From b207fd8bc155ba6d8945d382c1a52cb55f13048f Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Fri, 10 Oct 2025 20:40:28 -0400 Subject: [PATCH 1/8] port forwarder for photon --- src/main/java/frc/robot/Robot.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fa24402..fdf3e3f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -18,6 +18,7 @@ import edu.wpi.first.epilogue.logging.EpilogueBackend; import edu.wpi.first.epilogue.logging.FileBackend; import edu.wpi.first.epilogue.logging.NTEpilogueBackend; +import edu.wpi.first.net.PortForwarder; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.util.ClassPreloader; import edu.wpi.first.wpilibj.DataLogManager; @@ -133,6 +134,8 @@ public Robot(NetworkTableInstance ntInst) { new Trigger(() -> getManipulatorPiece() == Piece.NONE) .onChange(rumbleControllers(1, 1).onlyIf(teleop())); + PortForwarder.add(5800, "orangepi.local", 5800); + SmartDashboard.putData( "Robot Self Check", sequence( @@ -148,9 +151,6 @@ public Robot(NetworkTableInstance ntInst) { AutoChooser chooser = new AutoChooser(); - chooser.addRoutine("Short Path", _autos::shortPath); - chooser.addRoutine("Forward Intake Right", _autos::forwardIntakeRight); - SmartDashboard.putData("Auto Chooser", chooser); autonomous().whileTrue(chooser.selectedCommandScheduler()); From 4d55451447a02e39678d907bb5561ebdfcf5fdc5 Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Sat, 11 Oct 2025 09:05:28 -0400 Subject: [PATCH 2/8] auton --- src/main/deploy/choreo/1pA.traj | 78 +++ src/main/deploy/choreo/1pB.traj | 75 ++ src/main/deploy/choreo/forwardMeter.traj | 57 -- src/main/deploy/choreo/reallyLongPath.traj | 734 -------------------- src/main/deploy/choreo/rightMeter.traj | 57 -- src/main/deploy/choreo/shortPath.traj | 101 --- src/main/deploy/choreo/taxi.traj | 84 +++ src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/Robot.java | 6 +- src/main/java/frc/robot/commands/Autos.java | 66 +- 10 files changed, 289 insertions(+), 971 deletions(-) create mode 100644 src/main/deploy/choreo/1pA.traj create mode 100644 src/main/deploy/choreo/1pB.traj delete mode 100644 src/main/deploy/choreo/forwardMeter.traj delete mode 100644 src/main/deploy/choreo/reallyLongPath.traj delete mode 100644 src/main/deploy/choreo/rightMeter.traj delete mode 100644 src/main/deploy/choreo/shortPath.traj create mode 100644 src/main/deploy/choreo/taxi.traj diff --git a/src/main/deploy/choreo/1pA.traj b/src/main/deploy/choreo/1pA.traj new file mode 100644 index 0000000..f9012c2 --- /dev/null +++ b/src/main/deploy/choreo/1pA.traj @@ -0,0 +1,78 @@ +{ + "name":"1pA", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.163956642150879, "y":4.0193023681640625, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, 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"fx":[15.46502,15.46501,15.43886,15.43886], "fy":[-0.013,0.01301,0.013,-0.01301]}, + {"t":1.34914, "x":6.33039, "y":4.00347, "heading":-3.14113, "vx":-0.7992, "vy":0.0, "omega":0.00018, "ax":0.99928, "ay":0.0, "alpha":-0.01465, "fx":[15.62819,14.99133,15.59854,15.59855], "fy":[-0.01498,0.01499,0.01498,-0.01499]}, + {"t":1.39911, "x":6.2917, "y":4.00347, "heading":-3.14112, "vx":-0.74927, "vy":0.0, "omega":-0.00055, "ax":0.99939, "ay":0.0, "alpha":0.0035, "fx":[15.47122,15.47121,15.44025,15.44026], "fy":[-0.01544,0.01545,0.01544,-0.01545]}, + {"t":1.44908, "x":6.25551, "y":4.00347, "heading":-3.14115, "vx":-0.69933, "vy":0.0, "omega":-0.00038, "ax":0.99946, "ay":0.0, "alpha":-0.00976, "fx":[15.59348,15.11414,15.56003,15.56004], "fy":[-0.01686,0.01687,0.01686,-0.01687]}, + {"t":1.49905, "x":6.22181, "y":4.00347, "heading":-3.14117, "vx":-0.64939, "vy":0.0, "omega":-0.00086, "ax":0.99952, "ay":0.0, "alpha":0.0039, "fx":[15.47505,15.47505,15.44064,15.44064], "fy":[-0.01722,0.01722,0.01722,-0.01722]}, + {"t":1.54901, "x":6.19061, "y":4.00347, "heading":-3.14121, "vx":-0.59944, "vy":0.0, "omega":-0.00067, "ax":0.99957, "ay":0.0, "alpha":-0.00653, "fx":[15.57107,15.19399,15.53464,15.53464], "fy":[-0.01833,0.01833,0.01833,-0.01833]}, + {"t":1.59898, "x":6.16191, "y":4.00347, "heading":-3.14125, "vx":-0.5495, "vy":0.0, "omega":-0.00099, "ax":0.99961, "ay":0.0, "alpha":0.00423, "fx":[15.47782,15.47781,15.44056,15.44056], "fy":[-0.01869,0.01869,0.01869,-0.0187]}, + {"t":1.64895, "x":6.1357, "y":4.00347, "heading":-3.1413, "vx":-0.49955, "vy":0.0, "omega":-0.00078, "ax":0.99964, "ay":0.0, "alpha":-0.00424, "fx":[15.55593,15.24924,15.5168,15.5168], "fy":[-0.01965,0.01965,0.01965,-0.01965]}, + {"t":1.69892, "x":6.11198, "y":4.00347, "heading":-3.14134, "vx":-0.4496, "vy":0.0, "omega":-0.001, "ax":0.99967, "ay":0.0, "alpha":0.00454, "fx":[15.48012,15.48011,15.44012,15.44012], "fy":[-0.02011,0.02012,0.02011,-0.02012]}, + {"t":1.74889, "x":6.09077, "y":4.00347, "heading":-3.14139, "vx":-0.39965, "vy":0.0, "omega":-0.00077, "ax":0.99969, "ay":0.0, "alpha":-0.00252, "fx":[15.54576,15.28858,15.5038,15.5038], "fy":[-0.02103,0.02104,0.02103,-0.02103]}, + {"t":1.79885, "x":6.07205, "y":4.00347, "heading":-3.14142, "vx":-0.34969, "vy":0.0, "omega":-0.00089, "ax":0.99971, "ay":0.0, "alpha":0.00489, "fx":[15.48229,15.48229,15.43931,15.43931], "fy":[-0.02166,0.02166,0.02166,-0.02166]}, + {"t":1.84882, "x":6.05582, "y":4.00347, "heading":-3.14147, "vx":-0.29974, "vy":0.0, "omega":-0.00065, "ax":0.99973, "ay":0.0, "alpha":-0.00113, "fx":[15.53892,15.31796,15.49371,15.49371], "fy":[-0.02263,0.02263,0.02263,-0.02263]}, + {"t":1.89879, "x":6.04209, "y":4.00347, "heading":-3.1415, "vx":-0.24978, "vy":0.0, "omega":-0.00071, "ax":0.99975, "ay":0.0, "alpha":0.00529, "fx":[15.48458,15.48458,15.43806,15.43806], "fy":[-0.02347,0.02347,0.02347,-0.02347]}, + {"t":1.94876, "x":6.03086, "y":4.00347, "heading":-3.14154, "vx