diff --git a/src/main/deploy/YAGSL/real/modules/backleft.json b/src/main/deploy/YAGSL/real/modules/backleft.json index b90a4c7b..5c14c904 100644 --- a/src/main/deploy/YAGSL/real/modules/backleft.json +++ b/src/main/deploy/YAGSL/real/modules/backleft.json @@ -3,7 +3,7 @@ "front": -9, "left": 9 }, - "absoluteEncoderOffset": 37.44140625, + "absoluteEncoderOffset": 38.9, "drive": { "type": "sparkmax_neo", "id": 58, diff --git a/src/main/deploy/YAGSL/real/modules/backright.json b/src/main/deploy/YAGSL/real/modules/backright.json index 7ca51663..36ec566c 100644 --- a/src/main/deploy/YAGSL/real/modules/backright.json +++ b/src/main/deploy/YAGSL/real/modules/backright.json @@ -3,7 +3,7 @@ "front": -9, "left": -9 }, - "absoluteEncoderOffset": 99.31640625, + "absoluteEncoderOffset": 99.4, "drive": { "type": "sparkmax_neo", "id": 59, diff --git a/src/main/deploy/YAGSL/real/modules/frontleft.json b/src/main/deploy/YAGSL/real/modules/frontleft.json index d74a46d1..f06ff723 100644 --- a/src/main/deploy/YAGSL/real/modules/frontleft.json +++ b/src/main/deploy/YAGSL/real/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 9, "left": 9 }, - "absoluteEncoderOffset": 28.037109375, + "absoluteEncoderOffset": 29.5, "drive": { "type": "sparkmax_neo", "id": 57, diff --git a/src/main/deploy/YAGSL/real/modules/frontright.json b/src/main/deploy/YAGSL/real/modules/frontright.json index 45189cd0..7820ce80 100644 --- a/src/main/deploy/YAGSL/real/modules/frontright.json +++ b/src/main/deploy/YAGSL/real/modules/frontright.json @@ -3,7 +3,7 @@ "front": 9, "left": -9 }, - "absoluteEncoderOffset": 79.27734375, + "absoluteEncoderOffset": 350.59, "drive": { "type": "sparkmax_neo", "id": 60, diff --git a/src/main/deploy/choreo/Depot_Fast.traj b/src/main/deploy/choreo/Depot_Fast.traj index aca4ea83..81139d16 100644 --- a/src/main/deploy/choreo/Depot_Fast.traj +++ b/src/main/deploy/choreo/Depot_Fast.traj @@ -38,13 +38,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + "mass":22.6796185, 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"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/ExamplePathOne.traj b/src/main/deploy/choreo/ExamplePathOne.traj index e915c429..f56affe3 100644 --- a/src/main/deploy/choreo/ExamplePathOne.traj +++ b/src/main/deploy/choreo/ExamplePathOne.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.3845205307006836, "y":5.301450252532959, "heading":0.19634954084936207, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.306560516357422, "y":5.98360013961792, "heading":0.0, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3845205307006836, "y":5.301450252532959, "heading":0.19634954084936207, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.306560516357422, "y":5.98360013961792, "heading":0.0, "intervals":81, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"5.301450252532959 m", "val":5.301450252532959}, "heading":{"exp":"0.19634954084936207 rad", "val":0.19634954084936207}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.306560516357422 m", "val":2.306560516357422}, "y":{"exp":"5.98360013961792 m", "val":5.98360013961792}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"5.301450252532959 m", "val":5.301450252532959}, "heading":{"exp":"0.19634954084936207 rad", "val":0.19634954084936207}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.306560516357422 m", "val":2.306560516357422}, "y":{"exp":"5.98360013961792 m", "val":5.98360013961792}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":81, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -38,13 +38,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + 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"waypoints":[ - {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.3845205307006836, "y":6.042070388793945, "heading":-0.9342889335095604, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3845205307006836, "y":6.042070388793945, "heading":-0.9342889335095604, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.8777804374694824, "y":5.51584005355835, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":70, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"6.042070388793945 m", "val":6.042070388793945}, "heading":{"exp":"-0.9342889335095603 rad", "val":-0.9342889335095604}, "intervals":80, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":69, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"6.042070388793945 m", "val":6.042070388793945}, "heading":{"exp":"-0.9342889335095603 rad", "val":-0.9342889335095604}, "intervals":78, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.8777804374694824 m", "val":1.8777804374694824}, "y":{"exp":"5.51584005355835 m", "val":5.51584005355835}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -38,13 +38,13 @@ "x":-0.2794, "y":0.2794 }, - "mass":45.359237, + "mass":22.6796185, "inertia":6.0, "gearing":6.5, "radius":0.0508, "vmax":628.3185307179587, "tmax":1.2, - "cof":1.5, + "cof":1.19, "bumper":{ "front":0.43, "side":0.43, @@ -53,159 +53,156 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,3.34218,7.0187], + 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":2.0}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"3.008200168609619 m", "val":3.008200168609619}, "y":{"exp":"7.139357089996338 m", "val":7.139357089996338}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.008200168609619 m", "val":3.008200168609619}, "y":{"exp":"7.139357089996338 m", "val":7.139357089996338}, "heading":{"exp":"-180 deg", "val":-3.141592653589793}, "intervals":17, "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":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"2 rad / s", "val":2.0}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":22.6796185, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.19, + "bumper":{ + "front":0.43, + "side":0.43, + "back":0.43 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.90381], + "samples":[ + {"t":0.0, "x":3.0082, "y":7.13936, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":17.40341, "fx":[-46.71638,46.71638,46.71638,-46.71638], "fy":[-46.71638,-46.71638,46.71638,46.71638]}, + {"t":0.05317, "x":3.0082, "y":7.13936, "heading":1.59539, "vx":0.0, "vy":0.0, "omega":0.92526, "ax":0.0, "ay":0.0, "alpha":17.38878, "fx":[-45.51503,47.81095,45.51503,-47.81095], "fy":[-47.81095,-45.51503,47.81095,45.51503]}, + {"t":0.10633, "x":3.0082, "y":7.13936, "heading":1.66916, "vx":0.0, "vy":0.0, "omega":1.84975, "ax":0.0, "ay":0.0, "alpha":2.81882, "fx":[-6.78698,8.27315,6.78698,-8.27315], "fy":[-8.27315,-6.78698,8.27315,6.78698]}, + {"t":0.1595, "x":3.0082, "y":7.13936, "heading":1.77149, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,0.00001,0.00001,-0.00001], "fy":[-0.00001,-0.00001,0.00001,0.00001]}, + {"t":0.21266, "x":3.0082, "y":7.13936, "heading":1.8778, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.26583, "x":3.0082, "y":7.13936, "heading":1.98411, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.31899, "x":3.0082, "y":7.13936, "heading":2.09042, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.37216, "x":3.0082, "y":7.13936, "heading":2.19673, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.42532, "x":3.0082, "y":7.13936, "heading":2.30304, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.47849, "x":3.0082, "y":7.13936, "heading":2.40935, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.53166, "x":3.0082, "y":7.13936, "heading":2.51566, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.58482, "x":3.0082, "y":7.13936, "heading":2.62197, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.63799, "x":3.0082, "y":7.13936, "heading":2.72828, "vx":0.0, "vy":0.0, "omega":1.99961, "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]}, + {"t":0.69115, "x":3.0082, "y":7.13936, "heading":2.83459, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00001,-0.00001,0.00001,0.00001], "fy":[0.00001,-0.00001,-0.00001,0.00001]}, + {"t":0.74432, "x":3.0082, "y":7.13936, "heading":2.9409, "vx":0.0, "vy":0.0, "omega":1.99961, "ax":0.0, "ay":0.0, "alpha":-2.81882, "fx":[-5.90639,-8.92315,5.90639,8.92315], "fy":[8.92315,-5.90639,-8.92315,5.90639]}, + {"t":0.79748, "x":3.0082, "y":7.13936, "heading":3.04323, "vx":0.0, "vy":0.0, "omega":1.84975, "ax":0.0, "ay":0.0, "alpha":-17.38878, "fx":[-41.86756,-51.03541,41.86756,51.03541], "fy":[51.03541,-41.86756,-51.03541,41.86756]}, + {"t":0.85065, "x":3.0082, "y":7.13936, "heading":3.117, "vx":0.0, "vy":0.0, "omega":0.92526, "ax":0.0, "ay":0.0, "alpha":-17.40341, "fx":[-45.55333,-47.85117,45.55333,47.85117], "fy":[47.85117,-45.55333,-47.85117,45.55333]}, + {"t":0.90381, "x":3.0082, "y":7.13936, "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/Drive.java b/src/main/java/frc/robot/Drive.java index f2d6523f..e0e3dcde 100644 --- a/src/main/java/frc/robot/Drive.java +++ b/src/main/java/frc/robot/Drive.java @@ -9,9 +9,9 @@ public class Drive extends SubsystemBase{ - private final PIDController xController = new PIDController(10, 0.0, 0.0); - private final PIDController yController = new PIDController(10, 0.0, 0.0); - private final PIDController headingController = new PIDController(5, 0.0, 0.0); + private final PIDController xController = new PIDController(20, 0.0, 0.0); + private final PIDController yController = new PIDController(20, 0.0, 0.0); + private final PIDController headingController = new PIDController(10, 0.0, 0); private SwerveSubsystem subsystem; public Drive(SwerveSubsystem subsystem) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b63fc361..47f09b19 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.autochooser.FieldLocation; import