Sus (#42)

* fix swerveDrive.stop(), fix naming and place SwerveDriveToShoot in correct directory * changed points locations on pathplanner, fixed imports, added last path that i forgot 💀 * changing pathplanner paths * first redirection added, changed pathplanner robot locations to center of note, might change how redirection is done. experimenting with these... * name change * trying out simulation stuff * auton stuff bca * 8/28 (#37) (#38) * fix camera rotations * get rid of outlier data * move automatically scheduled commands to triggers inside robot container * potential fix for having to double click to shoot * feeder runs backwards on deacquire, dont retry intake * tune amp angle, fix intake led colors * switch ferry buttons * added arm climb commands * clean up climb commands and default led instruction * use old low ferry data as lob ferry data, fix arm angles for ferrying * sysid swerve --------- Co-authored-by: Tmanxyz <[email protected]> * hgf auton chooser * added test autons, made tweaks to adef, hgf, and bca auton code. * n/a * fix ShootRoutine, add FollowPathPointSpeaker * fix subsystem requirement conflicts with automatic command scheduling stuff * sussy * oopsies! * Vision fixes (#39) * reject vision data with pose ambiguity higher than a certain threshold * fix comparison operator 😭 * update ferry alignment commands * new method to calculate arm angle for speaker * automatic state machine for flywheel, move some triggers to subsystem periodics * resolve errors * move handoff automation to subsystem periodics * remove unecessary commands that are automated with intake logic, improve handoff logic * ferry alignment fixes * skibidi (update autons to use new subsystem logic) * fix deacquire button * skibidi * automatically bring arm back to feed after letting go of speaker/ferry buttons * sus * add fake data for low ferry interpolation so it doesnt crash * skibidi (fix intake side as front, fix intake) * tests and stuff * tune alignment (sorta) * straight line * buzz controller on intake * change name for intakeAcquire command * update intake led colors * add low ferry data * configure auto builder, trust angle from vision data more * revert to original method to find arm angle --------- Co-authored-by: jopy-man <[email protected]> Co-authored-by: Tmanxyz <[email protected]>
StuyPulse · Sep 7, 2024 · 9726dd9 · 9726dd9
1 parent b60405f
commit 9726dd9
Show file tree

Hide file tree

Showing 110 changed files with 2,369 additions and 1,591 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -5,9 +5,12 @@
   "pathFolders": [
     "ABCDE",
     "HGF",
+    "Tests",
     "Reroutes"
   ],
-  "autoFolders": [],
+  "autoFolders": [
+    "Tests"
+  ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,

diff --git a/networktables.json b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,103 @@
+{
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "System Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "zeroDisconnectedJoysticks": false
+}
diff --git a/simgui.json b/simgui.json
@@ -0,0 +1,74 @@
+{
+  "HALProvider": {
+    "Addressable LEDs": {
+      "0": {
+        "serpentine": true
+      }
+    },
+    "Other Devices": {
+      "window": {
+        "visible": false
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Pose": "Field2d",
+      "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/Module 0": "Mechanism2d",
+      "/SmartDashboard/Module 1": "Mechanism2d",
+      "/SmartDashboard/Module 2": "Mechanism2d",
+      "/SmartDashboard/Module 3": "Mechanism2d",
+      "/SmartDashboard/Scheduler": "Scheduler"
+    },
+    "windows": {
+      "/Pose": {
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "robotPose": {
+          "width": 0.8679999709129333
+        },
+        "top": 79,
+        "width": 16.541748046875,
+        "window": {
+          "visible": true
+        }
+      },
+      "/SmartDashboard/Autonomous": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "retained": {
+      "SmartDashboard": {
+        "Autonomous": {
+          "open": true
+        },
+        "open": true
+      }
+    },
+    "transitory": {
+      "Pose": {
+        "open": true
+      },
+      "SmartDashboard": {
+        "Alignment": {
+          "open": true
+        },
+        "Autonomous": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}
diff --git a/src/main/deploy/pathplanner/autos/CBA.auto → src/main/deploy/pathplanner/autos/BCA.auto b/src/main/deploy/pathplanner/autos/CBA.auto → src/main/deploy/pathplanner/autos/BCA.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4365936349060198,
-      "y": 5.5179740558513855
+      "x": 1.4053936459807443,
+      "y": 5.5301848373414
     },
-    "rotation": 0
+    "rotation": 179.43822267700324
   },
   "command": {
     "type": "sequential",
@@ -14,19 +14,19 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Center to C"
+            "pathName": "Center to B"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "C to B"
+            "pathName": "B to C"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "B to A"
+            "pathName": "C to A"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/BFAC.auto b/src/main/deploy/pathplanner/autos/BFAC.auto
@@ -38,7 +38,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "A to C"
+            "pathName": "C to A"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/HGF Red.auto b/src/main/deploy/pathplanner/autos/HGF Red.auto
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7437038962619593,
+      "y": 4.320740582515391
+    },
+    "rotation": -59.682052822906385
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source to H"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H Shoot to G"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G Shoot to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/HGF.auto b/src/main/deploy/pathplanner/autos/HGF.auto
@@ -5,7 +5,7 @@
       "x": 0.7437038962619593,
       "y": 4.320740582515391
     },
-    "rotation": -59.682052822906385
+    "rotation": 116.80625971086718
   },
   "command": {
     "type": "sequential",

diff --git a/src/main/deploy/pathplanner/autos/Square Test.auto b/src/main/deploy/pathplanner/autos/Square Test.auto
@@ -0,0 +1,51 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Square Top"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+<<<<<<<< HEAD:src/main/deploy/pathplanner/autos/Square Test.auto
+            "pathName": "Square Right"
+========
+            "pathName": "B to C"
+>>>>>>>> 7a9b4902c6973903cb64552237778325b95eeb47:src/main/deploy/pathplanner/autos/BCA Red.auto
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+<<<<<<<< HEAD:src/main/deploy/pathplanner/autos/Square Test.auto
+            "pathName": "Square Bottom"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Square Left"
+========
+            "pathName": "C to A"
+>>>>>>>> 7a9b4902c6973903cb64552237778325b95eeb47:src/main/deploy/pathplanner/autos/BCA Red.auto
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Tests",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Sraight Line.auto b/src/main/deploy/pathplanner/autos/Sraight Line.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.5,
+      "y": 5.55
+    },
+    "rotation": -179.56356838292098
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Straight Line"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Tests",
+  "choreoAuto": false
+}