":-0.19983, "vy":0.0, "omega":-0.00044, "ax":0.99976, "ay":0.0, "alpha":0.00007, "fx":[15.53466,15.34045,15.48552,15.48552], "fy":[-0.02458,0.02458,0.02458,-0.02458]}, + {"t":1.99873, "x":6.02212, "y":4.00347, "heading":-3.14156, "vx":-0.14987, "vy":0.0, "omega":-0.00044, "ax":0.99977, "ay":0.0, "alpha":0.00579, "fx":[15.48718,15.48718,15.43629,15.43629], "fy":[-0.0257,0.0257,0.0257,-0.0257]}, + {"t":2.0487, "x":6.01588, "y":4.00347, "heading":-3.14158, "vx":-0.09992, "vy":0.0, "omega":-0.00015, "ax":0.99979, "ay":0.0, "alpha":0.00122, "fx":[15.53223,15.35902,15.47819,15.47819], "fy":[-0.02702,0.02702,0.02702,-0.02702]}, + {"t":2.09866, "x":6.01214, "y":4.00347, "heading":-3.14159, "vx":-0.04996, "vy":0.0, "omega":-0.00009, "ax":0.9998, "ay":0.0, "alpha":0.00178, "fx":[15.5316,15.36712,15.47477,15.47477], "fy":[-0.02841,0.02841,0.02841,-0.02841]}, + {"t":2.14863, "x":6.01089, "y":4.00347, "heading":3.14159, "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/Constants.java b/src/main/java/frc/robot/Constants.java index b82acf3..e9f9664 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -378,7 +378,7 @@ public static class SwerveConstants { + Math.pow(TunerConstants.FrontLeft.LocationY, 2))); public static final LinearVelocity maxTranslationalSpeed = MetersPerSecond.of(3.632); - public static final AngularVelocity maxAngularSpeed = RadiansPerSecond.of(Math.PI); + public static final AngularVelocity maxAngularSpeed = RadiansPerSecond.of(Math.PI * 2); // respecting wheel COF and max motor torque (this can be obtained from choreo probably) public static final LinearAcceleration maxTranslationalAcceleration = diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fdf3e3f..cc66447 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -80,7 +80,8 @@ public class Robot extends TimedRobot { private final Wristevator _wristevator = new Wristevator((Setpoint goal) -> _wristevatorGoal = goal); - private final Autos _autos = new Autos(_swerve, _intake); + private final Autos _autos = + new Autos((Piece piece) -> _manipulatorPiece = piece, _swerve, _wristevator, _manipulator); private final NetworkTableInstance _ntInst; @@ -151,6 +152,9 @@ public Robot(NetworkTableInstance ntInst) { AutoChooser chooser = new AutoChooser(); + chooser.addCmd("Taxi", _autos::taxi); + chooser.addRoutine("One Piece", _autos::onePiece); + SmartDashboard.putData("Auto Chooser", chooser); autonomous().whileTrue(chooser.selectedCommandScheduler()); diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java index d2ec5cc..6e1c28d 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -1,23 +1,39 @@ package frc.robot.commands; import static edu.wpi.first.wpilibj2.command.Commands.*; +import static frc.robot.Constants.WristevatorConstants.Preset.*; import choreo.auto.AutoFactory; import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import dev.doglog.DogLog; -import frc.robot.subsystems.Intake; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.FieldConstants.Alignment; +import frc.robot.Constants.Piece; +import frc.robot.subsystems.Manipulator; import frc.robot.subsystems.Swerve; +import frc.robot.subsystems.Wristevator; +import java.util.function.Consumer; public class Autos { private final AutoFactory _factory; + private final Consumer _manipulatorPieceSetter; + private final Swerve _swerve; - private final Intake _intake; + private final Wristevator _wristevator; + private final Manipulator _manipulator; + + public Autos( + Consumer manipulatorPieceSetter, + Swerve swerve, + Wristevator wristevator, + Manipulator manipulator) { + _manipulatorPieceSetter = manipulatorPieceSetter; - public Autos(Swerve swerve, Intake intake) { _swerve = swerve; - _intake = intake; + _wristevator = wristevator; + _manipulator = manipulator; _factory = new AutoFactory( @@ -34,27 +50,37 @@ public Autos(Swerve swerve, Intake intake) { }); } - public AutoRoutine shortPath() { - AutoRoutine routine = _factory.newRoutine("shortPath"); - - AutoTrajectory shortPath = routine.trajectory("shortPath"); - - routine.active().onTrue(sequence(shortPath.resetOdometry(), shortPath.cmd())); - - return routine; + public Command taxi() { + return sequence( + runOnce(() -> _manipulatorPieceSetter.accept(Piece.CORAL)), + _factory.resetOdometry("taxi"), + _factory.trajectoryCmd("taxi")); } - public AutoRoutine forwardIntakeRight() { - AutoRoutine routine = _factory.newRoutine("forwardIntakeRight"); + public AutoRoutine onePiece() { + AutoRoutine routine = _factory.newRoutine("One Piece"); + + AutoTrajectory onePieceA = routine.trajectory("1pA"); + AutoTrajectory onePieceB = routine.trajectory("1pB"); - // Load the routine's trajectories - AutoTrajectory forwardMeter = routine.trajectory("forwardMeter"); - AutoTrajectory rightMeter = routine.trajectory("rightMeter"); + routine + .active() + .onTrue( + sequence( + runOnce(() -> _manipulatorPieceSetter.accept(Piece.CORAL)), + onePieceA.resetOdometry(), + onePieceA.cmd())); - // When the routine begins, reset odometry and start the first trajectory - routine.active().onTrue(sequence(forwardMeter.resetOdometry(), forwardMeter.cmd())); + onePieceA + .done() + .onTrue( + sequence( + _wristevator.setGoal(L4), + _swerve.alignToTag(Alignment.LEFT), + _manipulator.feed()) + .andThen(onePieceB.cmd())); - forwardMeter.done().onTrue(_intake.intake().withTimeout(3).andThen(rightMeter.cmd())); + onePieceB.done().onTrue(_wristevator.setGoal(HOME)); return routine; } From ca64c9ab0c638de288309b0904a8da123b4bfe0b Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Sat, 11 Oct 2025 15:20:18 -0400 Subject: [PATCH 3/8] rr update --- src/main/deploy/choreo/taxi.traj | 76 ++++++------------- src/main/java/frc/robot/Constants.java | 18 ++--- src/main/java/frc/robot/Robot.java | 2 + src/main/java/frc/robot/commands/Autos.java | 9 ++- .../java/frc/robot/subsystems/Intake.java | 25 ++++++ 5 files changed, 64 insertions(+), 66 deletions(-) diff --git a/src/main/deploy/choreo/taxi.traj b/src/main/deploy/choreo/taxi.traj index a29701f..333c381 100644 --- a/src/main/deploy/choreo/taxi.traj +++ b/src/main/deploy/choreo/taxi.traj @@ -3,28 +3,24 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.163956642150879, "y":4.003473281860352, "heading":3.141592653589793, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.163956642150879, "y":4.003473281860352, "heading":3.141592653589793, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.010887145996094, "y":4.003473281860352, "heading":3.141592653589793, "intervals":28, "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":7.