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Offseason auto fixes #65

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Offseason auto fixes #65

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558f968
added a path to leave community
DarkMetalMouse Oct 2, 2023
338d57e
made a new auto sequnec to take in cone like a cube in the auto cube…
DarkMetalMouse Oct 2, 2023
08fa1cc
edited leave community path
DarkMetalMouse Oct 2, 2023
2964c6f
fixed the cone+leavecommunity path
DarkMetalMouse Oct 2, 2023
564c383
lowered the arm after installing the cone it the cone path
DarkMetalMouse Oct 2, 2023
0e7296b
cleaned up sideConeSequence for testing
DarkMetalMouse Oct 2, 2023
635a8c9
Merge branch 'main' of https://github.com/team3316/charged-up-2023 in…
DarkMetalMouse Oct 2, 2023
0a435ea
sequence now works- unefficently
DarkMetalMouse Oct 2, 2023
95209d9
faster and better cone sequence
DarkMetalMouse Oct 2, 2023
0f51551
removed unused auto
Yoavpeles Oct 3, 2023
6d83177
made auto names clearer
Yoavpeles Oct 3, 2023
451c81f
organized auto paths
Yoavpeles Oct 3, 2023
3ca4718
limelight-calibreation-offseason
DarkMetalMouse Oct 4, 2023
0b88666
Merge branch 'offseason-auto-fixes' of https://github.com/team3316/ch…
DarkMetalMouse Oct 4, 2023
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9 changes: 6 additions & 3 deletions LimelightCalibrations/april tag pipeline.vpr → ...lightCalibrations/april tag pipeline .vpr
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ area_min:0.0017850625000000004
area_similarity:0
aspect_max:20.000000
aspect_min:0.000000
black_level:0
black_level:11
blue_balance:1975
botfloorsnap:0
botlength:0.7112
Expand All @@ -28,20 +28,23 @@ cross_b_y:0
desc:Pipeline_Name
desired_contour_region:0
detector_conf:0.800000
detector_idfilters:
dilation_steps:0
direction_filter:0
dual_close_sort_origin:0
erosion_steps:0
exposure:100
exposure:126
fiducial_decoder_strictness:strict
fiducial_denoise:0.000000
fiducial_idfilters:
fiducial_locfilters:
fiducial_qualitythreshold:0.000000
fiducial_resdiv:4
fiducial_size:152.4
fiducial_skip3d:1
fiducial_type:aprilClassic16h5
fiducial_vis_mode:3dtargposebotspace
flicker_correction:0
force_convex:1
hue_max:85
hue_min:60
Expand All @@ -50,7 +53,7 @@ image_source:0
img_to_show:0
intersection_filter:0
invert_hue:0
lcgain:20
lcgain:15.2
multigroup_max:7
multigroup_min:1
multigroup_rejector:0
Expand Down
12 changes: 6 additions & 6 deletions ...tions/retroreflective pipeline - comp.vpr → ...ions/retroreflective pipeline - comp .vpr
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ area_min:0
area_similarity:0
aspect_max:20
aspect_min:0
black_level:4
black_level:5
blue_balance:1800
botfloorsnap:0
botlength:0.7112
Expand All @@ -13,8 +13,8 @@ calibration_type:0
classifier_conf:0.100000
contour_grouping:0
contour_sort_final:0
convexity_max:100
convexity_min:1
convexity_max:98.8
convexity_min:0.3
corner_approx:5.000000
crop_x_max:0.55
crop_x_min:-0.55
Expand All @@ -34,7 +34,7 @@ dilation_steps:1
direction_filter:0
dual_close_sort_origin:0
erosion_steps:1
exposure:5
exposure:24
fiducial_decoder_strictness:strict
fiducial_denoise:0.000000
fiducial_idfilters:
Expand All @@ -51,10 +51,10 @@ hue_max:110
hue_min:42
image_flip:0
image_source:0
img_to_show:0
img_to_show:1
intersection_filter:0
invert_hue:0
lcgain:1
lcgain:1.2
multigroup_max:7
multigroup_min:1
multigroup_rejector:0
Expand Down
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/leaveCommunity.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
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I don't know how the path looks like from this file, but make sure we qualify for leave community on both sides of the charging station