frc.robot.commands.shooter.SetShootingState; import frc.robot.constants.Constants; import frc.robot.utils.BlinkinPattern; @@ -133,13 +132,13 @@ public void robotPeriodic() { if (DriverStation.isDSAttached() && allianceColor.isEmpty()) { allianceColor = DriverStation.getAlliance(); } - + Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); + SmartDashboard.putBoolean("Hub Active?", hubActive()); if (Constants.DEBUG) { SmartDashboard.putNumber("driverXbox.getLeftY()", driverXbox.getLeftY()); SmartDashboard.putNumber("driverXbox::getRightX", driverXbox.getRightX()); if (!Constants.TESTBED) { - Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); SmartDashboard.putNumber("Robot X", robotContainer.getDriveBase().getPose().getX()); SmartDashboard.putNumber("Robot Y", robotContainer.getDriveBase().getPose().getY()); // Puts data on the elastic dashboard @@ -150,8 +149,6 @@ public void robotPeriodic() { } } } - SmartDashboard.putString("Selected Action", - robotContainer.getAutoChooser().getCommandDescription()); } private void logComponentsForSimulation() { @@ -202,6 +199,7 @@ public void disabledPeriodic() { /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { + autonomousCommand = null; //m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) @@ -209,20 +207,16 @@ public void autonomousInit() { // Hub is always active during autonomous. hubActive = true; - robotContainer.getDriveBase().resetOdometry(robotContainer.getAutoChooser().getFieldLocation().getLocation()); + autonomousCommand = robotContainer.getAutonomousCommand(); + if (autonomousCommand != null) { + CommandScheduler.getInstance().schedule(autonomousCommand); + } } /** This function is called periodically during autonomous. */ @Override public void autonomousPeriodic() { - // schedule the autonomous command - if (this.autonomousCommand == null) { - autonomousCommand = robotContainer.getAutonomousCommand(); - if (autonomousCommand != null) { - CommandScheduler.getInstance().schedule(autonomousCommand); - } - } } @Override @@ -351,12 +345,4 @@ public static Optional allianceColor() { public static String allianceColorString() { return String.valueOf(allianceColor.orElse(null)); } - - public FieldLocation location() { - return robotContainer.getAutoChooser().getFieldLocation(); - } - - public Pose2d getStartingLocation() { - return location().getLocation(); - } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 63cdd1b3..b881019d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,14 +15,16 @@ import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.apriltags.ApriltagReading; +import frc.robot.autochooser.RoutineChooser; import frc.robot.commands.ResetAll; -import frc.robot.autochooser.AutoChooser; import frc.robot.commands.AddApriltagReading; import frc.robot.commands.AddGarbageReading; import frc.robot.commands.AddTunableApriltagReading; @@ -83,6 +85,9 @@ import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.subsystems.swervedrive.vision.truster.ConstantVisionTruster; import frc.robot.subsystems.swervedrive.vision.truster.VisionTruster; +import frc.robot.utils.logging.commands.LoggableCommand; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.io.gyro.RealGyroIo; import frc.robot.utils.logging.io.gyro.ThreadedGyro; import frc.robot.utils.logging.io.gyro.ThreadedGyroSwerveIMU; @@ -106,7 +111,7 @@ public class RobotContainer { private static final int DRIVER_CAM_FPS = 30; // Instantiate the autochooser. - private final AutoChooser autoChooser; + private final RoutineChooser autoChooser; // The robot's subsystems and commands are defined here... private final CommandXboxController controller = new CommandXboxController(Constants.XBOX_CONTROLLER_PORT); @@ -212,7 +217,7 @@ public RobotContainer() { } setUpAutoFactory(); - autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer); + autoChooser = new RoutineChooser(autoFactory, feederSubsystem, intakeSubsystem, intakeDeployer, shootState, hopperSubsystem); configureBindings(); putShuffleboardCommands(); } @@ -232,6 +237,7 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ + /* */ private void setUpAutoFactory() { if(!Constants.TESTBED){ drive = new Drive(drivebase); @@ -243,9 +249,9 @@ private void setUpAutoFactory() { drive::followTrajectory, true, drivebase); - + // example implementation of autoRoutine - if (false) { + if(false){ // Uses autofactory to create a new routine straightRoutine = autoFactory.newRoutine("StraightRoutine"); @@ -291,22 +297,23 @@ private void setUpAutoFactory() { * trajectory.doneFor(int) * trajectory.recentlyDone() */ + } }} - } + private void configureBindings() { controller.a().onTrue(new ToggleDeployment(intakeDeployer)); - controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); + //controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED)); controller.x().whileTrue(new