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"7.163956642150879 m", "val":7.163956642150879}, "y":{"exp":"4.003473281860352 m", "val":4.003473281860352}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.163956642150879 m", "val":7.163956642150879}, "y":{"exp":"4.003473281860352 m", "val":4.003473281860352}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.010887145996094 m", "val":6.010887145996094}, "y":{"exp":"4.003473281860352 m", "val":4.003473281860352}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":28, "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":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"7 m / s ^ 2", "val":7.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -32,52 +28,26 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.14863], + "waypoints":[0.0,0.8133], "samples":[ - {"t":0.0, "x":7.16396, "y":4.00347, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.99959, "ay":0.0, "alpha":0.003, "fx":[-15.57317,-15.2331,-15.51467,-15.51467], "fy":[0.02928,-0.02928,-0.02928,0.02928]}, 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"fx":[-108.2403,-107.54518,-108.23319,-108.23318], "fy":[0.01587,-0.01633,-0.01553,0.01588]}, + {"t":0.38273, "x":6.65148, "y":4.00347, "heading":3.14158, "vx":-2.67742, "vy":0.0, "omega":0.00067, "ax":-0.00156, "ay":0.00001, "alpha":-0.001, "fx":[-0.02615,-0.02617,-0.02221,-0.02219], "fy":[0.00697,-0.00676,-0.0068,0.00695]}, + {"t":0.43057, "x":6.52339, "y":4.00347, "heading":-3.14157, "vx":-2.6775, "vy":0.0, "omega":0.00062, "ax":6.98749, "ay":0.0, "alpha":-0.01854, "fx":[108.25001,107.51827,108.24205,108.24205], "fy":[-0.01522,0.01553,0.01491,-0.01524]}, + {"t":0.47841, "x":6.40329, "y":4.00347, "heading":-3.14154, "vx":-2.34321, "vy":0.0, "omega":-0.00026, "ax":6.99377, "ay":-0.00001, "alpha":0.00274, "fx":[108.16316,108.16316,108.15745,108.15745], "fy":[-0.02137,0.02126,0.02122,-0.02143]}, + {"t":0.52626, "x":6.29919, "y":4.00347, "heading":-3.14156, "vx":-2.00861, "vy":0.0, "omega":-0.00013, "ax":6.99585, "ay":0.0, "alpha":-0.00288, "fx":[108.24007,108.06113,108.23443,108.23443], "fy":[-0.0164,0.01702,0.01596,-0.01647]}, + {"t":0.5741, "x":6.2111, "y":4.00347, "heading":-3.14156, "vx":-1.67392, "vy":0.0, "omega":-0.00027, "ax":6.99689, "ay":-0.00001, "alpha":0.00264, "fx":[108.21127,108.21127,108.2059,108.2059], "fy":[-0.02078,0.02053,0.02049,-0.02086]}, + {"t":0.62194, "x":6.13903, "y":4.00347, "heading":-3.14158, "vx":-1.33918, "vy":0.0, "omega":-0.00014, "ax":6.99752, "ay":0.0, "alpha":-0.00052, "fx":[108.24346,108.15329,108.23806,108.23806], "fy":[-0.01517,0.01523,0.01535,-0.01524]}, + {"t":0.66978, "x":6.08297, "y":4.00347, "heading":-3.14158, "vx":-1.00441, "vy":0.0, "omega":-0.00017, "ax":6.99793, "ay":0.0, "alpha":0.00313, "fx":[108.22741,108.22741,108.22185,108.22185], "fy":[-0.02487,0.02476,0.02479,-0.02496]}, + {"t":0.71762, "x":6.04292, "y":4.00347, "heading":-3.14159, "vx":-0.66962, "vy":0.0, "omega":-0.00002, "ax":6.99823, "ay":0.0, "alpha":0.00001, "fx":[108.24707,108.18682,108.24147,108.24147], "fy":[-0.01222,0.01296,0.01178,-0.01231]}, + {"t":0.76546, "x":6.0189, "y":4.00347, "heading":-3.14159, "vx":-0.33482, "vy":0.0, "omega":-0.00002, "ax":6.99845, "ay":0.0, "alpha":0.00038, "fx":[108.24861,108.19679,108.24258,108.24258], "fy":[-0.01316,0.0132,0.01344,-0.01328]}, + {"t":0.8133, "x":6.01089, "y":4.00347, "heading":3.14159, "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/Constants.java b/src/main/java/frc/robot/Constants.java index e9f9664..c369eda 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -68,18 +68,18 @@ public static enum Alignment { RIGHT } - public static final Transform2d leftOffset = new Transform2d(0.5, -0.15, Rotation2d.k180deg); + public static final Transform2d leftOffset = new Transform2d(0.5, -0.17, Rotation2d.k180deg); public static final Transform2d centeredOffset = new Transform2d(0.55, 0, Rotation2d.k180deg); - public static final Transform2d rightOffset = new Transform2d(0.5, 0.15, Rotation2d.k180deg); + public static final Transform2d rightOffset = new Transform2d(0.5, 0.17, Rotation2d.k180deg); } public static class VisionConstants { - public static final double[] singleTagBaseStdDevs = new double[] {5, 5, 5}; + public static final double[] singleTagBaseStdDevs = new double[] {3, 3, 3}; public static final double[] multiTagBaseStdDevs = new double[] {1, 1, 1}; public static final double xBoundMargin = 0.01; public static final double yBoundMargin = 0.01; - public static final double zBoundMargin = 0.01; + public static final double zBoundMargin = 0.03; public static final String leftArducamName = "left-arducam"; public static final String rightArducamName = "right-arducam"; @@ -91,8 +91,8 @@ public static class VisionConstants { new Translation3d(0.3015, 0.3014, 0.199), new Rotation3d(0, -Units.degreesToRadians(16.96), -Units.degreesToRadians(15))), 