952, "omega":-0.03979, "ax":0.63905, "ay":-0.76859, "alpha":0.0307, "fx":[10.6263,10.75342,10.67908,10.55162], "fy":[-12.90431,-12.86053,-12.70384,-12.77924]}, + {"t":1.85962, "x":4.93924, "y":2.65544, "heading":2.10521, "vx":-0.23629, "vy":0.3048, "omega":-0.03881, "ax":0.63404, "ay":-0.77275, "alpha":0.03324, "fx":[10.53553,10.69188,10.59051,10.45839], "fy":[-12.9872,-12.90746,-12.77552,-12.855]}, + {"t":1.89177, "x":4.93197, "y":2.66484, "heading":2.10396, "vx":-0.2159, "vy":0.27996, "omega":-0.03774, "ax":0.62933, "ay":-0.7766, "alpha":0.03514, "fx":[10.45998,10.60648,10.52134,10.37451], "fy":[-13.05307,-12.99655,-12.82334,-12.90947]}, + {"t":1.92393, "x":4.92535, "y":2.67344, "heading":2.10275, "vx":-0.19567, "vy":0.25498, "omega":-0.03661, "ax":0.62489, "ay":-0.78019, "alpha":0.04113, "fx":[10.37616,10.56476,10.44581,10.27997], "fy":[-13.13811,-13.03859,-12.87286,-12.97214]}, + {"t":1.95608, "x":4.91939, "y":2.68124, "heading":2.10157, "vx":-0.17558, "vy":0.2299, "omega":-0.03528, "ax":0.62071, "ay":-0.78354, "alpha":0.04701, "fx":[10.30543,10.50266,10.3887,10.19115], "fy":[-13.20847,-13.12102,-12.90002,-13.0153]}, + {"t":1.98824, "x":4.91406, "y":2.68822, "heading":2.10044, "vx":-0.15562, "vy":0.2047, "omega":-0.03377, "ax":0.61676, "ay":-0.78666, "alpha":0.05737, "fx":[10.2261,10.48237,10.32559,10.09061], "fy":[-13.30056,-13.16067,-12.92619,-13.06586]}, + {"t":2.02039, "x":4.90938, "y":2.6944, "heading":2.09935, "vx":-0.13578, "vy":0.17941, "omega":-0.03193, "ax":0.61303, "ay":-0.78959, "alpha":0.06855, "fx":[10.15756,10.44654,10.28045,9.99111], "fy":[-13.38132,-13.23935,-12.9298,-13.09802]}, + {"t":2.05254, "x":4.90533, "y":2.69976, "heading":2.09832, "vx":-0.11607, "vy":0.15402, "omega":-0.02972, "ax":0.60949, "ay":-0.79234, "alpha":0.08508, "fx":[10.07974,10.4525,10.23016,9.87739], "fy":[-13.48776,-13.27944,-12.92815,-13.1363]}, + {"t":2.0847, "x":4.90191, "y":2.7043, "heading":2.09737, "vx":-0.09647, "vy":0.12854, "omega":-0.02699, "ax":0.60614, "ay":-0.79492, "alpha":0.10385, "fx":[10.01016,10.44933,10.1981,9.75847], "fy":[-13.5878,-13.35765,-12.90175,-13.15661]}, + {"t":2.11685, "x":4.89912, "y":2.70802, "heading":2.0965, "vx":-0.07698, "vy":0.10298, "omega":-0.02365, "ax":0.60295, "ay":-0.79735, "alpha":0.12951, "fx":[9.93005,10.49049,10.16236,9.62069], "fy":[-13.71945,-13.40186,-12.86355,-13.18106]}, + {"t":2.14901, "x":4.89696, "y":2.71092, "heading":2.09574, "vx":-0.0576, "vy":0.07734, "omega":-0.01948, "ax":0.59992, "ay":-0.79965, "alpha":0.1596, "fx":[9.85513,10.53135,10.14602,9.46905], "fy":[-13.85203,-13.48407,-12.79561,-13.18714]}, + {"t":2.18116, "x":4.89542, "y":2.713, "heading":2.09511, "vx":-0.03831, "vy":0.05163, "omega":-0.01435, "ax":0.59704, "ay":-0.80181, "alpha":0.19911, "fx":[9.76758,10.62259,10.1283,9.29073], "fy":[-14.02545,-13.53713,-12.70613,-13.19458]}, + {"t":2.21332, "x":4.89449, "y":2.71424, "heading":2.09465, "vx":-0.01911, "vy":0.02585, "omega":-0.00795, "ax":0.59429, "ay":-0.80386, "alpha":0.24724, "fx":[9.67762,10.73638,10.12707,9.08482], "fy":[-14.21977,-13.61341,-12.58006,-13.18674]}, + {"t":2.24547, "x":4.89419, "y":2.71466, "heading":2.0944, "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/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java index 20eaecdd..c7575713 100644 --- a/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java +++ b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java @@ -4,10 +4,12 @@ import choreo.trajectory.SwerveSample; import choreo.trajectory.Trajectory; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.commands.drive.DriveAutonCommand; import frc.robot.constants.AutonConstants; +import frc.robot.constants.DriveConstants; import frc.robot.constants.PathHandlerConstants; import frc.robot.subsystems.biscuit.BiscuitSubsystem; import frc.robot.subsystems.drive.DriveSubsystem; @@ -155,7 +157,13 @@ public void execute() { desiredState = trajectory.sampleAt(timer.get(), mirrorTrajectory).get(); driveSubsystem.calculateController(desiredState); - if (shouldTransitionToServoing()) { + double currX = driveSubsystem.getPoseMeters().getX(); + + if (shouldTransitionToServoing() + && currX > DriveConstants.kCenterLineX + && robotStateSubsystem.getAllianceColor() == Alliance.Blue + || robotStateSubsystem.getAllianceColor() == Alliance.Red + && currX < DriveConstants.kCenterLineX) { isServoing = true; visionSubsystem.setIsAuto(true); diff --git a/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java index d18382bf..7e4ab557 100644 --- a/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java +++ b/src/main/java/frc/robot/commands/auton/StealOneAlgeaNoSuperCycleAutonCommand.java @@ -96,6 +96,7 @@ public StealOneAlgeaNoSuperCycleAutonCommand( robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), firstPath, + new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), new WaitForElevBelowBarge(elevatorSubsystem), secondPath, thirdPath, diff --git a/src/main/java/frc/robot/commands/auton/StealTwoAlgeaNoSuperCycleAutonCommand.java b/src/main/java/frc/robot/commands/auton/StealTwoAlgeaNoSuperCycleAutonCommand.java new file mode 100644 index 00000000..0ed8e04c --- /dev/null +++ b/src/main/java/frc/robot/commands/auton/StealTwoAlgeaNoSuperCycleAutonCommand.java @@ -0,0 +1,161 @@ +package frc.robot.commands.auton; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.drive.PrepOdomForAutoCommand; +import frc.robot.commands.robotState.AutoScoreAlgaeCommand; +import frc.robot.subsystems.algae.AlgaeSubsystem; +import frc.robot.subsystems.biscuit.BiscuitSubsystem; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoreSide; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; +import frc.robot.subsystems.tagAlign.TagAlignSubsystem; +import frc.robot.subsystems.vision.VisionSubsystem; + +public class StealTwoAlgeaNoSuperCycleAutonCommand extends SequentialCommandGroup + implements AutoCommandInterface { + + private DriveSubsystem driveSubsystem; + private DriveAutonServoCommand firstPath; + private DriveAlgaeWaitAutonServoCommand secondPath; + private DriveBargeAutonCommand thirdPath; + private DriveAlgaeWaitAutonServoCommand fourthPath; + private