"waypoints": [
{
"anchorPoint": {
"x": 1.9,
"y": 0.47213538036098845
},
"prevControl": null,
"nextControl": {
"x": 3.276371047437692,
"y": 0.47213538036098845
},
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 5.578080329092989,
"y": 0.4821808139856896
},
"prevControl": {
"x": 4.578080329092989,
"y": 0.4821808139856896
},
"nextControl": null,
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
}
],
"markers": []
}
56 changes: 42 additions & 14 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -209,32 +209,40 @@ private void addToChooser(String pathName) {

private void initChooser() {
SmartDashboard.putData("autonomous", this.chooser);
// addToChooser("engage");
// addToChooser("1-gp-engage");
addToChooser("1-gp-leaveCommunity");
// addToChooser("bot-2-gp-engage");
this.chooser.addOption("2-gp", new ConditionalCommand(_autoFactory.createAuto("bot-2-gp-blue"),
_autoFactory.createAuto("bot-2-gp-red"), () -> DriverStation.getAlliance() == Alliance.Blue));
// addToChooser("bot-3-gp-engage");
// addToChooser("bot-3-gp");
addToChooser("rotate");

this.chooser.addOption("nothing", new InstantCommand());

this.chooser.addOption("cone-leaveCommunity",
getSideConeSequence()
.andThen(_autoFactory.createAuto("leaveCommunity").alongWith(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED))));

this.chooser.addOption("cone", getSideConeSequence().andThen(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)));
// only cube
this.chooser.addOption("cube", getAutoCubeSequence());

// cube engage
this.chooser.addOption("cube-engage-gyro", getAutoCubeSequence().andThen(getEngageSequence()));
this.chooser.addOption("cube-engage", getAutoCubeSequence().andThen(getEngageSequence()));
// only engage
this.chooser.addOption("engage-gyro", getEngageSequence());
this.chooser.addOption("cube-mobility-engage", getAutoCubeSequence().andThen(getMobilityEngageSequence()));

// taxi
this.chooser.addOption("taxi", _autoFactory.createAuto("engage-gyro"));

// this.chooser.addOption("taxi", _autoFactory.createAuto("engage-gyro"));
// this.chooser.addOption("engage-gyro", getEngageSequence());
// cube taxi
this.chooser.addOption("cube-taxi", getAutoCubeSequence().andThen(_autoFactory.createAuto("engage-gyro")));
// this.chooser.addOption("cube-taxi",
// getAutoCubeSequence().andThen(_autoFactory.createAuto("engage-gyro")));
// addToChooser("engage");
// addToChooser("1-gp-engage");
// addToChooser("1-gp-leaveCommunity");
// addToChooser("bot-2-gp-engage");
// addToChooser("bot-2-gp");
// addToChooser("leaveCommunity");
// addToChooser("bot-3-gp-engage");
// addToChooser("bot-3-gp");
// addToChooser("rotate");

}

/**
Expand All @@ -258,6 +266,26 @@ public void updateTelemetry() {
m_drivetrain.updateTelemetry();
}

private CommandBase getSideConeSequence() {
return Commands.sequence(
new InstantCommand(() -> setConeInternalState()),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.COLLECT),
new WaitCommand(0.5),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED),
new WaitCommand(0.5),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.COLLECT),
new WaitCommand(0.5),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED),
new WaitCommand(0.5),
Commands.sequence(m_manipulator.setManipulatorStateCommand(ManipulatorState.OPEN),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.READJUST),
new WaitCommand(0.5),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED),
m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD)),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.MID_CONE, FunnelState.OPEN),
m_manipulator.setManipulatorStateCommand(ManipulatorState.OPEN));
}

private CommandBase getEngageSequence() {
return Commands.sequence(
_autoFactory.createAuto("engage-gyro"),
Expand Down