0.2, - 0.2, - 2.5, + 0.1, + 3, 4.5); public static final VisionPoseEstimatorConstants rightArducam = @@ -102,8 +102,8 @@ public static class VisionConstants { new Translation3d(0.3015, -0.3014, 0.199), new Rotation3d(0, -Units.degreesToRadians(16.96), Units.degreesToRadians(15))), 0.2, - 0.2, - 2.5, + 0.1, + 3, 4.5); } @@ -142,7 +142,7 @@ public static class IntakeConstants { public static final Angle actuatorStowed = Radians.of(0.973); public static final Angle actuatorOut = Radians.of(3.52); - public static final AngularVelocity feedSpeed = RadiansPerSecond.of(30); // TODO: increase back + public static final AngularVelocity feedSpeed = RadiansPerSecond.of(50); } public static class SerializerConstants { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index cc66447..22c2008 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -309,6 +309,8 @@ private void configureOperatorBindings() { // general release piece _operatorController.leftTrigger().whileTrue(_manipulator.releasePiece()); + + _operatorController.povDown().whileTrue(_intake.zero()); } /** diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java index 6e1c28d..17a45ec 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -75,11 +75,12 @@ public AutoRoutine onePiece() { .done() .onTrue( sequence( - _wristevator.setGoal(L4), - _swerve.alignToTag(Alignment.LEFT), - _manipulator.feed()) - .andThen(onePieceB.cmd())); + _wristevator.setGoal(L4), + _swerve.alignToTag(Alignment.LEFT), + waitSeconds(0.5), + _manipulator.feed())); + onePieceA.doneDelayed(5).onTrue(onePieceB.cmd()); onePieceB.done().onTrue(_wristevator.setGoal(HOME)); return routine; diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 3b6c5cf..52d1d6b 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -7,6 +7,7 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.controls.VelocityVoltage; @@ -279,6 +280,30 @@ public Command outtake() { .withName("Outtake"); } + public Command zero() { + return run(() -> setActuatorVoltage(-1)) + .beforeStarting( + () -> { + var c = new SoftwareLimitSwitchConfigs(); + + _actuatorMotor.getConfigurator().refresh(c); + _actuatorMotor + .getConfigurator() + .apply(c.withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false)); + }) + .finallyDo( + () -> { + _actuatorMotor.setPosition(IntakeConstants.actuatorStowed); + + var c = new SoftwareLimitSwitchConfigs(); + + _actuatorMotor.getConfigurator().refresh(c); + _actuatorMotor + .getConfigurator() + .apply(c.withForwardSoftLimitEnable(true).withReverseSoftLimitEnable(true)); + }); + } + private void setActuatorVoltage(double volts) { _actuatorMotor.setControl(_actuatorVoltageSetter.withOutput(volts)); } From 5e36b76bf949c2ce01713c0854a5d9391896d73c Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Sat, 11 Oct 2025 20:26:03 -0400 Subject: [PATCH 4/8] clear piece button --- src/main/java/frc/robot/Robot.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 22c2008..a5f17ee 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -148,6 +148,10 @@ public Robot(NetworkTableInstance ntInst) { SmartDashboard.putData( runOnce(FaultLogger::clear).withName("Clear Faults").ignoringDisable(true)); + SmartDashboard.putData( + "Clear Manipulator Current Piece", + runOnce(() -> _manipulatorPiece = Piece.NONE).ignoringDisable(true)); + addPeriodic(FaultLogger::update, 1); AutoChooser chooser = new AutoChooser(); From 02f7636eaa287fc76f89887b49ba7c6fad8f0962 Mon Sep 17 00:00:00 2001 From: elvizer <67809150+elvizer@users.noreply.github.com> Date: Sat, 11 Oct 2025 23:57:25 -0400 Subject: [PATCH 5/8] selector to choose auton side --- .../choreo/{1pA.traj => Center 1pA.traj} | 2 +- .../choreo/{1pB.traj => Center 1pB.traj} | 2 +- src/main/deploy/choreo/Left 1pA.traj | 89 ++++++++++++++++++ src/main/deploy/choreo/Left 1pB.traj | 49 ++++++++++ src/main/deploy/choreo/Right 1pA.traj | 90 +++++++++++++++++++ src/main/deploy/choreo/Right 1pB.traj | 48 ++++++++++ src/main/java/frc/robot/commands/Autos.java | 34 ++++++- 7 files changed, 310 insertions(+), 4 deletions(-) rename src/main/deploy/choreo/{1pA.traj => Center 1pA.traj} (99%) rename src/main/deploy/choreo/{1pB.traj => Center 1pB.traj} (99%) create mode 100644 src/main/deploy/choreo/Left 1pA.traj create mode 100644 src/main/deploy/choreo/Left 1pB.traj create mode 100644 src/main/deploy/choreo/Right 1pA.traj create mode 100644 src/main/deploy/choreo/Right 1pB.traj diff --git a/src/main/deploy/choreo/1pA.traj b/src/main/deploy/choreo/Center 1pA.traj similarity index 99% rename from src/main/deploy/choreo/1pA.traj rename to src/main/deploy/choreo/Center 1pA.traj index f9012c2..6be1d31 100644 --- a/src/main/deploy/choreo/1pA.traj +++ b/src/main/deploy/choreo/Center 1pA.traj @@ -1,5 +1,5 @@ { - "name":"1pA", + "name":"Center 1pA", "version":1, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/1pB.traj b/src/main/deploy/choreo/Center 1pB.traj similarity index 99% rename from src/main/deploy/choreo/1pB.traj rename to src/main/deploy/choreo/Center 1pB.traj index 4d4a52b..cfcf080 100644 --- a/src/main/deploy/choreo/1pB.traj +++ b/src/main/deploy/choreo/Center 1pB.traj @@ -1,5 +1,5 @@ { - "name":"1pB", + "name":"Center 1pB", "version":1, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/Left 1pA.traj b/src/main/deploy/choreo/Left 1pA.traj new file mode 100644 index 0000000..5feeb7b --- /dev/null +++ b/src/main/deploy/choreo/Left 1pA.traj @@ -0,0 +1,89 @@ +{ + "name":"Left 1pA", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.018553733825684, "y":5.983497619628906, "heading":4.1887902047863905, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.465855121612549, "y":5.340219020843506, "heading":4.1887902047863905, "intervals":40, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"7.018553733825684 