DriveBargeAutonCommand fifthPath; + private CoralSubsystem coralSubsystem; + private RobotStateSubsystem robotStateSubsystem; + private VisionSubsystem visionSubsystem; + + public StealTwoAlgeaNoSuperCycleAutonCommand( + DriveSubsystem driveSubsystem, + RobotStateSubsystem robotStateSubsystem, + AlgaeSubsystem algaeSubsystem, + BiscuitSubsystem biscuitSubsystem, + CoralSubsystem coralSubsystem, + ElevatorSubsystem elevatorSubsystem, + TagAlignSubsystem tagAlignSubsystem, + VisionSubsystem visionSubsystem, + String firstPathName, + String secondPathName, + String thirdPathName, + String fourthPathName, + String fifthPathName, + ScoringLevel OppAlgeaHeight1, + ScoringLevel OppAlgeaHeight2, + Pose2d startPose) { + addRequirements( + driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); + this.driveSubsystem = driveSubsystem; + this.coralSubsystem = coralSubsystem; + this.robotStateSubsystem = robotStateSubsystem; + this.visionSubsystem = visionSubsystem; + + firstPath = + new DriveAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + firstPathName, + true, + true, + false, + false, + 0.0); + + secondPath = + new DriveAlgaeWaitAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + secondPathName, + false, + true, + false, + 0.0, + OppAlgeaHeight1, + 1.5); + + thirdPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + thirdPathName, + true, + false); + + fourthPath = + new DriveAlgaeWaitAutonServoCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + fourthPathName, + false, + true, + false, + 0.0, + OppAlgeaHeight2, + 0.0); + + fifthPath = + new DriveBargeAutonCommand( + driveSubsystem, + tagAlignSubsystem, + elevatorSubsystem, + biscuitSubsystem, + robotStateSubsystem, + visionSubsystem, + fifthPathName, + true, + false); + + addCommands( + new SequentialCommandGroup( + new PrepOdomForAutoCommand( + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + // new SetGyroOffsetCommand(driveSubsystem, Rotation2d.fromDegrees(180)), + firstPath, + new PlaceCoralAutonCommand(robotStateSubsystem, coralSubsystem), + new WaitForElevBelowBarge(elevatorSubsystem), + secondPath, + thirdPath, + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem), + fourthPath, + fifthPath, + new AutoScoreAlgaeCommand( + robotStateSubsystem, elevatorSubsystem, biscuitSubsystem, algaeSubsystem))); + } + + @Override + public void reassignAlliance() { + firstPath.reassignAlliance(); + secondPath.reassignAlliance(); + thirdPath.reassignAlliance(); + fourthPath.reassignAlliance(); + fifthPath.reassignAlliance(); + driveSubsystem.teleResetGyro(); + coralSubsystem.setAutoPreload(); + robotStateSubsystem.setIsAutoPlacing(false); + robotStateSubsystem.setScoringLevel(ScoringLevel.L4); + robotStateSubsystem.setGetAlgaeOnCycle(false); + // robotStateSubsystem.setIsAuto(true); + robotStateSubsystem.setScoreSide(ScoreSide.RIGHT); + visionSubsystem.setVisionUpdating(true); + // pathHandler.reassignAlliance(); + } +} diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java index 8b02c0aa..697c1aea 100644 --- a/src/main/java/frc/robot/constants/VisionConstants.java +++ b/src/main/java/frc/robot/constants/VisionConstants.java @@ -96,14 +96,16 @@ public final class VisionConstants { public static final int kCircularBufferSize = 1000; // Poses public static final Pose3d kCam1Pose = - new Pose3d(new Translation3d(0.305, 0.025, 0.311), new Rotation3d()); + new Pose3d(new Translation3d(0.305, 0.0255, 0.311), new Rotation3d()); public static final Pose3d kCam2Pose = new Pose3d( new Translation3d(-0.275, -0.21, 0.49), new Rotation3d( Units.degreesToRadians(0), Units.degreesToRadians(0), Units.degreesToRadians(145))); public static final Pose3d kCam3Pose = - new Pose3d(new Translation3d(0.133, -0.305, 0.311), new Rotation3d()); + new Pose3d( + new Translation3d(0.133, -0.3, 0.311), // -0.305 + new Rotation3d(0, Units.degreesToRadians(-2), Units.degreesToRadians(1))); public static final Pose3d kCam4Pose = new Pose3d( new Translation3d(-0.275, -0.145, 0.49), diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java index d2012d47..78daca4f 100644 --- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java +++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java @@ -16,6 +16,7 @@ import frc.robot.commands.auton.StealAlgaeImmediately; import frc.robot.commands.auton.StealOneAlgeaAutonCommand; import frc.robot.commands.auton.StealOneAlgeaNoSuperCycleAutonCommand; +import frc.robot.commands.auton.StealTwoAlgeaNoSuperCycleAutonCommand; import frc.robot.constants.AutonConstants; import frc.robot.constants.PathHandlerConstants; import frc.robot.constants.RobotConstants; @@ -458,6 +459,26 @@ private AutoCommandInterface getAutoCommand(int switchPos) { new Pose2d(7.1008875, 4.0509, Rotation2d.fromDegrees(180.0))); } + case 0x17 -> { + return new StealTwoAlgeaNoSuperCycleAutonCommand( + driveSubsystem, + robotStateSubsystem, + algaeSubsystem, + biscuitSubsystem, + coralSubsystem, + elevatorSubsystem, + tagAlignSubsystem, + visionSubsystem, + "startHToH", + "HToOppE", + "OppEToOppbarge", + "OppBargeToOppG", + "OppGToOppBarge", + ScoringLevel.L3, + ScoringLevel.L2, + new Pose2d(7.1008875, 4.0509, Rotation2d.fromDegrees(180.0))); + } + case 0x20 -> { return new ProcessorShallowSlowAutonCommand( driveSubsystem, From 6a0e2686c6d04278226daafa48e5b36eff7adfce Mon Sep 17 00:00:00 2001 From: David Shen Date: Sun, 13 Apr 2025 17:09:19 -0400 Subject: [PATCH 4/5] path tweaks, l1 bug fixes, auton bug, bugs --- src/main/deploy/choreo/bargeToE.traj | 308 +++++++++--------- src/main/java/frc/robot/RobotContainer.java | 47 +-- .../DriveAlgaeWaitAutonServoCommand.java | 8 +- .../robotState/AutoReefCycleCommand.java | 5 +- .../robotState/FloorAlgaeCommand.java | 4 +- .../robotState/ForceBargeCommand.java | 11 +- .../robotState/ForceLowFloorAlgaeCommand.java | 2 +- .../robotState/ForceProcessorCommand.java | 11 +- .../commands/robotState/HPAlgaeCommand.java | 6 +- .../commands/robotState/MicAlgaeCommand.java | 4 +- .../commands/robotState/ReefCycleCommand.java | 19 +- .../robotState/ScoreAlgaeCommand.java | 5 + .../frc/robot/constants/AlgaeConstants.java | 6 +- .../frc/robot/constants/RobotConstants.java | 2 +- .../robot/constants/RobotStateConstants.java | 2 +- .../subsystems/algae/AlgaeSubsystem.java | 3 +- .../robotState/RobotStateSubsystem.java | 6 + .../tagAlign/TagAlignSubsystem.java | 17 + .../subsystems/vision/VisionSubsystem.java | 14 +- 19 files changed, 277 insertions(+), 203 deletions(-) diff --git a/src/main/deploy/choreo/bargeToE.traj b/src/main/deploy/choreo/bargeToE.traj index 777ac80f..90b7028e 100644 --- a/src/main/deploy/choreo/bargeToE.traj +++ b/src/main/deploy/choreo/bargeToE.