Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Offseason auto fixes #65

Open
wants to merge 14 commits into
base: main
Choose a base branch
from
Open

Offseason auto fixes #65

Show file tree
Hide file tree
Changes from 12 commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/leaveCommunity.path
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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
View file
Open in desktop
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