m", "val":7.018553733825684}, "y":{"exp":"5.983497619628906 m", "val":5.983497619628906}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.465855121612549 m", "val":5.465855121612549}, "y":{"exp":"5.340219020843506 m", "val":5.340219020843506}, "heading":{"exp":"240 deg", "val":4.1887902047863905}, "intervals":40, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,2.59335], + "samples":[ + {"t":0.0, "x":7.01855, "y":5.9835, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.92347, "ay":-0.38259, "alpha":0.00065, "fx":[-14.27264,-14.30211,-14.27775,-14.27451], "fy":[-5.91637,-5.91489,-5.91742,-5.91886]}, + {"t":0.04987, "x":7.01741, "y":5.98302, "heading":-2.0944, "vx":-0.04606, "vy":-0.01908, "omega":0.00003, "ax":-0.92366, "ay":-0.38267, "alpha":0.00048, "fx":[-14.2794,-14.2931,-14.28445,-14.28125], "fy":[-5.91753,-5.9161,-5.91857,-5.91999]}, + {"t":0.09974, "x":7.01396, "y":5.98159, "heading":-2.09439, "vx":-0.09212, "vy":-0.03817, "omega":0.00006, "ax":-0.92365, "ay":-0.38266, "alpha":0.00019, "fx":[-14.2825,-14.28494,-14.28635,-14.2839], "fy":[-5.91617,-5.91892,-5.91752,-5.91937]}, + {"t":0.14962, "x":7.00822, "y":5.97922, "heading":-2.09439, "vx":-0.13818, "vy":-0.05725, "omega":0.00007, "ax":-0.92364, "ay":-0.38266, "alpha":0.00049, "fx":[-14.2788,-14.29389,-14.2838,-14.28063], "fy":[-5.91743,-5.916,-5.91845,-5.91986]}, + {"t":0.19949, "x":7.00018, "y":5.97588, "heading":-2.09439, "vx":-0.18425, "vy":-0.07633, "omega":0.00009, "ax":-0.92363, "ay":-0.38266, "alpha":0.00017, "fx":[-14.28219,-14.28464,-14.28606,-14.28361], "fy":[-5.91588,-5.91928,-5.91723,-5.91909]}, + {"t":0.24936, "x":6.98984, "y":5.9716, "heading":-2.09438, "vx":-0.23031, "vy":-0.09542, "omega":0.0001, "ax":-0.92362, "ay":-0.38265, "alpha":0.00051, "fx":[-14.27807,-14.29472,-14.28312,-14.27992], "fy":[-5.91729,-5.91583,-5.91833,-5.91976]}, + {"t":0.29923, "x":6.9772, "y":5.96637, "heading":-2.09438, "vx":-0.27637, "vy":-0.1145, "omega":0.00012, "ax":-0.92361, "ay":-0.38265, "alpha":0.00015, "fx":[-14.28178,-14.2843,-14.28577,-14.28324], 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"fx":[14.36797,14.31494,14.3755,14.35786], "fy":[-5.75932,-5.74942,-5.73176,-5.7419]}, + {"t":2.36816, "x":5.44868, "y":2.67194, "heading":2.09442, "vx":-0.22897, "vy":0.09165, "omega":-0.00022, "ax":0.92816, "ay":-0.37152, "alpha":0.00201, "fx":[14.3505,14.36795,14.35792,14.34056], "fy":[-5.76643,-5.72899,-5.73849,-5.74877]}, + {"t":2.4175, "x":5.43852, "y":2.67601, "heading":2.09441, "vx":-0.18317, "vy":0.07332, "omega":-0.00012, "ax":0.92817, "ay":-0.37153, "alpha":-0.00016, "fx":[14.36668,14.32011,14.37439,14.35634], "fy":[-5.75973,-5.74961,-5.73163,-5.74197]}, + {"t":2.46683, "x":5.43061, "y":2.67917, "heading":2.0944, "vx":-0.13738, "vy":0.05499, "omega":-0.00013, "ax":0.92818, "ay":-0.37153, "alpha":0.00212, "fx":[14.35067,14.3687,14.35833,14.34039], "fy":[-5.76653,-5.73093,-5.73753,-5.7482]}, + {"t":2.51617, "x":5.42496, "y":2.68143, "heading":2.0944, "vx":-0.09159, "vy":0.03666, "omega":-0.00002, "ax":0.92819, "ay":-0.37153, "alpha":0.00016, "fx":[14.36546,14.32498,14.37356,14.35459], "fy":[-5.76053,-5.74989,-5.73107,-5.74191]}, + {"t":2.56551, "x":5.42157, "y":2.68279, "heading":2.0944, "vx":-0.04579, "vy":0.01833, "omega":-0.00002, "ax":0.9282, "ay":-0.37154, "alpha":0.00033, "fx":[14.36487,14.32729,14.37325,14.35365], "fy":[-5.76106,-5.75006,-5.73065,-5.74184]}, + {"t":2.61484, "x":5.42044, "y":2.68324, "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/deploy/choreo/Right 1pB.traj b/src/main/deploy/choreo/Right 1pB.traj new file mode 100644 index 0000000..6d88510 --- /dev/null +++ b/src/main/deploy/choreo/Right 1pB.traj @@ -0,0 +1,48 @@ +{ + "name":"Right 1pB", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":5.275967597961426, "y":2.982060194015503, "heading":2.0943951023931953, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.631440162658691, "y":2.3614869117736816, "heading":2.0943951023931953, "intervals":53, "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":0, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"5.275967597961426 m", "val":5.275967597961426}, "y":{"exp":"2.982060194015503 m", "val":2.982060194015503}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":11, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.631440162658691 m", "val":5.631440162658691}, "y":{"exp":"2.3614869117736816 m", "val":2.3614869117736816}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":53, "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":0, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,1.6985], + "samples":[ + {"t":0.0, "x":5.27597, "y":2.98206, "heading":2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.49697, "ay":-0.8676, "alpha":0.00025, "fx":[7.68416,7.69179,7.68726,7.68005], "fy":[-13.43837,-13.37183,-13.42842,-13.4321]}, + {"t":0.15441, "x":5.28189, "y":2.97172, "heading":2.0944, "vx":0.07674, "vy":-0.13397, "omega":0.00004, "ax":0.497, "ay":-0.86765, "alpha":0.00036, "fx":[7.68482,7.6913,7.68749,7.68127], "fy":[-13.43254,-13.38998,-13.42393,-13.42711]}, + {"t":0.30882, "x":5.29967, "y":2.94069, "heading":2.0944, "vx":0.15348, "vy":-0.26794, "omega":0.00009, "ax":0.49699, "ay":-0.86762, "alpha":-0.00018, "fx":[7.69266,7.69759,7.6946,7.65911], "fy":[-13.38269,-13.43215,-13.42696,-13.43018]}, + {"t":0.46323, "x":5.32929, "y":2.88897, "heading":2.09442, "vx":0.23022, "vy":-0.40191, "omega":0.00007, "ax":0.49696, "ay":-0.86757, "alpha":-0.00015, "fx":[7.68428,7.69001,7.68653,7.68129], "fy":[-13.44058,-13.35914,-13.4332,-13.43593]}, + {"t":0.61764, "x":5.37076, "y":2.81657, "heading":2.09443, "vx":0.30695, "vy":-0.53587, "omega":0.00004, "ax":0.