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0428056716918945, "y":4.1523942947387695, "heading":0.0, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.720584392547607, "y":2.3204445838928223, "heading":1.7619095121373305, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.0428056716918945, "y":4.1523942947387695, "heading":0.0, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.558967113494873, "y":2.10734486579895, "heading":1.7619095121373305, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":4.894185251845, "y":2.7146580097364, "heading":2.0943951023931953, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,7 +14,7 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":4.0}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":4.0}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":false}, + {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}, {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":4.0}}, "enabled":true}], @@ -23,8 +23,8 @@ "params":{ "waypoints":[ {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.0428056716918945 m", "val":7.0428056716918945}, "y":{"exp":"4.1523942947387695 m", "val":4.1523942947387695}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"omega":0.0869, "ax":1.35773, "ay":-1.46345, "alpha":-0.0042, "fx":[22.63933,22.60507,22.63001,22.65661], "fy":[-24.28841,-24.58495,-24.37031,-24.33656]}, + {"t":2.42492, "x":4.98157, "y":2.58161, "heading":2.06086, "vx":-0.45861, "vy":0.65108, "omega":0.08685, "ax":1.33979, "ay":-1.48005, "alpha":0.00478, "fx":[22.28832,22.45549,22.26714,22.32368], "fy":[-24.64738,-24.66286,-24.69972,-24.67661]}, + {"t":2.43633, "x":4.97642, "y":2.58894, "heading":2.06185, "vx":-0.44332, "vy":0.6342, "omega":0.08691, "ax":1.32269, "ay":-1.49548, "alpha":-0.00303, "fx":[22.05424,22.0244,22.04693,22.06905], "fy":[-24.82492,-25.12374,-24.8991,-24.86817]}, + {"t":2.44774, "x":4.97145, "y":2.59608, "heading":2.06284, "vx":-0.42823, "vy":0.61713, "omega":0.08687, "ax":1.30639, "ay":-1.50987, "alpha":0.00508, "fx":[21.73449,21.89076,21.71636,21.76611], "fy":[-25.14917,-25.16179,-25.19208,-25.17246]}, + {"t":2.45915, "x":4.96665, "y":2.60302, "heading":2.06383, "vx":-0.41332, "vy":0.59991, "omega":0.08693, "ax":1.29084, "ay":-1.52331, "alpha":-0.00195, "fx":[21.52208,21.49755,21.51719,21.53393], "fy":[-25.2964,-25.58069,-25.36098,-25.33357]}, + {"t":2.47056, "x":4.96202, "y":2.60977, "heading":2.06482, "vx":-0.39859, "vy":0.58252, "omega":0.08691, "ax":1.27599, "ay":-1.53589, "alpha":0.00502, "fx":[21.232,21.37214,21.21693,21.25974], "fy":[-25.58739,-25.59705,-25.62081,-25.60472]}, + {"t":2.48197, "x":4.95755, "y":2.61632, "heading":2.06581, "vx":-0.38403, "vy":0.565, "omega":0.08697, "ax":1.26181, "ay":-1.54767, "alpha":-0.00072, "fx":[21.03717,21.01728,21.03434,21.04633], "fy":[-25.70605,-25.98991,-25.76191,-25.73772]}, + {"t":2.49338, "x":4.95325, "y":2.62266, "heading":2.06681, "vx":-0.36964, "vy":0.54734, "omega":0.08696, "ax":1.24825, "ay":-1.55873, "alpha":0.0057, "fx":[20.77014,20.90889,20.75717,20.79489], "fy":[-25.97166,-25.97862,-25.99809,-25.98461]}, + {"t":2.50479, "x":4.94911, "y":2.62881, "heading":2.0678, "vx":-0.3554, "vy":0.52956, "omega":0.08702, "ax":1.23528, "ay":-1.56912, "alpha":0.00051, "fx":[20.59398,20.57871,20.59316,20.60041], "fy":[-26.06803,-26.34961,-26.11467,-26.09388]}, + {"t":2.5162, "x":4.94514, "y":2.63475, "heading":2.06879, "vx":-0.3413, "vy":0.51165, "omega":0.08703, "ax":1.22287, "ay":-1.57891, "alpha":0.00612, "fx":[20.34962,20.47886,20.33984,20.37008], "fy":[-26.31266,-26.31659,-26.32974,-26.3198]}, + {"t":2.52761, "x":4.94133, "y":2.64048, "heading":2.06978, "vx":-0.32735, "vy":0.49364, "omega":0.0871, "ax":1.21097, "ay":-1.58814, "alpha":0.00172, "fx":[20.18742,20.17819,20.18896,20.19077], "fy":[-26.39419,-26.65768,-26.42939,-26.41287]}, + {"t":2.53902, "x":4.93767, "y":2.64601, "heading":2.07078, "vx":-0.31353, "vy":0.47552, "omega":0.08712, "ax":1.19957, "ay":-1.59685, "alpha":0.00646, "fx":[19.96406,20.08353,19.95739,19.98015], "fy":[-26.61591,-26.61699,-26.62439,-26.61777]}, + {"t":2.55043, "x":4.93417, "y":2.65133, "heading":2.07177, "vx":-0.29984, "vy":0.4573, "omega":0.08719, "ax":1.18863, "ay":-1.60509, "alpha":0.00289, "fx":[19.81427,19.80892,19.81747,19.81523], "fy":[-26.68179,-26.9411,-26.70709,-26.69429]}, + {"t":2.56184, "x":4.93083, "y":2.65645, "heading":2.07277, "vx":-0.28628, "vy":0.43898, "omega":0.08723, "ax":1.17814, "ay":-1.61289, "alpha":0.00649, "fx":[19.60981,19.71836,19.60566,19.62207], "fy":[-26.88619,-26.88522,-26.88843,-26.8843]}, + {"t":2.57325, "x":4.92764, "y":2.66135, "heading":2.07376, "vx":-0.27284, "vy":0.42058, "omega":0.0873, "ax":1.16805, "ay":-1.62028, "alpha":0.00371, "fx":[19.47085,19.46744,19.47482,19.47043], "fy":[-26.93849,-27.19626,-26.95596,-26.94615]}, + {"t":2.58466, "x":4.9246, "y":2.66604, "heading":2.07476, "vx":-0.25951, "vy":0.40209, "omega":0.08734, "ax":1.15836, "ay":-1.62729, "alpha":0.00625, "fx":[19.28286,19.38188,19.28034,19.29224], "fy":[-27.12741,-27.12562,-27.12715,-27.1242]}, + {"t":2.59607, "x":4.92171, "y":2.67052, "heading":2.07575, "vx":-0.2463, "vy":0.38353, "omega":0.08741, "ax":1.14904, "ay":-1.63395, "alpha":0.00388, "fx":[19.15405,19.15043,19.15757,19.15375], "fy":[-27.17008,-27.42057,-27.18289,-27.17497]}, + {"t":2.60748, "x":4.91898, "y":2.67479, "heading":2.07675, "vx":-0.23318, "vy":0.36488, "omega":0.08746, "ax":1.14007, "ay":-1.64028, "alpha":0.00539, "fx":[18.98064,19.0699,18.97824,18.98889], "fy":[-27.34226,-27.34172,-27.34537,-27.34152]}, + {"t":2.61889, "x":4.91639, "y":2.67885, "heading":2.07775