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roboblazers7617 committed Apr 7, 2024
1 parent 657f0e1 commit f0c75b4
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Showing 6 changed files with 280 additions and 9 deletions.
38 changes: 38 additions & 0 deletions src/main/deploy/pathplanner/autos/Speedy Disrupter.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,38 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.4844248215812361,
"y": 1.5209622818295532
},
"rotation": -90.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Stow"
}
},
{
"type": "path",
"data": {
"pathName": "speedy disrupter"
}
}
]
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
112 changes: 112 additions & 0 deletions src/main/deploy/pathplanner/autos/mid start to source 3 piece.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,112 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.54,
"y": 5.55
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ShootSpeaker"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "path",
"data": {
"pathName": "mid start to mid ring"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "IntakeGround"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "ShootSpeaker"
}
},
{
"type": "named",
"data": {
"name": "turnTo0"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "mid ring to bot ring"
}
},
{
"type": "named",
"data": {
"name": "IntakeGround"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "turnToSpeaker"
}
},
{
"type": "named",
"data": {
"name": "ShootSpeaker"
}
},
{
"type": "named",
"data": {
"name": "Stow"
}
},
{
"type": "named",
"data": {
"name": "StopShooter"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/no move amp.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7158327706968803,
"y": 6.653973877748326
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ShootSpeaker"
}
},
{
"type": "named",
"data": {
"name": "StopShooter"
}
},
{
"type": "named",
"data": {
"name": "Stow"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
14 changes: 7 additions & 7 deletions src/main/deploy/pathplanner/paths/mid ring to bot ring.path
Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@
},
"prevControl": null,
"nextControl": {
"x": 1.15,
"y": 5.5501456240181
"x": 1.4454257887138118,
"y": 5.547612425391122
},
"isLocked": false,
"linkedName": "mid ring"
Expand All @@ -20,8 +20,8 @@
"y": 4.112577405249212
},
"prevControl": {
"x": 0.35215330288142876,
"y": 4.112577405249212
"x": 0.7141939224496041,
"y": 3.773156429923312
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.5,
"maxAcceleration": 2.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 120.0
},
Expand All @@ -48,5 +48,5 @@
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}
84 changes: 84 additions & 0 deletions src/main/deploy/pathplanner/paths/speedy disrupter.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.4844248215812361,
"y": 1.5209622818295532
},
"prevControl": null,
"nextControl": {
"x": 2.4594006432668465,
"y": 1.442964216094704
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.768793775117243,
"y": 1.881703335853228
},
"prevControl": {
"x": 6.454507200923472,
"y": 0.8863736284408509
},
"nextControl": {
"x": 7.1125352507115265,
"y": 2.9703152283797456
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.3775038808985,
"y": 4.081259900411539
},
"prevControl": {
"x": 8.17275895834452,
"y": 3.4475256163158923
},
"nextControl": {
"x": 8.685417389466428,
"y": 5.034325522169406
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.3775038808985,
"y": 7.068574707220673
},
"prevControl": {
"x": 8.3775038808985,
"y": 5.728574707220672
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 120.0
},
"goalEndState": {
"velocity": 0,
"rotation": -129.28940686250053,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -90.0,
"velocity": 0
},
"useDefaultConstraints": false
}
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/Arm.java
Original file line number Diff line number Diff line change
Expand Up @@ -121,8 +121,8 @@ public Arm() {
armTarget = armAbsoluteEncoder.getPosition();

armAngleBasedOnDistanceExtended.put(1.27, ShootingPosition.SUBWOOFER.arm_angle());
armAngleBasedOnDistanceExtended.put(2.9, 34.5); //31.25
armAngleBasedOnDistanceExtended.put(3.1, 37.0);//35.25
armAngleBasedOnDistanceExtended.put(2.9, 33.5);
armAngleBasedOnDistanceExtended.put(3.1, 36.0);

//TODO: Add Treemap values
armAngleBasedOnDistanceRetracted.put(1.96, 18.6);
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