49687, "ay":-0.86742, "alpha":-0.00208, "fx":[7.70647,7.70956,7.70732,7.61331], "fy":[-13.30031,-13.4547,-13.4508,-13.45357]}, + {"t":0.77205, "x":5.42408, "y":2.72349, "heading":2.09443, "vx":0.38367, "vy":-0.66981, "omega":-0.00028, "ax":0.00004, "ay":-0.00006, "alpha":0.00025, "fx":[0.00083,0.00016,0.00054,0.00121], "fy":[0.00769,-0.02497,0.00673,0.00708]}, + {"t":0.92645, "x":5.48332, "y":2.62006, "heading":2.09439, "vx":0.38368, "vy":-0.66981, "omega":-0.00024, "ax":-0.49687, "ay":0.86742, "alpha":0.00197, "fx":[-7.70635,-7.71021,-7.70752,-7.61276], "fy":[13.30098,13.4548,13.45015,13.45336]}, + {"t":1.08086, "x":5.53664, "y":2.52698, "heading":2.09435, "vx":0.30696, "vy":-0.53588, "omega":0.00007, "ax":-0.49696, "ay":0.86757, "alpha":0.00008, "fx":[-7.68419,-7.6905,-7.68669,-7.68089], "fy":[13.44089,13.3594,13.43273,13.43574]}, + {"t":1.23527, "x":5.57812, "y":2.45458, "heading":2.09436, "vx":0.23022, "vy":-0.40192, "omega":0.00008, "ax":-0.49699, "ay":0.86762, "alpha":0.00013, "fx":[-7.69258,-7.69788,-7.69468,-7.65892], "fy":[13.38307,13.43218,13.42663,13.43006]}, + {"t":1.38968, "x":5.60774, "y":2.40286, "heading":2.09437, "vx":0.15348, "vy":-0.26795, "omega":0.0001, "ax":-0.497, "ay":0.86765, "alpha":-0.00041, "fx":[-7.68476,-7.69159,-7.68759,-7.68101], "fy":[13.43275,13.3901,13.42365,13.42702]}, + {"t":1.54409, "x":5.62552, "y":2.37183, "heading":2.09439, "vx":0.07674, "vy":-0.13398, "omega":0.00004, "ax":-0.49701, "ay":0.86766, "alpha":-0.00023, "fx":[-7.68946,-7.67804,-7.69235,-7.68565], "fy":[13.42453,13.42026,13.41265,13.41703]}, + {"t":1.6985, "x":5.63144, "y":2.36149, "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/Autos.java b/src/main/java/frc/robot/commands/Autos.java index 17a45ec..4ba0d0e 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -7,6 +7,8 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import dev.doglog.DogLog; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.FieldConstants.Alignment; import frc.robot.Constants.Piece; @@ -24,6 +26,24 @@ public class Autos { private final Wristevator _wristevator; private final Manipulator _manipulator; + private SendableChooser _sideSelector = new SendableChooser(); + + private enum Side { + LEFT("Left "), + CENTER("Center "), + RIGHT("Right "); + + private final String _dir; + + private Side(String dir) { + _dir = dir; + } + + public String getDirectory() { + return _dir; + } + } + public Autos( Consumer manipulatorPieceSetter, Swerve swerve, @@ -48,6 +68,14 @@ public Autos( DogLog.log("Auto/Current Trajectory Duration", traj.getTotalTime()); DogLog.log("Auto/Current Trajectory Is Active", isActive); }); + + _sideSelector.setDefaultOption("Center", Side.CENTER); + + _sideSelector.addOption("Left", Side.LEFT); + _sideSelector.addOption("Center", Side.CENTER); + _sideSelector.addOption("Right", Side.RIGHT); + + SmartDashboard.putData("Auton Side Selector", _sideSelector); } public Command taxi() { @@ -60,8 +88,10 @@ public Command taxi() { public AutoRoutine onePiece() { AutoRoutine routine = _factory.newRoutine("One Piece"); - AutoTrajectory onePieceA = routine.trajectory("1pA"); - AutoTrajectory onePieceB = routine.trajectory("1pB"); + AutoTrajectory onePieceA = + routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pA"); + AutoTrajectory onePieceB = + routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pB"); routine .active() From 77289bec97cf219b693bb7c38c7fc7011b98b653 Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Sun, 12 Oct 2025 08:55:08 -0400 Subject: [PATCH 6/8] auton sides and swerve sticks signed pow --- .../choreo/{taxi.traj => Center taxi.traj} | 2 +- src/main/deploy/choreo/Left taxi.traj | 59 +++++++++++++++++++ src/main/deploy/choreo/Right taxi.traj | 59 +++++++++++++++++++ src/main/java/frc/robot/Robot.java | 3 + src/main/java/frc/robot/commands/Autos.java | 4 +- 5 files changed, 124 insertions(+), 3 deletions(-) rename src/main/deploy/choreo/{taxi.traj => Center taxi.traj} (99%) create mode 100644 src/main/deploy/choreo/Left taxi.traj create mode 100644 src/main/deploy/choreo/Right taxi.traj diff --git a/src/main/deploy/choreo/taxi.traj b/src/main/deploy/choreo/Center taxi.traj similarity index 99% rename from src/main/deploy/choreo/taxi.traj rename to src/main/deploy/choreo/Center taxi.traj index 333c381..5fb0639 100644 --- a/src/main/deploy/choreo/taxi.traj +++ b/src/main/deploy/choreo/Center taxi.traj @@ -1,5 +1,5 @@ { - "name":"taxi", + "name":"Center taxi", "version":1, "snapshot":{ "waypoints":[ diff --git a/src/main/deploy/choreo/Left taxi.traj b/src/main/deploy/choreo/Left taxi.traj new file mode 100644 index 0000000..a638972 --- /dev/null +++ b/src/main/deploy/choreo/Left taxi.traj @@ -0,0 +1,59 @@ +{ + "name":"Left taxi", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.166881084442139, "y":7.21947717666626, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.07758092880249, "y":7.21947717666626, "heading":3.141592653589793, "intervals":28, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":7.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"7.166881084442139 m", "val":7.166881084442139}, "y":{"exp":"7.21947717666626 m", "val":7.21947717666626}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.07758092880249 m", "val":5.07758092880249}, "y":{"exp":"7.21947717666626 m", "val":7.21947717666626}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":28, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"7 m / s ^ 2", "val":7.