, "vx":-0.22018, "vy":0.34617, "omega":0.08752, "ax":1.13143, "ay":-1.64631, "alpha":0.00289, "fx":[18.86176,18.85305,18.86267,18.86424], "fy":[-27.37725,-27.61962,-27.39228,-27.38379]}, + {"t":2.6303, "x":4.91395, "y":2.68269, "heading":2.07875, "vx":-0.20727, "vy":0.32738, "omega":0.08755, "ax":1.12311, "ay":-1.65206, "alpha":0.00309, "fx":[18.70213,18.77493,18.69722,18.71247], "fy":[-27.53219,-27.5362,-27.54791,-27.53983]}, + {"t":2.64171, "x":4.91166, "y":2.68632, "heading":2.07975, "vx":-0.19445, "vy":0.30853, "omega":0.08759, "ax":1.11509, "ay":-1.65754, "alpha":0.00035, "fx":[18.59223,18.57069,18.58733,18.60149], "fy":[-27.55713,-27.80577,-27.58598,-27.57274]}, + {"t":2.65312, "x":4.90952, "y":2.68973, "heading":2.08075, "vx":-0.18173, "vy":0.28962, "omega":0.08759, "ax":1.10734, "ay":-1.66277, "alpha":-0.00101, "fx":[18.44484,18.49505,18.43358,18.46217], "fy":[-27.69811,-27.71121,-27.73909,-27.7222]}, + {"t":2.66453, "x":4.90751, "y":2.69293, "heading":2.08175, "vx":-0.1691, "vy":0.27065, "omega":0.08758, "ax":1.09987, "ay":-1.66778, "alpha":-0.0045, "fx":[18.34352,18.30053,18.32883,18.36466], "fy":[-27.71322,-27.97074,-27.77198,-27.74817]}, + {"t":2.67594, "x":4.90566, "y":2.69591, "heading":2.08275, "vx":-0.15655, "vy":0.25162, "omega":0.08753, "ax":1.09266, "ay":-1.67256, "alpha":-0.00787, "fx":[18.20808,18.22383,18.18466,18.23991], "fy":[-27.83992,-27.86845,-27.9234,-27.89134]}, + {"t":2.68735, "x":4.90394, "y":2.69867, "heading":2.08374, "vx":-0.14408, "vy":0.23254, "omega":0.08744, "ax":1.08569, "ay":-1.67714, "alpha":-0.01313, "fx":[18.11504,18.03659,18.08433,18.15577], "fy":[-27.84226,-28.11413,-27.95824,-27.91387]}, + {"t":2.69876, "x":4.90237, "y":2.70122, "heading":2.08474, "vx":-0.13169, "vy":0.2134, "omega":0.08729, "ax":1.07895, "ay":-1.68153, "alpha":-0.01979, "fx":[17.99265,17.95078,17.94611,18.05286], "fy":[-27.95304,-28.00827,-28.10916,-28.05064]}, + {"t":2.71017, "x":4.90094, "y":2.70354, "heading":2.08574, "vx":-0.11938, "vy":0.19421, "omega":0.08706, "ax":1.07243, "ay":-1.68574, "alpha":-0.02966, "fx":[17.90899,17.76471,17.84839,17.98578], "fy":[-27.92929,-28.23742,-28.16074,-28.07419]}, + {"t":2.72158, "x":4.89964, "y":2.70565, "heading":2.08673, "vx":-0.10714, "vy":0.17498, "omega":0.08672, "ax":1.06613, "ay":-1.68977, "alpha":-0.04555, "fx":[17.80793,17.63828,17.71039,17.93071], "fy":[-28.01394,-28.12622,-28.32301,-28.20771]}, + {"t":2.73299, "x":4.89849, "y":2.70753, "heading":2.08772, "vx":-0.09498, "vy":0.1557, "omega":0.08621, "ax":1.06002, "ay":-1.69365, "alpha":-0.06975, "fx":[17.7391,17.4327,17.60444,17.90399], "fy":[-27.92066,-28.33243,-28.43357,-28.24275]}, + {"t":2.7444, "x":4.89748, "y":2.7092, "heading":2.0887, "vx":-0.08288, "vy":0.13638, "omega":0.08541, "ax":1.05411, "ay":-1.69738, "alpha":-0.11385, "fx":[17.67726,17.19865,17.44108,17.96888], "fy":[-27.92541,-28.19937,-28.66487,-28.38822]}, + {"t":2.75581, "x":4.8966, "y":2.71065, "heading":2.08968, "vx":-0.07086, "vy":0.11701, "omega":0.08411, "ax":1.04838, "ay":-1.70096, "alpha":-0.19037, "fx":[17.65977,16.84966,17.2958,18.09855], "fy":[-27.63106,-28.34805,-28.96814,-28.46955]}, + {"t":2.76722, "x":4.89586, "y":2.71187, "heading":2.09064, "vx":-0.0589, "vy":0.0976, "omega":0.08194, "ax":1.04282, "ay":-1.70441, "alpha":-0.33167, "fx":[17.70697,16.26383,17.04189,18.52063], "fy":[-27.33662,-28.14201,-29.48742,-28.68068]}, + {"t":2.77863, "x":4.89525, "y":2.71287, "heading":2.09157, "vx":-0.047, "vy":0.07815, "omega":0.07815, "ax":1.03743, "ay":-1.70773, "alpha":-0.58471, "fx":[17.86013,15.36016,16.73402,19.21972], "fy":[-26.42739,-28.13177,-30.39652,-28.91245]}, + {"t":2.79004, "x":4.89479, "y":2.71365, "heading":2.09247, "vx":-0.03516, "vy":0.05867, "omega":0.07148, "ax":1.0322, "ay":-1.71093, "alpha":-1.04702, "fx":[18.22801,13.68938,16.18226,20.72576], "fy":[-25.07278,-27.66763,-31.96223,-29.3788]}, + {"t":2.80145, "x":4.89445, "y":2.71421, "heading":2.09328, "vx":-0.02338, "vy":0.03915, "omega":0.05954, "ax":1.02713, "ay":-1.71401, "alpha":-1.87702, "fx":[18.96254,10.83264,15.32615,23.36565], "fy":[-22.26621,-27.18488,-34.75215,-30.0839]}, + {"t":2.81286, "x":4.89425, "y":2.71455, "heading":2.09396, "vx":-0.01166, "vy":0.01959, "omega":0.03812, "ax":1.0222, "ay":-1.71699, "alpha":-3.34092, "fx":[20.32601,5.77872,13.86207,28.19143], "fy":[-17.63132,-25.84407,-39.65864,-31.3516]}, + {"t":2.82427, "x":4.89419, "y":2.71466, "heading":2.0944, "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/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f4c1c9e5..7a9da27b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -461,29 +461,30 @@ private void configureOperatorBindings() { new Trigger(() -> xboxController.getPOV() != -1).onTrue(new EjectAlgaeCommand(algaeSubsystem)); - // Move biscuit - new Trigger((() -> xboxController.getRightY() < -RobotConstants.kTestingDeadband)) - .onTrue( - new JogBiscuitCommand( - biscuitSubsystem, Angle.ofBaseUnits(BiscuitConstants.kJogAmountUp, Rotations))) - .onFalse(new HoldBiscuitCommand(biscuitSubsystem)); - new Trigger((() -> xboxController.getRightY() > RobotConstants.kTestingDeadband)) - .onTrue( - new JogBiscuitCommand( - biscuitSubsystem, Angle.ofBaseUnits(BiscuitConstants.kJogAmountDown, Rotations))) - .onFalse(new HoldBiscuitCommand(biscuitSubsystem)); - - // Move elevator - new Trigger((() -> xboxController.getLeftY() < -RobotConstants.kTestingDeadband)) - .onTrue( - new JogElevatorCommand( - elevatorSubsystem, Angle.ofBaseUnits(ElevatorConstants.kJogAmountUp, Rotations))) - .onFalse(new HoldElevatorCommand(elevatorSubsystem)); - new Trigger((() -> xboxController.getLeftY() > RobotConstants.kTestingDeadband)) - .onTrue( - new JogElevatorCommand( - elevatorSubsystem, Angle.ofBaseUnits(ElevatorConstants.kJogAmountDown, Rotations))) - .onFalse(new HoldElevatorCommand(elevatorSubsystem)); + // // Move biscuit + // new Trigger((() -> xboxController.getRightY() < -RobotConstants.kTestingDeadband)) + // .onTrue( + // new JogBiscuitCommand( + // biscuitSubsystem, Angle.ofBaseUnits(BiscuitConstants.kJogAmountUp, Rotations))) + // .onFalse(new HoldBiscuitCommand(biscuitSubsystem)); + // new