PHR 3/1

WE COOKING
Team3128 · Mar 2, 2024 · d30d2fc · d30d2fc
1 parent 1caaa46
commit d30d2fc
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Showing 16 changed files with 282 additions and 58 deletions.
diff --git a/src/main/deploy/pathplanner/autos/bottomRush_3note.auto b/src/main/deploy/pathplanner/autos/bottomRush_3note.auto
@@ -0,0 +1,67 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.45,
+      "y": 4.1
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "bottom-note2.4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.4-bottom"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "bottom-note2.5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.5-bottom"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "bottom-note2.4"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.4.path b/src/main/deploy/pathplanner/paths/bottom-note2.4.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.45,
+        "y": 4.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.45,
+        "y": 2.3679491924311225
+      },
+      "isLocked": false,
+      "linkedName": "bottom"
+    },
+    {
+      "anchor": {
+        "x": 7.8,
+        "y": 2.3
+      },
+      "prevControl": {
+        "x": 5.634936490538903,
+        "y": 1.0499999999999998
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "note2.4"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -170.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.5.path b/src/main/deploy/pathplanner/paths/bottom-note2.5.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.4500000000000002,
-        "y": 2.0999999999999996
+        "x": 2.864213562373095,
+        "y": 2.6857864376269047
       },
       "isLocked": false,
       "linkedName": "bottom"
     },
     {
       "anchor": {
         "x": 7.8,
-        "y": 0.75
+        "y": 0.8
       },
       "prevControl": {
-        "x": 6.8,
-        "y": 0.75
+        "x": 4.8,
+        "y": 0.8
       },
       "nextControl": null,
       "isLocked": false,
@@ -57,7 +57,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": 175.0,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/note1.3-note2.4.path b/src/main/deploy/pathplanner/paths/note1.3-note2.4.path
@@ -17,11 +17,11 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 2.45
+        "y": 2.3
       },
       "prevControl": {
-        "x": 6.782980299198829,
-        "y": 1.955709703145511
+        "x": 6.067949192431122,
+        "y": 1.2999999999999996
       },
       "nextControl": null,
       "isLocked": false,
@@ -74,7 +74,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": -170.0,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/note2.3-middle.path b/src/main/deploy/pathplanner/paths/note2.3-middle.path
@@ -47,6 +47,23 @@
           ]
         }
       }
+    },
+    {
+      "name": "Retract",
+      "waypointRelativePos": 0.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Retract"
+              }
+            }
+          ]
+        }
+      }
     }
   ],
   "globalConstraints": {

diff --git a/src/main/deploy/pathplanner/paths/note2.4-bottom.path b/src/main/deploy/pathplanner/paths/note2.4-bottom.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 2.45
+        "y": 2.3
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.8,
-        "y": 2.45
+        "x": 6.067949192431122,
+        "y": 1.2999999999999996
       },
       "isLocked": false,
       "linkedName": "note2.4"
@@ -20,8 +20,8 @@
         "y": 4.1
       },
       "prevControl": {
-        "x": 1.4499999999999997,
-        "y": 0.5999999999999996
+        "x": 3.571320343559643,
+        "y": 1.9786796564403573
       },
       "nextControl": null,
       "isLocked": false,
@@ -64,6 +64,23 @@
           ]
         }
       }
+    },
+    {
+      "name": "RampUp",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "RampUp"
+              }
+            }
+          ]
+        }
+      }
     }
   ],
   "globalConstraints": {

diff --git a/src/main/deploy/pathplanner/paths/note2.5-bottom.path b/src/main/deploy/pathplanner/paths/note2.5-bottom.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 0.75
+        "y": 0.8
       },
       "prevControl": null,
       "nextControl": {
         "x": 6.799999999999999,
-        "y": 0.7500000000000001
+        "y": 0.8000000000000002
       },
       "isLocked": false,
       "linkedName": "note2.5"
@@ -20,8 +20,8 @@
         "y": 4.1
       },
       "prevControl": {
-        "x": 1.45,
-        "y": 2.0999999999999996
+        "x": 2.864213562373095,
+        "y": 2.6857864376269047
       },
       "nextControl": null,
       "isLocked": false,
@@ -47,6 +47,23 @@
           ]
         }
       }
+    },
+    {
+      "name": "RampUp",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "RampUp"
+              }
+            }
+          ]
+        }
+      }
     }
   ],
   "globalConstraints": {

diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java
@@ -275,9 +275,9 @@ public static Rotation2d flipRotation(Rotation2d rotation) {
 
     public static class FocalAimConstants {
         public static final double speakerLength = 1.043;
-        public static final double speakerMidpointY = 5.5
+        public static final double speakerMidpointY = 5.4
         ; //6.151 - speakerLength / 2;
-        public static final double focalPointX = -0.1; //1.4583577128;
+        public static final double focalPointX = 0; //1.4583577128;
         public static final Translation2d speakerMidpointBlue = new Translation2d(0, speakerMidpointY);
         public static final Translation2d speakerMidpointRed = new Translation2d(FieldConstants.FIELD_X_LENGTH, speakerMidpointY);
         public static final Translation2d focalPointBlue = new Translation2d(focalPointX, speakerMidpointY);
@@ -304,7 +304,7 @@ public static class ShooterConstants {
         public static final double CURRENT_TEST_EXPECTED_CURRENT = 0;
 
         public static final double SHOOTER_TEST_PLATEAU = 1;
-        public static final double SHOOTER_TEST_TIMEOUT = 100;
+        public static final double SHOOTER_TEST_TIMEOUT = 1.7;
     }
 
     public static class ClimberConstants {
@@ -339,7 +339,8 @@ public static class ClimberConstants {
             climberHeightMap.put(3.0 + 0.93, 9.5);
         }
 
-        public static final double CLIMBER_TEST_TIMEOUT = 0;
+        public static final double SETPOINT_TEST_TIMEOUT_EXTEND = 0.6;
+        public static final double SETPOINT_TEST_TIMEOUT_RETRACT = 0.52;
     }
 
     public static class IntakeConstants {
@@ -370,7 +371,7 @@ public static class IntakeConstants {
         public static final double CURRENT_TEST_EXPECTED_CURRENT = 13;
 
         public static final double SETPOINT_TEST_PLATEAU = 1;
-        public static final double SETPOINT_TEST_TIMEOUT = 100;
+        public static final double SETPOINT_TEST_TIMEOUT = 1.6;
 
         public static final double INTAKE_TEST_TIMEOUT = 30;
     }