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,1.09716], + "samples":[ + {"t":0.0, "x":7.16688, "y":7.21948, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.99706, "ay":-0.00016, "alpha":0.00207, "fx":[-108.23716,-108.15774,-108.22475,-108.22475], "fy":[-0.007,0.00202,0.00232,-0.007]}, + {"t":0.04987, "x":7.15818, "y":7.21948, "heading":3.14159, "vx":-0.34895, "vy":-0.00001, "omega":0.0001, "ax":-6.99836, "ay":-0.00016, "alpha":0.00002, "fx":[-108.2522,-108.20251,-108.23522,-108.23522], "fy":[0.00119,-0.00629,-0.00627,0.00119]}, + {"t":0.09974, "x":7.13207, "y":7.21948, "heading":-3.14159, "vx":-0.69796, "vy":-0.00002, "omega":0.0001, "ax":-6.99815, "ay":-0.00027, "alpha":-0.00277, 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"splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/Right taxi.traj b/src/main/deploy/choreo/Right taxi.traj new file mode 100644 index 0000000..03c15ff --- /dev/null +++ b/src/main/deploy/choreo/Right taxi.traj @@ -0,0 +1,59 @@ +{ + "name":"Right taxi", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.166758060455322, "y":0.7920888662338257, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.07758092880249, "y":0.7920888662338257, "heading":3.141592653589793, "intervals":28, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":7.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"7.166758060455322 m", "val":7.166758060455322}, "y":{"exp":"0.7920888662338257 m", "val":0.7920888662338257}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.07758092880249 m", "val":5.07758092880249}, "y":{"exp":"0.7920888662338257 m", "val":0.7920888662338257}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":28, "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":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"7 m / s ^ 2", "val":7.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,1.09712], + "samples":[ + {"t":0.0, "x":7.16676, "y":0.79209, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-6.99706, "ay":-0.00019, "alpha":0.00206, "fx":[-108.23715,-108.1578,-108.22472,-108.22472], "fy":[-0.0075,0.00148,0.00178,-0.0075]}, + {"t":0.04987, "x":7.15806, "y":0.79209, "heading":3.14159, "vx":-0.34894, "vy":-0.00001, "omega":0.0001, "ax":-6.99836, "ay":-0.0002, "alpha":0.00002, "fx":[-108.25219,-108.20254,-108.23521,-108.23521], "fy":[0.00065,-0.00684,-0.00682,0.00064]}, + {"t":0.09974, "x":7.13195, "y":0.79209, "heading":-3.14159, "vx":-0.69794, "vy":-0.00002, 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"fx":[108.21941,108.21941,108.22839,108.22839], "fy":[0.00226,0.00622,0.00604,0.00235]}, + {"t":0.94751, "x":5.1559, "y":0.79209, "heading":3.14157, "vx":-1.047, "vy":-0.00005, "omega":0.00026, "ax":6.99815, "ay":0.00028, "alpha":-0.00259, "fx":[108.23495,108.18024,108.24853,108.24853], "fy":[0.00664,0.00157,0.00226,0.00673]}, + {"t":0.99738, "x":5.11239, "y":0.79209, "heading":3.14158, "vx":-0.69801, "vy":-0.00003, "omega":0.00013, "ax":6.99836, "ay":0.00033, "alpha":-0.00174, "fx":[108.22183,108.22183,108.24074,108.24074], "fy":[0.01098,-0.00084,-0.00073,0.01107]}, + {"t":1.04725, "x":5.08628, "y":0.79209, "heading":3.14159, "vx":-0.34901, "vy":-0.00002, "omega":0.00004, "ax":6.99853, "ay":0.00034, "alpha":-0.00081, "fx":[108.233,108.233,108.25576,108.21367], "fy":[0.01157,-0.00104,-0.00098,0.01151]}, + {"t":1.09712, "x":5.07758, "y":0.79209, "heading":-3.14159, "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/Robot.java b/src/main/java/frc/robot/Robot.java index a5f17ee..3552f38 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -228,12 +228,15 @@ private void configureDriverBindings() { _swerve.drive( InputStream.of(_driverController::getLeftY) .negate() + .signedPow(2) .scale(SwerveConstants.maxTranslationalSpeed.in(MetersPerSecond)), InputStream.of(_driverController::getLeftX) .negate() + .signedPow(2) .scale(SwerveConstants.maxTranslationalSpeed.in(MetersPerSecond)), InputStream.of(_driverController::getRightX) .negate() + .signedPow(2) .scale(SwerveConstants.maxAngularSpeed.in(RadiansPerSecond)))); _driverController.a().whileTrue(_swerve.brake()); diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java index 4ba0d0e..2205677 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -81,8 +81,8 @@ public Autos( public Command taxi() { return sequence( runOnce(() -> _manipulatorPieceSetter.accept(Piece.CORAL)), - _factory.resetOdometry("taxi"), - _factory.trajectoryCmd("taxi")); + _factory.resetOdometry(_sideSelector.getSelected().getDirectory() + "taxi"), + _factory.trajectoryCmd(_sideSelector.getSelected().getDirectory() + "taxi")); } public AutoRoutine onePiece() { From 82f0c9b0897887d9d3f1ace55ae39189a39fbf1a Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Sun, 12 Oct 2025 11:45:33 -0400 Subject: [PATCH 7/8] to human auton --- src/main/deploy/choreo/Center 1pC.traj | 95 +++++++++++++++++++++ src/main/java/frc/robot/commands/Autos.java | 5 +- 2 files changed, 99 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/choreo/Center 1pC.traj diff --git a/src/main/deploy/choreo/Center 1pC.traj b/src/main/deploy/choreo/Center 1pC.traj new file mode 100644 index 0000000..1708d1b --- /dev/null +++ b/src/main/deploy/choreo/Center 1pC.traj @@ -0,0 +1,95 @@ +{ + "name":"Center 1pC", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":6.6642069816589355, "y":3.855100631713867, "heading":3.141592653589793, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.776275157928467, "y":2.703794002532959, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":4.037795066833496, "y":1.4978214502334597, "heading":0.0, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.95475172996521, "y":1.121933937072754, "heading":3.141592653589793, "intervals":38, "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":3, "to":0, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"6.6642069816589355 m", "val":6.6642069816589355}, "y":{"exp":"3.855100631713867 