Trigger((() -> xboxController.getRightY() > RobotConstants.kTestingDeadband)) + // .onTrue( + // new JogBiscuitCommand( + // biscuitSubsystem, Angle.ofBaseUnits(BiscuitConstants.kJogAmountDown, Rotations))) + // .onFalse(new HoldBiscuitCommand(biscuitSubsystem)); + + // // Move elevator + // new Trigger((() -> xboxController.getLeftY() < -RobotConstants.kTestingDeadband)) + // .onTrue( + // new JogElevatorCommand( + // elevatorSubsystem, Angle.ofBaseUnits(ElevatorConstants.kJogAmountUp, Rotations))) + // .onFalse(new HoldElevatorCommand(elevatorSubsystem)); + // new Trigger((() -> xboxController.getLeftY() > RobotConstants.kTestingDeadband)) + // .onTrue( + // new JogElevatorCommand( + // elevatorSubsystem, Angle.ofBaseUnits(ElevatorConstants.kJogAmountDown, + // Rotations))) + // .onFalse(new HoldElevatorCommand(elevatorSubsystem)); } private void configureTestOperatorBindings() { diff --git a/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java index c7575713..264bd3f7 100644 --- a/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java +++ b/src/main/java/frc/robot/commands/auton/DriveAlgaeWaitAutonServoCommand.java @@ -160,10 +160,10 @@ public void execute() { double currX = driveSubsystem.getPoseMeters().getX(); if (shouldTransitionToServoing() - && currX > DriveConstants.kCenterLineX - && robotStateSubsystem.getAllianceColor() == Alliance.Blue - || robotStateSubsystem.getAllianceColor() == Alliance.Red - && currX < DriveConstants.kCenterLineX) { + && (currX > DriveConstants.kCenterLineX + && robotStateSubsystem.getAllianceColor() == Alliance.Blue + || robotStateSubsystem.getAllianceColor() == Alliance.Red + && currX < DriveConstants.kCenterLineX)) { isServoing = true; visionSubsystem.setIsAuto(true); diff --git a/src/main/java/frc/robot/commands/robotState/AutoReefCycleCommand.java b/src/main/java/frc/robot/commands/robotState/AutoReefCycleCommand.java index 0567eb8a..0691a80a 100644 --- a/src/main/java/frc/robot/commands/robotState/AutoReefCycleCommand.java +++ b/src/main/java/frc/robot/commands/robotState/AutoReefCycleCommand.java @@ -16,6 +16,7 @@ public class AutoReefCycleCommand extends Command { private TagAlignSubsystem tagAlignSubsystem; private DriveSubsystem driveSubsystem; private boolean scoringCoral; + private boolean safeMoveElevator; public AutoReefCycleCommand( RobotStateSubsystem robotStateSubsystem, @@ -34,6 +35,7 @@ public AutoReefCycleCommand( @Override public void initialize() { + safeMoveElevator = robotStateSubsystem.safeMoveElevator(); driveSubsystem.setIgnoreSticks(true); robotStateSubsystem.toReefAlign(); scoringCoral = @@ -50,7 +52,8 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { - return scoringCoral + return !safeMoveElevator + || scoringCoral && (!robotStateSubsystem.hasCoral() || robotStateSubsystem.getCoralLevel() == ScoringLevel.L1) || !scoringCoral && robotStateSubsystem.hasAlgae(); diff --git a/src/main/java/frc/robot/commands/robotState/FloorAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/FloorAlgaeCommand.java index cf0e8c4b..c81769c3 100644 --- a/src/main/java/frc/robot/commands/robotState/FloorAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/FloorAlgaeCommand.java @@ -10,6 +10,7 @@ public class FloorAlgaeCommand extends Command { RobotStateSubsystem robotState; boolean hasTriedToPickup = false; + private boolean safeMoveElevator; public FloorAlgaeCommand( RobotStateSubsystem robotState, @@ -22,6 +23,7 @@ public FloorAlgaeCommand( @Override public void initialize() { + safeMoveElevator = robotState.safeMoveElevator(); hasTriedToPickup = false; robotState.toAlgaeFloorPickup(); } @@ -32,6 +34,6 @@ public boolean isFinished() { || robotState.getState() == RobotStates.MIC_ALGAE) { hasTriedToPickup = true; } - return robotState.getState() == RobotStates.STOW && hasTriedToPickup; + return !safeMoveElevator || robotState.getState() == RobotStates.STOW && hasTriedToPickup; } } diff --git a/src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java b/src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java index 07f5a771..ae025a38 100644 --- a/src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ForceBargeCommand.java @@ -9,12 +9,13 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.RobotStates; public class ForceBargeCommand extends Command { - RobotStateSubsystem robotStateSubsystem; - ElevatorSubsystem elevatorSubsystem; - boolean hasTriedToPickup = false; + private RobotStateSubsystem robotStateSubsystem; + private ElevatorSubsystem elevatorSubsystem; + private boolean hasTriedToPickup = false; private RobotStates startState; private boolean startingElevatorFinished; private boolean hasEjectedToBarge; + private boolean safeMoveElevator; public ForceBargeCommand( RobotStateSubsystem robotStateSubsystem, @@ -28,6 +29,7 @@ public ForceBargeCommand( @Override public void initialize() { + safeMoveElevator = robotStateSubsystem.safeMoveElevator(); hasEjectedToBarge = false; startState = robotStateSubsystem.getState(); startingElevatorFinished = elevatorSubsystem.isFinished(); @@ -39,6 +41,9 @@ public void initialize() { @Override public boolean isFinished() { + if (!safeMoveElevator) { + return true; + } if (startState == RobotStates.PROCESSOR_ALGAE || startState == RobotStates.BARGE_ALGAE || hasEjectedToBarge) { diff --git a/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java index 7131aee8..fe3909dc 100644 --- a/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ForceLowFloorAlgaeCommand.java @@ -9,7 +9,7 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.RobotStates; public class ForceLowFloorAlgaeCommand extends Command { - RobotStateSubsystem robotState; + private RobotStateSubsystem robotState; boolean hasTriedToPickup = false; boolean notSafeElevator = false; diff --git a/src/main/java/frc/robot/commands/robotState/ForceProcessorCommand.java b/src/main/java/frc/robot/commands/robotState/ForceProcessorCommand.java index a13581c3..f8834d1a 100644 --- a/src/main/java/frc/robot/commands/robotState/ForceProcessorCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ForceProcessorCommand.java @@ -9,12 +9,13 