m", "val":3.855100631713867}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.776275157928467 m", "val":5.776275157928467}, "y":{"exp":"2.703794002532959 m", "val":2.703794002532959}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"4.037795066833496 m", "val":4.037795066833496}, "y":{"exp":"1.4978214502334595 m", "val":1.4978214502334597}, "heading":{"exp":"0 deg", 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{"t":3.78138, "x":2.55268, "y":1.15845, "heading":-3.14147, "vx":-1.0866, "vy":-0.11161, "omega":-0.00001, "ax":0.97165, "ay":0.2357, "alpha":-0.00106, "fx":[15.01676,15.01676,15.01216,15.06155], "fy":[3.64764,3.6459,3.6459,3.64128]}, + {"t":3.89092, "x":2.43948, "y":1.14764, "heading":-3.14147, "vx":-0.98017, "vy":-0.08579, "omega":-0.00013, "ax":0.9808, "ay":0.19424, "alpha":0.00064, "fx":[15.17037,15.17037,15.16609,15.16609], "fy":[3.00038,3.01022,3.00461,3.00038]}, + {"t":4.00046, "x":2.338, "y":1.13941, "heading":-3.14149, "vx":-0.87274, "vy":-0.06452, "omega":-0.00006, "ax":0.98719, "ay":0.15863, "alpha":-0.00084, "fx":[15.25898,15.25898,15.25486,15.29577], "fy":[2.4551,2.45399,2.45399,2.44985]}, + {"t":4.11, "x":2.24833, "y":1.13329, "heading":-3.14149, "vx":-0.7646, "vy":-0.04714, "omega":-0.00015, "ax":0.99166, "ay":0.12784, "alpha":0.00056, "fx":[15.33813,15.33813,15.33436,15.33436], "fy":[1.97395,1.98255,1.97768,1.97395]}, + {"t":4.21953, "x":2.17052, "y":1.12889, "heading":-3.14151, "vx":-0.65598, "vy":-0.03314, "omega":-0.00009, "ax":0.99476, "ay":0.10102, "alpha":-0.00071, "fx":[15.37728,15.37728,15.37373,15.40837], "fy":[1.56399,1.56293,1.56293,1.55937]}, + {"t":4.32907, "x":2.10464, "y":1.12587, "heading":-3.14152, "vx":-0.54701, "vy":-0.02207, "omega":-0.00016, "ax":0.99687, "ay":0.07751, "alpha":0.00048, "fx":[15.41847,15.41847,15.4153,15.4153], "fy":[1.19599,1.20342,1.19913,1.19599]}, + {"t":4.43861, "x":2.0507, "y":1.12392, "heading":-3.14153, "vx":-0.43782, "vy":-0.01358, "omega":-0.00011, "ax":0.99828, "ay":0.05675, "alpha":-0.00063, "fx":[15.43258,15.43258,15.42967,15.45954], "fy":[0.87919,0.87811,0.87811,0.87519]}, + {"t":4.54815, "x":2.00873, "y":1.12277, "heading":-3.14155, "vx":-0.32847, "vy":-0.00737, "omega":-0.00018, "ax":0.99916, "ay":0.03832, "alpha":0.00039, "fx":[15.45351,15.45351,15.45101,15.45101], "fy":[0.59044,0.59663,0.59293,0.59044]}, + {"t":4.65768, "x":1.97874, "y":1.12219, "heading":-3.14157, "vx":-0.21903, "vy":-0.00317, "omega":-0.00014, "ax":0.99966, "ay":0.02186, "alpha":0.00034, "fx":[15.46111,15.46111,15.45891,15.45891], "fy":[0.33609,0.34168,0.33828,0.33609]}, + {"t":4.76722, "x":1.96075, "y":1.12198, "heading":-3.14158, "vx":-0.10952, "vy":-0.00078, "omega":-0.0001, "ax":0.99988, "ay":0.00708, "alpha":0.00091, "fx":[15.45824,15.4827,15.45633,15.45633], "fy":[0.10851,0.11044,0.11044,0.10851]}, + {"t":4.87676, "x":1.95475, "y":1.12193, "heading":3.14159, "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/Autos.java b/src/main/java/frc/robot/commands/Autos.java index 2205677..0b2e797 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -92,6 +92,9 @@ public AutoRoutine onePiece() { routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pA"); AutoTrajectory onePieceB = routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pB"); + AutoTrajectory onePieceC = + routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pC"); + routine .active() @@ -111,7 +114,7 @@ public AutoRoutine onePiece() { _manipulator.feed())); onePieceA.doneDelayed(5).onTrue(onePieceB.cmd()); - onePieceB.done().onTrue(_wristevator.setGoal(HOME)); + onePieceB.done().onTrue(_wristevator.setGoal(HOME).andThen(onePieceC.cmd())); return routine; } From ee9cb7f732f655a5a8b94ace9b62d33c27a27c47 Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Tue, 14 Oct 2025 16:11:34 -0400 Subject: [PATCH 8/8] removed intake zero --- src/main/java/frc/robot/Robot.java | 2 -- src/main/java/frc/robot/commands/Autos.java | 1 - .../java/frc/robot/subsystems/Intake.java | 25 ------------------- 3 files changed, 28 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3552f38..94f0408 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -316,8 +316,6 @@ private void configureOperatorBindings() { // general release piece _operatorController.leftTrigger().whileTrue(_manipulator.releasePiece()); - - _operatorController.povDown().whileTrue(_intake.zero()); } /** diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java index 0b2e797..affdb3a 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -94,7 +94,6 @@ public AutoRoutine onePiece() { routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pB"); AutoTrajectory onePieceC = routine.trajectory(_sideSelector.getSelected().getDirectory() + "1pC"); - routine .active() diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 52d1d6b..3b6c5cf 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -7,7 +7,6 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.controls.VelocityVoltage; @@ -280,30 +279,6 @@ public Command outtake() { .withName("Outtake"); } - public Command zero() { - return run(() -> setActuatorVoltage(-1)) - .beforeStarting( - () -> { - var c = new SoftwareLimitSwitchConfigs(); - - _actuatorMotor.getConfigurator().refresh(c); - _actuatorMotor - .getConfigurator() - .apply(c.withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false)); - }) - .finallyDo( - () -> { - _actuatorMotor.setPosition(IntakeConstants.actuatorStowed); - - var c = new SoftwareLimitSwitchConfigs(); - - _actuatorMotor.getConfigurator().refresh(c); - _actuatorMotor - .getConfigurator() - .apply(c.withForwardSoftLimitEnable(true).withReverseSoftLimitEnable(true)); - }); - } - private void setActuatorVoltage(double volts) { _actuatorMotor.setControl(_actuatorVoltageSetter.withOutput(volts)); }