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.RobotStates; public class ForceProcessorCommand extends Command { - RobotStateSubsystem robotStateSubsystem; - ElevatorSubsystem elevatorSubsystem; - boolean hasTriedToPickup = false; + private RobotStateSubsystem robotStateSubsystem; + private ElevatorSubsystem elevatorSubsystem; + private boolean hasTriedToPickup = false; private RobotStates startState; private boolean startingElevatorFinished; private boolean hasEjectedToBarge; + private boolean safeMoveElevator; public ForceProcessorCommand( RobotStateSubsystem robotStateSubsystem, @@ -28,6 +29,7 @@ public ForceProcessorCommand( @Override public void initialize() { + safeMoveElevator = robotStateSubsystem.safeMoveElevator(); hasEjectedToBarge = false; startState = robotStateSubsystem.getState(); startingElevatorFinished = elevatorSubsystem.isFinished(); @@ -41,6 +43,9 @@ public void initialize() { @Override public boolean isFinished() { + if (!safeMoveElevator) { + return true; + } if (startState == RobotStates.PROCESSOR_ALGAE || hasEjectedToBarge) { return robotStateSubsystem.getState() == RobotStates.FUNNEL_LOAD || robotStateSubsystem.getState() == RobotStates.STOW diff --git a/src/main/java/frc/robot/commands/robotState/HPAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/HPAlgaeCommand.java index 6f25e4c0..9243b062 100644 --- a/src/main/java/frc/robot/commands/robotState/HPAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/HPAlgaeCommand.java @@ -8,8 +8,9 @@ import frc.robot.subsystems.robotState.RobotStateSubsystem.RobotStates; public class HPAlgaeCommand extends Command { - RobotStateSubsystem robotState; + private RobotStateSubsystem robotState; private boolean hasTriedToGrab = false; + private boolean safeMoveElevator; public HPAlgaeCommand( RobotStateSubsystem robotState, @@ -22,6 +23,7 @@ public HPAlgaeCommand( @Override public void initialize() { + safeMoveElevator = robotState.safeMoveElevator(); hasTriedToGrab = false; robotState.toHpAlgae(); } @@ -31,6 +33,6 @@ public boolean isFinished() { if (robotState.getState() == RobotStates.HP_ALGAE) { hasTriedToGrab = true; } - return robotState.getState() == RobotStates.STOW && hasTriedToGrab; + return !safeMoveElevator || robotState.getState() == RobotStates.STOW && hasTriedToGrab; } } diff --git a/src/main/java/frc/robot/commands/robotState/MicAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/MicAlgaeCommand.java index 7651df63..89658243 100644 --- a/src/main/java/frc/robot/commands/robotState/MicAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/MicAlgaeCommand.java @@ -11,6 +11,7 @@ public class MicAlgaeCommand extends Command { private RobotStateSubsystem robotState; private boolean hasTriedToPickup = false; + private boolean safeMoveElevator; public MicAlgaeCommand( RobotStateSubsystem robotState, @@ -23,6 +24,7 @@ public MicAlgaeCommand( @Override public void initialize() { + safeMoveElevator = robotState.safeMoveElevator(); hasTriedToPickup = false; robotState.setAlgaeHeight(AlgaeHeight.HIGH); robotState.toAlgaeFloorPickup(); @@ -33,6 +35,6 @@ public boolean isFinished() { if (robotState.getState() == RobotStates.MIC_ALGAE) { hasTriedToPickup = true; } - return robotState.getState() == RobotStates.STOW && hasTriedToPickup; + return !safeMoveElevator || robotState.getState() == RobotStates.STOW && hasTriedToPickup; } } diff --git a/src/main/java/frc/robot/commands/robotState/ReefCycleCommand.java b/src/main/java/frc/robot/commands/robotState/ReefCycleCommand.java index 2a696cb7..3a508cf0 100644 --- a/src/main/java/frc/robot/commands/robotState/ReefCycleCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ReefCycleCommand.java @@ -8,6 +8,7 @@ import frc.robot.subsystems.elevator.ElevatorSubsystem; import frc.robot.subsystems.robotState.RobotStateSubsystem; import frc.robot.subsystems.robotState.RobotStateSubsystem.RobotStates; +import frc.robot.subsystems.robotState.RobotStateSubsystem.ScoringLevel; public class ReefCycleCommand extends Command { private RobotStateSubsystem robotStateSubsystem; @@ -16,6 +17,7 @@ public class ReefCycleCommand extends Command { private RobotStates startingRobotState; private boolean startingElevatorFinished; private boolean isAutoPlacing; + private boolean safeMoveElevator; public ReefCycleCommand( RobotStateSubsystem robotStateSubsystem, @@ -31,6 +33,7 @@ public ReefCycleCommand( @Override public void initialize() { + safeMoveElevator = robotStateSubsystem.safeMoveElevator(); startingRobotState = robotStateSubsystem.getState(); startingElevatorFinished = elevatorSubsystem.isFinished(); isAutoPlacing = robotStateSubsystem.getIsAutoPlacing(); @@ -43,12 +46,20 @@ public void initialize() { @Override public boolean isFinished() { - if (startingRobotState == RobotStates.PRESTAGE || startingRobotState == RobotStates.STOW) { - return robotStateSubsystem.getState() == RobotStates.REEF_ALIGN_CORAL - || (!robotStateSubsystem.hasCoral() && !robotStateSubsystem.getGetAlgaeOnCycle()); + if (startingRobotState == RobotStates.PRESTAGE + || startingRobotState == RobotStates.STOW + || startingRobotState == RobotStates.ALGAE_CORAL_LOAD + || startingRobotState == RobotStates.TO_ALGAE_CORAL_LOAD + || startingRobotState == RobotStates.TRANSFER) { + return !safeMoveElevator + || robotStateSubsystem.getState() == RobotStates.REEF_ALIGN_CORAL + || (!robotStateSubsystem.hasCoral() + && (!robotStateSubsystem.getGetAlgaeOnCycle() + || robotStateSubsystem.getCoralLevel() == ScoringLevel.L1)); } if (startingRobotState == RobotStates.REEF_ALIGN_CORAL) { - return robotStateSubsystem.getState() == RobotStates.FUNNEL_LOAD + return !safeMoveElevator + || robotStateSubsystem.getState() == RobotStates.FUNNEL_LOAD || robotStateSubsystem.getState() == RobotStates.LOADING_CORAL || robotStateSubsystem.getState() == RobotStates.TO_ALGAE_CORAL_LOAD || robotStateSubsystem.getState() == RobotStates.ALGAE_CORAL_LOAD diff --git a/src/main/java/frc/robot/commands/robotState/ScoreAlgaeCommand.java b/src/main/java/frc/robot/commands/robotState/ScoreAlgaeCommand.java index 1d8253d9..4503ae45 100644 --- a/src/main/java/frc/robot/commands/robotState/ScoreAlgaeCommand.java +++ b/src/main/java/frc/robot/commands/robotState/ScoreAlgaeCommand.java @@ -13,6 +13,7 @@ public class ScoreAlgaeCommand extends Command { private RobotStates startState; private boolean startingElevatorFinished; private boolean hasEjectedToBarge; + private boolean safeMoveElevator; public ScoreAlgaeCommand( RobotStateSubsystem robotStateSubsystem, @@ -26,6 +27,7 @@ public ScoreAlgaeCommand( @Override public void initialize() { + safeMoveElevator = robotStateSubsystem.safeMoveElevator(); hasEjectedToBarge = false; startState = robotStateSubsystem.getState(); startingElevatorFinished = elevatorSubsystem.isFinished(); @@ -38,6 +40,9 @@ public void initialize() { @Override public boolean isFinished() { + if (!safeMoveElevator) { + return true; + } if (startState == RobotStates.PROCESSOR_ALGAE || startState == RobotStates.BARGE_ALGAE || hasEjectedToBarge) { diff --git a/src/main/java/frc/robot/constants/AlgaeConstants.java b/src/main/java/frc/robot/constants/AlgaeConstants.java index 610eec1f..d1ee81b5 100644 --- a/src/main/java/frc/robot/constants/AlgaeConstants.java +++ b/src/main/java/frc/robot/constants/AlgaeConstants.java @@ -30,7 +30,7 @@ public class AlgaeConstants { public static final double kCoralHoldSpeed = -0.05; public static final double kBargeScoreSpeed = -1; public static final double kProcessorScoreSpeed = -1; - public static final double kCoralScoreSpeed = 0.5; + public static final double kCoralScoreSpeed = 0.4; // 0.5; public static final double kIntakingSpeed = 1; // 0.75 public static final double kCoralIntakingSpeed = -0.3; // -0.75; @@ -38,8 +38,8 @@ public class AlgaeConstants { public static final double kSuperCycleHasAlgaeVelThres = 40; // was 40 public static final int kHasAlgaeCounts = 2; - public static final double kHasCoralVelThreshold = 70; // FIXME - public static final int kHasCoralCounts = 10; // FIXME + public static final double kHasCoralVelThreshold = 30; + public static final int kHasCoralCounts = 3; public static final double kCoralScoringTime = 1; // FIXME diff --git a/src/main/java/frc/robot/constants/RobotConstants.java b/src/main/java/frc/robot/constants/RobotConstants.java index 7c40be02..0a0874ba 100644 --- a/src/main/java/frc/robot/constants/RobotConstants.java +++ b/src/main/java/frc/robot/constants/RobotConstants.java @@ -349,7 +349,7 @@ public static TalonFXSConfiguration getFXSConfig() { public static class CompConstants { public static Angle kElevatorFunnelSetpoint = Rotations.of(0.3676757); - public static Angle kElevatorL1LoadSetpoint = Rotations.of(0.63); + public static Angle kElevatorL1LoadSetpoint = Rotations.of(0.278); // 0.63 public static Angle kElevatorStowSetpoint = kElevatorFunnelSetpoint; // Biscuit diff --git a/src/main/java/frc/robot/constants/RobotStateConstants.java b/src/main/java/frc/robot/constants/RobotStateConstants.java index 7d5ab38e..77205133 100644 --- a/src/main/java/frc/robot/constants/RobotStateConstants.java +++ b/src/main/java/frc/robot/constants/RobotStateConstants.java @@ -31,7 +31,7 @@ public class RobotStateConstants { public static final double kClimbAngleBig = -0.213; // -0.215 // Funnel load algae on - public static final double kL1FunnelLoadX = 2.5; + public static final double kL1FunnelLoadX = 3.25; // Offsets public static final Angle kStuckCoralElevatorOffset = Rotations.of(3.746); diff --git a/src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java b/src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java index 641335a7..b3822e6a 100644 --- a/src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java @@ -126,8 +126,7 @@ public void periodic() { } case HAS_CORAL -> { if (!inputs.isCoralBeamBroken) { - setState(AlgaeStates.EMPTY); - setPct(0); + intakeCoral(); } } case CORAL_INTAKE -> { diff --git a/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java b/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java index e5892ed7..a0ab8299 100644 --- a/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java +++ b/src/main/java/frc/robot/subsystems/robotState/RobotStateSubsystem.java @@ -382,6 +382,8 @@ private boolean justAlgae() { public void toStow() { visionSubsystem.setYawUpdateCamera(-1); visionSubsystem.setIgnoreRearCams(false); + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(true); biscuitSubsystem.setIsRemovingAlgae(false); driveSubsystem.removeDriveMultiplier(); driveSubsystem.setIgnoreSticks(false); @@ -410,6 +412,8 @@ public void toStow() { public void toStowSafe() { visionSubsystem.setIgnoreRearCams(false); + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(true); setBiscuitTransfer(RobotConstants.kStowSetpoint, true); driveSubsystem.removeDriveMultiplier(); driveSubsystem.setIgnoreSticks(false); @@ -432,6 +436,8 @@ public void toStowSafe() { public void toStowSequential() { visionSubsystem.setIgnoreRearCams(false); + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(true); setBiscuitTransfer(RobotConstants.kStowSetpoint, true); driveSubsystem.removeDriveMultiplier(); driveSubsystem.setIgnoreSticks(false); diff --git a/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java b/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java index 560a3a4e..1020718b 100644 --- a/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java +++ b/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java @@ -312,12 +312,15 @@ private void tagAlign() { this.driveRadius = algae ? TagServoingConstants.kAlgaeAlignRadius : TagServoingConstants.kCoralAlignRadius; + targetPose = getTargetDrivePose(scoreLeft); Logger.recordOutput("TagAlignSubsystem/TargetPose", targetPose); } public void terminate() { driveSubsystem.stopDriving(); + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(true); curState = TagAlignStates.DONE; } @@ -414,11 +417,25 @@ public void periodic() { case TAG_ALIGN -> { if (justAlgae && (FastMath.abs(alignY.getError()) < driveYCloseEnough)) { finalDrive = true; + if (scoreLeft) { + visionSubsystem.setUsingLeftCam(false); + visionSubsystem.setUsingRightCam(true); + } else { + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(false); + } } else { if (( /*isAuto ? true :*/ FastMath.abs(alignX.getError()) < driveXCloseEnough) && FastMath.abs(alignY.getError()) < driveYCloseEnough) { finalDrive = true; + if (scoreLeft) { + visionSubsystem.setUsingLeftCam(false); + visionSubsystem.setUsingRightCam(true); + } else { + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(false); + } } } if (finalDrive diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java index 7f7f5a2c..59334d63 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java @@ -130,6 +130,7 @@ public VisionSubsystem(DriveSubsystem driveSubsystem) { // Fill our camera array for (int i = 0; i < VisionConstants.kNumCams; i++) { cams[i] = new WallEyeCam(camNames[i], -1); + acceptUpdates[i] = true; } // Initialize our udpSubscribers udpSubscriber[0] = new UdpSubscriber(5802, cams[0]); @@ -152,11 +153,22 @@ public void setMinTags(int minTags) { public void setIgnoreRearCams(boolean ignore) { this.ignoreRearCams = ignore; + acceptUpdates[1] = acceptUpdates[3] = !ignore; } public void setIsAuto(boolean isAuto) { this.isAuto = isAuto; + acceptUpdates[1] = acceptUpdates[3] = !isAuto; } + + public void setUsingLeftCam(boolean useLeft) { + acceptUpdates[0] = useLeft; + } + + public void setUsingRightCam(boolean useRight) { + acceptUpdates[2] = useRight; + } + // Getter Methods public double getYawUpdateCamera() { return trustedCameraYawIdx; @@ -411,7 +423,7 @@ public void periodic() { validResults.clear(); for (int i = 0; i < VisionConstants.kNumCams; i++) { - if (!ignoreRearCams && !isAuto || (i == 0 || i == 2)) { + if (!ignoreRearCams && !isAuto || (i == 0 || i == 2) && acceptUpdates[i]) { if (cams[i].hasNewUpdate()) { timeSinceLastUpdate = getSeconds(); validResults.add(new Pair(cams[i].getResults(), i)); From 1390924e990ce5e08282d2cc212000809f02091e Mon Sep 17 00:00:00 2001 From: mwitcpalek Date: Tue, 15 Apr 2025 22:33:17 -0400 Subject: [PATCH 5/5] add stator current limit, update batt mon --- src/main/java/frc/robot/constants/BattMonConstants.java | 8 ++++---- src/main/java/frc/robot/constants/RobotConstants.java | 4 ++-- .../frc/robot/subsystems/battMon/BattMonHardware.java | 5 ++++- .../java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java | 3 +-- 4 files changed, 11 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/constants/BattMonConstants.java b/src/main/java/frc/robot/constants/BattMonConstants.java index af236d60..127ed837 100644 --- a/src/main/java/frc/robot/constants/BattMonConstants.java +++ b/src/main/java/frc/robot/constants/BattMonConstants.java @@ -11,18 +11,18 @@ public class BattMonConstants { public static final double kBattVolt1DC = 0.9; public static final double kBattVolt2 = 2; public static final double kBattVolt2DC = 0.1; - public static final double kBattVoltSlope = 1; + public static final double kBattVoltSlope = 10.01; // (kBattVolt1 - kBattVolt2) / (kBattVolt1DC - kBattVolt2DC); - public static final double kBattVoltOffset = 0; // kBattVolt1 - kBattVoltSlope * kBattVolt1DC; + public static final double kBattVoltOffset = 4.035; // kBattVolt1 - kBattVoltSlope * kBattVolt1DC; // Battery Current Conversion public static final double kBattCurrent1 = 50; public static final double kBattCurrent1DC = 0.9; public static final double kBattCurrent2 = 1; public static final double kBattCurrent2DC = 0.1; - public static final double kBattCurrentSlope = 1; + public static final double kBattCurrentSlope = 1088.3; // (kBattCurrent1 - kBattCurrent2) / (kBattCurrent1DC - kBattCurrent2DC); - public static final double kBattCurrentOffset = 0; + public static final double kBattCurrentOffset = -543.7; // kBattCurrent1 - kBattCurrentSlope * kBattCurrent1DC; // PDP Voltage Conversion diff --git a/src/main/java/frc/robot/constants/RobotConstants.java b/src/main/java/frc/robot/constants/RobotConstants.java index 0a0874ba..fb677c81 100644 --- a/src/main/java/frc/robot/constants/RobotConstants.java +++ b/src/main/java/frc/robot/constants/RobotConstants.java @@ -437,8 +437,8 @@ public static TalonFXSConfiguration getFXSConfig() { CurrentLimitsConfigs current = new CurrentLimitsConfigs() - .withStatorCurrentLimit(0) - .withStatorCurrentLimitEnable(false) + .withStatorCurrentLimit(100) + .withStatorCurrentLimitEnable(true) .withSupplyCurrentLimit(20) .withSupplyCurrentLowerLimit(5) .withSupplyCurrentLowerTime(2) diff --git a/src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java b/src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java index 109a37b5..261956c0 100644 --- a/src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java +++ b/src/main/java/frc/robot/subsystems/battMon/BattMonHardware.java @@ -33,8 +33,11 @@ public void updateInputs(BattMonIOInputs inputs) { // inputs.pdpVoltage = // pdpCycle.getOutput() * BattMonConstants.kPdpVoltSlope + BattMonConstants.kPdpVoltOffset; inputs.breakerTemp = - ((tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() / 1000000000)) + ((tempCycle.getHighTimeNanoseconds() / (tempCounter.getPeriod() * 1_000_000_000)) - BattMonConstants.kBreakerTemp1) / BattMonConstants.kBreakerTemp2; + // (((tempCycle.getHighTimeNanoseconds() / 1_000_000_000) / tempCounter.getPeriod()) + // - BattMonConstants.kBreakerTemp1) + // / BattMonConstants.kBreakerTemp2; } } diff --git a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java index bc39881a..26a3065d 100644 --- a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java +++ b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java @@ -56,7 +56,7 @@ public class BiscuitIOFXS implements BiscuitIO, Checkable { public BiscuitIOFXS() { // Logger initialization with class name logger = LoggerFactory.getLogger(this.getClass()); - // Moter initialization with ID from constants + // Motor initialization with ID from constants talon = new TalonFXS(BiscuitConstants.talonID); // Set the starting encoder position sensorInitial = talon.getPosition().getValue(); @@ -85,7 +85,6 @@ public void setIsRemovingAlgae(boolean isRemoving) { public void setPosition(Angle position, boolean hasAlgae) { if (hasAlgae != lastHadAlgae) { if (hasAlgae) { - // why is this if statement here??? if (isRemovingAlgae) { configurator.apply(RobotConstants.algaeRemovalMotionConfig); } else {