SpinIntake(intakeSubsystem)); controller.y().whileTrue(new Agitate(intakeDeployer)); controller.leftStick().whileTrue(new ManualTurretMove(turretSubsystem, controller::getLeftX)); - controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); + //controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED)); controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED)); controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB)); - controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING)); + //controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING)); controller.leftTrigger().whileTrue(new ReverseHopper(hopperSubsystem)); controller.rightTrigger().whileTrue(new ReverseIntake(intakeSubsystem)); - driveJoystick.trigger().whileTrue((new ShootButton(controllerSubsystem))); + driveJoystick.trigger().whileTrue(new ShootButton(controllerSubsystem)); // Schedule `ExampleCommand` when `exampleCondition` changes to `true` // new Trigger(m_exampleSubsystem::exampleCondition) @@ -339,9 +346,10 @@ private void configureBindings() { drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); } } - public void putShuffleboardCommands() { if (Constants.DEBUG) { + SmartDashboard.putData("agitate", new Agitate(intakeDeployer)); + SmartDashboard.putData("ToggleDeployment", new ToggleDeployment(intakeDeployer)); SmartDashboard.putData("Run hopper and feeder", new ShootButton(controllerSubsystem)); SmartDashboard.putData( "intakedeployer/Deployment State: UP", @@ -353,13 +361,18 @@ public void putShuffleboardCommands() { "Shooting State: Auto aim", new SetShootingState(shootState, ShootState.AUTO_AIM)); SmartDashboard.putData("AutoRunHopper", - new AutoSpinHopper(hopperSubsystem)); - SmartDashboard.putData( - "Shooting State: Into Hub", - new SetShootingState(shootState, ShootState.SHOOTING_HUB)); + new AutoSpinHopper(hopperSubsystem, feederSubsystem)); + SmartDashboard.putData( + "RPMincrease", + new InstantCommand(()->{controllerSubsystem.addRpm(-100);})); + SmartDashboard.putData( + "RPMdecrease", + new InstantCommand(()->{controllerSubsystem.addRpm(100);})); + if (!Constants.DEBUG) { SmartDashboard.putNumber(RunDashboardShotTest.ANGLER_TARGET_POSITION_KEY, 0.0); - SmartDashboard.putNumber(RunDashboardShotTest.SHOOTER_TARGET_RPM_KEY, Constants.SHOOTER_SPEED); + SmartDashboard.putNumber(RunDashboardShotTest.HOPPER_TARGET_SPEED_KEY, Constants.HOPPER_SPEED); + SmartDashboard.putNumber(RunDashboardShotTest.SHOOTER_TARGET_RPM_KEY, Constants.SHOOTER_SPEED); SmartDashboard.putData( "test/Run Dashboard Shot Test (30s)", new RunDashboardShotTest(anglerSubsystem, shooterSubsystem, hopperSubsystem, feederSubsystem)); @@ -379,12 +392,13 @@ public void putShuffleboardCommands() { * new TiltDown(tiltSubsystem)); */ - + // TODO: These commands do not REQUIRE the subsystem therefore cannot be used in// production SmartDashboard.putData( "Drive/Forward", new DriveSwerve(drivebase, DriveDirection.FORWARD, 0.5, 0.2)); + SmartDashboard.putData( "Drive/Backward", new DriveSwerve(drivebase, DriveDirection.BACKWARD, 0.5, 0.2)); @@ -543,7 +557,7 @@ public void putShuffleboardCommands() { } //basic drive command - if (!Constants.TESTBED) { + if (!Constants.TESTBED) { Command driveDirectionTime = new DriveDirectionTime(drivebase, 0.1, 0.1, true, 1); SmartDashboard.putData("Drive Command", driveDirectionTime); SmartDashboard.putData("Fake vision near trench", new FakeVision(drivebase, 4, 1)); @@ -551,10 +565,9 @@ public void putShuffleboardCommands() { SmartDashboard.putData("AddApriltagReading", new AddApriltagReading(apriltagSubsystem, new ApriltagReading(0, 0, 0, 0, 0, 0, 0, 0, 0))); SmartDashboard.putData("AddGarbageReading", new AddGarbageReading(apriltagSubsystem)); SmartDashboard.putData("AddTunedApriltagReading", new AddTunableApriltagReading(apriltagSubsystem)); - - } - } + } + } /** * Use this to pass the autonomous command to the main {@link Robot} class. @@ -562,8 +575,8 @@ public void putShuffleboardCommands() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - return autoChooser.getSelectedCommand(); - // return straightRoutine.cmd(straightTrajectory.done()); + //return autoChooser.getSelectedCommand(); + return autoChooser.getAuto().cmd(); // return new ExampleAuto(drivebase, autoFactory); } @@ -576,7 +589,7 @@ public RobotVisualizer getRobotVisualizer() { return robotVisualizer; } - public AutoChooser getAutoChooser() { + public RoutineChooser getAutoChooser() { return autoChooser; } diff --git a/src/main/java/frc/robot/autochooser/AutoAction.java b/src/main/java/frc/robot/autochooser/AutoAction.java deleted file mode 100644 index 4ef777e4..00000000 --- a/src/main/java/frc/robot/autochooser/AutoAction.java +++ /dev/null @@ -1,37 +0,0 @@ -package frc.robot.autochooser; - -import java.util.Arrays; -import java.util.HashMap; -import java.util.function.Function; -import java.util.stream.Collectors; - -public enum AutoAction { - DO_NOTHING("Do Nothing"), - SHOOT("Shoot"), - FAST_SHOOT("Shoot depot"), - //SHOOT_PICKUP("Shoot and Pickup"), - //DISTURBANCE("Disturbance"), - //NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"), - INVALID("INVALID"); - private final String name; - private static final HashMap nameMap = - new HashMap<>( - Arrays.stream(AutoAction.values()) - .collect(Collectors.toMap(AutoAction::getName, Function.identity()))); - - AutoAction(String name) { - this.name = name; - } - - public String getName() { - return name; - } - @Override - public String toString() { - return getName(); - } - - public static AutoAction fromName(String name) { - return nameMap.get(name); - } -} diff --git a/src/main/java/frc/robot/autochooser/AutoChooser.java b/src/main/java/frc/robot/autochooser/AutoChooser.java deleted file mode 100644 index ac253cad..00000000 --- a/src/main/java/frc/robot/autochooser/AutoChooser.java +++ /dev/null @@ -1,237 +0,0 @@ -package frc.robot.autochooser; - -import java.util.HashMap; -import java.util.Map; - -import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; - -import choreo.auto.AutoFactory; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Robot; -import frc.robot.commands.auto.neutral.DepotNeutral; -import frc.robot.commands.auto.neutral.OutpostNeutral; -import frc.robot.commands.auto.newauto.FastDepotRed; -import frc.robot.commands.auto.newauto.FastDepotBlue; -import frc.robot.commands.auto.shoot.ShootBlue; -import frc.robot.commands.auto.shoot.ShootRed; -import frc.robot.commands.auto.disturbance.DepotDisturbance; -import frc.robot.commands.auto.disturbance.OutpostDisturbance; -import frc.robot.commands.auto.shootpickup.DepotShootPickup; -import frc.robot.commands.auto.DoNothing; -import frc.robot.constants.enums.ShootingState; -import frc.robot.subsystems.AnglerSubsystem; -import frc.robot.subsystems.ClimberSubsystem; -import frc.robot.subsystems.ControllerSubsystem; -import frc.robot.subsystems.FeederSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.IntakeDeployerSubsystem; -import frc.robot.subsystems.IntakeSubsystem; -import frc.robot.subsystems.ShooterSubsystem; -import frc.robot.subsystems.TurretSubsystem; -import frc.robot.subsystems.swervedrive.SwerveSubsystem; - -public class AutoChooser { - - /** Drop-down chooser for the location. */ - private LoggedDashboardChooser locationChooser; - /** Drop-down chooser for the action. */ - private LoggedDashboardChooser actionChooser; - /** Structure for mapping possible choices to commands. */ - private final Map commandMap = new HashMap<>(); - /** Structure for mapping possible choices to commands. */ - private final Map descriptionMap = new HashMap<>(); - - private final SwerveSubsystem drivetrain; - private final ShootingState shootstate; - private final ShooterSubsystem shooter; - private final AutoFactory auto; - private final FeederSubsystem feeder; - private final IntakeDeployerSubsystem intake; - private final HopperSubsystem hopper; - private final TurretSubsystem turret; - private final AnglerSubsystem angler; - private final ControllerSubsystem controller; - - public AutoChooser(SwerveSubsystem drivetrain, ShootingState shootstate, AutoFactory auto, - ShooterSubsystem shooter, ClimberSubsystem climber, FeederSubsystem feeder, HopperSubsystem hopper, - TurretSubsystem turret, AnglerSubsystem angler, ControllerSubsystem controller, IntakeDeployerSubsystem intakeDeployer) { - this.drivetrain = drivetrain; - this.auto = auto; - this.shootstate = shootstate; - this.shooter = shooter; - this.hopper = hopper; - this.feeder = feeder; - this.turret = turret; - this.angler = angler; - this.controller = controller; - this.intake = intakeDeployer; - - this.locationChooser = new LoggedDashboardChooser<>( - "Location Chooser" - ); - this.actionChooser = new LoggedDashboardChooser<>( - "Action Chooser" - ); - populateChoosers(); - populateCommandMap(); - populateDescriptionMap(); - } - - /** Populates the drop-down choosers with enum constants. */ - private void populateChoosers() { - for (FieldLocation location : FieldLocation.values()) { - switch (location) { - case INVALID -> {} // Skip the invalid case. - case ZERO -> { // Default - locationChooser.addDefaultOption(location.getShuffleboardName(), location); - } - default -> {locationChooser.addOption(location.getShuffleboardName(), location);} - }; - } - for (AutoAction action : AutoAction.values()) { - switch (action) { - case INVALID -> {} // Skip the invalid case. - case DO_NOTHING -> { // Default - actionChooser.addDefaultOption(action.toString(), action); - } - default -> {actionChooser.addOption(action.toString(), action);} - }; - } - } - - /** - * Put command mappings here. - */ - private void populateCommandMap() { - //if AutoEvent is not dependent on alliance color don't put a color - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.DEPOT_SIDE), - new DoNothing(turret,angler, shootstate)); - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.MID), - new DoNothing(turret,angler,shootstate)); - commandMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.OUTPOST_SIDE), - new DoNothing(turret,angler,shootstate)); - - //shoot red - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Red), - new ShootRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - //shoot blue - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Blue), - new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Red), - new FastDepotRed(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT, Alliance.Blue), - new FastDepotBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - - /* - //shoot-pickup - commandMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE), - new DepotShootPickup(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake)); - - - //disturbance - commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE), - new DepotDisturbance(drivetrain, auto, shootstate, turret, angler, controller)); - commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.OUTPOST_SIDE), - new OutpostDisturbance(drivetrain, auto, shootstate, turret, angler, controller)); - - //neutral zone - commandMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.DEPOT_SIDE), - new DepotNeutral(drivetrain, auto, shootstate, turret, angler, controller)); - commandMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE), - new OutpostNeutral(drivetrain, auto, shootstate, turret, angler, controller)); - */ - - } - - /** - * Put command mappings here. - */ - private void populateDescriptionMap() { - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.DEPOT_SIDE), - "do nothing"); - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.MID), - "do nothing"); - descriptionMap.put(new AutoEvent(AutoAction.DO_NOTHING, FieldLocation.OUTPOST_SIDE), - "do nothing"); - - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE), - "shoot from the depot"); - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID), - "shoot from the middle"); - descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE), - "shoot from the outpost"); - descriptionMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT), - "depot and shoot from the depot"); - /* - descriptionMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE), - "shoot and pickup from the depot"); - - - descriptionMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE), - "run the depot disturbance route"); - descriptionMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.OUTPOST_SIDE), - "run the outpost disturbance route"); - - descriptionMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.DEPOT_SIDE), - "shoot and run depot neutral zone cycle"); - descriptionMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE), - "shoot and run outpost neutral zone cycle"); - */ - } - - public AutoEvent getSelectedEvent() { - AutoAction chosenAction = actionChooser.get(); - FieldLocation chosenLocation = locationChooser.get(); - Alliance color = Robot.allianceColor().orElse(null); - return new AutoEvent(chosenAction, chosenLocation, color); - } - - public Command getSelectedCommand() { - AutoEvent event = getSelectedEvent(); - Command command = getCommandInternal(event); - return command != null ? command : new DoNothing(turret, angler, shootstate); - } - public AutoAction getAction(){ - return actionChooser.get(); - } - /** @return A human-readable description of the selected command. */ - public String getCommandDescription() { - AutoEvent event = getSelectedEvent(); - Command command = getCommandInternal(event); - if (command == null) { - return "NO AUTO"; - } else { - String commandDescription = descriptionMap.get(event.withoutColor()); - return event.getActionName() + " at " + event.getLocation() + " -> " + commandDescription + "."; - } - } - - public FieldLocation getFieldLocation() { - return locationChooser.get(); - } - - - private Command getCommandInternal(AutoEvent event) { - Command command = commandMap.get(event); - if (command != null) { - // prioritize color-specific command, if we have one - return command; - } else { - // fall back to color-agnostic command if we didn't find one - return commandMap.get(event.withoutColor()); - } - } - -} diff --git a/src/main/java/frc/robot/autochooser/AutoEvent.java b/src/main/java/frc/robot/autochooser/AutoEvent.java deleted file mode 100644 index c0dec2fe..00000000 --- a/src/main/java/frc/robot/autochooser/AutoEvent.java +++ /dev/null @@ -1,70 +0,0 @@ -package frc.robot.autochooser; - -import java.util.Objects; -import edu.wpi.first.wpilibj.DriverStation.Alliance; - -/** - * Wrapper Class, that Contains a {@link frc.robot.autochooser.AutoAction} and a {@link - * frc.robot.autochooser.FieldLocation} - */ -public class AutoEvent { - private final AutoAction action; - private final FieldLocation location; - private Alliance allianceColor; - /** - * This instantiates the AutoEvent without the alliance color. - * The importance of doing so is in case the alliance color - * is not relevant to this specific combination. - * - * @param action The action to do. - * @param location The location where the robot starts. - */ - public AutoEvent(AutoAction action, FieldLocation location) { - this.action = action; - this.location = location; - } - - /** - * This instantiates an autoEvent using an extra alliance - * color parameter. - * @param action The action to do. - * @param location The location where the robot starts. - * @param color The alliance color. - */ - public AutoEvent(AutoAction action, FieldLocation location, Alliance color) { - this.action = action; - this.location = location; - this.allianceColor = color; - } - - public AutoAction getAction() { - return action; - } - public String getActionName() { - return action.name(); - } - - public FieldLocation getLocation() { - return location; - } - - @Override - public boolean equals(Object o) { - if (this == o) return true; - if (o == null || getClass() != o.getClass()) return false; - AutoEvent autoEvent = (AutoEvent) o; - return action == autoEvent.action && location == autoEvent.location && allianceColor == autoEvent.allianceColor; - } - - @Override - public int hashCode() { - return Objects.hash(action, location, allianceColor); - } - - /** - * Return an event without color (to allow lookup in the map for a color-agnostic entry) - */ - public AutoEvent withoutColor() { - return new AutoEvent(action, location); - } -} diff --git a/src/main/java/frc/robot/autochooser/AutoPath.java b/src/main/java/frc/robot/autochooser/AutoPath.java new file mode 100644 index 00000000..efb9bc1c --- /dev/null +++ b/src/main/java/frc/robot/autochooser/AutoPath.java @@ -0,0 +1,20 @@ +package frc.robot.autochooser; + +public enum AutoPath { + DO_NOTHING("do nothing"), + //SINGLE_SWIPE_DEPOT("depot side, single swipe"), + //SINGLE_SWIPE_OUTPOST("outpost side, single swipe"), + MID_DEPOT("middle auto"), + //DIP_AND_DOT_DEPOT("depot side, dip and dot"), + //DIP_AND_DOT_OUTPOST("outpost side, dip and dot"), + TEST("test"); + + private final String name; + private AutoPath(String name){ + this.name = name; + } + + public String getName(){ + return name; + } +} diff --git a/src/main/java/frc/robot/autochooser/FieldLocation.java b/src/main/java/frc/robot/autochooser/FieldLocation.java deleted file mode 100644 index 18e718a0..00000000 --- a/src/main/java/frc/robot/autochooser/FieldLocation.java +++ /dev/null @@ -1,61 +0,0 @@ -package frc.robot.autochooser; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Robot; -import java.util.Arrays; -import java.util.HashMap; -import java.util.function.Function; -import java.util.stream.Collectors; - -public enum FieldLocation { - ZERO(0, 0, 0, "ZERO"), - INVALID(-1, -1, -1, "INVALID"), - DEPOT_SIDE(3.599, 7.33, 180, "Depot side - Driver Station LEFT"), //robot is 24 cm away from the wall - MID(3.599, 4.029, 180, "Middle"), - OUTPOST_SIDE(3.599, 0.67, 180, "Outpost side - Driver Station RIGHT"), //robot is 24 cm away from the wall - FAST_DEPOT(3.596, 5.06, 180, "Depot side - for the fast auto"); //robot's back left corner is next to hopper corner - - private static final double RED_X_POS = 9.338; // meters - public static final double HEIGHT_OF_FIELD = 8.043; - public static final double LENGTH_OF_FIELD = 16.411; - private final double yPose; - private final double xPose; - private final double angle; - private final String name; - private static final HashMap nameMap = - new HashMap<>( - Arrays.stream(FieldLocation.values()) - .collect(Collectors.toMap(FieldLocation::getShuffleboardName, Function.identity()))); - - FieldLocation(double xPos, double yPose, double angle, String name) { - this.xPose = xPos; - this.yPose = yPose; - this.angle = angle; - this.name = name; - } - - public static FieldLocation fromName(String string) { - return nameMap.get(string); - } - - public Pose2d getLocation() { - Alliance alliance = Robot.allianceColor().orElse(null); - if (alliance == null) { - return new Pose2d(INVALID.xPose, INVALID.yPose, Rotation2d.fromDegrees(INVALID.angle)); - } - double x = (alliance == Alliance.Red) ? xPose + RED_X_POS + Units.inchesToMeters(36) : xPose; - double y = (alliance == Alliance.Red) ? yPose - 2 * (yPose - (HEIGHT_OF_FIELD / 2)) : yPose; - double radian = - (alliance == Alliance.Red) ? Math.toRadians(180 - angle) : Math.toRadians(angle); - return new Pose2d(x, y, Rotation2d.fromRadians(radian)); - } - - public String getShuffleboardName() { - return name; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/autochooser/RoutineChooser.java b/src/main/java/frc/robot/autochooser/RoutineChooser.java new file mode 100644 index 00000000..4f64343b --- /dev/null +++ b/src/main/java/frc/robot/autochooser/RoutineChooser.java @@ -0,0 +1,216 @@ +package frc.robot.autochooser; + +import java.util.Optional; + +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; + +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.RunCommand; +import frc.robot.Robot; +import frc.robot.commands.auto.AutoShoot; +import frc.robot.commands.feeder.SpinFeeder; +import frc.robot.commands.intake.SpinIntake; +import frc.robot.commands.intake.StopIntake; +import frc.robot.commands.intakeDeployment.Agitate; +import frc.robot.commands.intakeDeployment.ForceDeployDown; +import frc.robot.commands.intakeDeployment.ForceDeployUp; +import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.ControllerSubsystem; +import frc.robot.subsystems.FeederSubsystem; +import frc.robot.subsystems.HopperSubsystem; +import frc.robot.subsystems.IntakeDeployerSubsystem; +import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.subsystems.ShooterSubsystem; +import frc.robot.utils.logging.commands.Loggable; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; +import frc.robot.utils.logging.commands.LoggableWaitCommand; + +public class RoutineChooser { + private final AutoFactory factory; + private final FeederSubsystem feeder; + private final IntakeSubsystem intake; + private final IntakeDeployerSubsystem deployer; + private final ShootingState shootState; + private final HopperSubsystem hopper; + private final LoggedDashboardChooser autoChooser; + + public RoutineChooser(AutoFactory factory, + FeederSubsystem feeder, + IntakeSubsystem intake, + IntakeDeployerSubsystem deployer, + ShootingState shootState, + HopperSubsystem hopper) { + this.factory = factory; + this.feeder = feeder; + this.intake = intake; + this.deployer = deployer; + this.shootState = shootState; + this.hopper = hopper; + + factory.bind("intakeDeploy", new ForceDeployDown(deployer)); // intake deploy marker + factory.bind("intakeStart", new SpinIntake(intake)); // intake start marker + factory.bind("intakeStop", new StopIntake(intake)); // intake stop marker + factory.bind("intakeUp", new ForceDeployUp(deployer)); // intake up marker + + autoChooser = new LoggedDashboardChooser<>("AutoAction"); + for (AutoPath paths : AutoPath.values()) { + autoChooser.addOption(paths.getName(), paths); + } + } + + public AutoRoutine getAuto() { + AutoPath selectedPath = autoChooser.get(); + switch (selectedPath == null ? AutoPath.DO_NOTHING : selectedPath) { + case DO_NOTHING: + return doNothing(); + case MID_DEPOT: + return depotMid(); + case TEST: + return test(); + /* + case SINGLE_SWIPE_DEPOT: + return depotSingleSwipe(); + case SINGLE_SWIPE_OUTPOST: + return outpostSingleSwipe(); + case DIP_AND_DOT_DEPOT: + return depotDipAndDot(); + case DIP_AND_DOT_OUTPOST: + return outpostDipAndDot(); + */ + default: + return factory.newRoutine("do_nothing"); + } + + } + + /* + public AutoRoutine depotSingleSwipe() { + AutoRoutine routine = factory.newRoutine("swipe"); + + AutoTrajectory swipe1 = routine.trajectory("swipe_1"); + AutoTrajectory shoot1 = routine.trajectory("shoot_depot_1"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(swipe1.resetOdometry()), + new LoggableCommandWrapper(swipe1.cmd()))); + + swipe1.done().onTrue(shoot1.cmd()); + + shoot1.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); + + return routine; + } + + public AutoRoutine outpostSingleSwipe() { + AutoRoutine routine = factory.newRoutine("swipe"); + + AutoTrajectory swipe1 = routine.trajectory("swipe_1").mirrorY(); + AutoTrajectory shoot1 = routine.trajectory("shoot_outpost_1"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(swipe1.resetOdometry()), + new LoggableCommandWrapper(swipe1.cmd()))); + + swipe1.done().onTrue(shoot1.cmd()); + + shoot1.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); + + return routine; + } + */ + + public AutoRoutine depotMid() { + AutoRoutine routine = factory.newRoutine("depot"); + AutoTrajectory traj = routine.trajectory("midHook"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + + traj.done().onTrue(new AutoShoot(hopper, feeder, shootState, 5)); + + return routine; + } + + public AutoRoutine doNothing() { + AutoRoutine routine = factory.newRoutine("do nothing"); + AutoTrajectory donothing = routine.trajectory("doNothing"); + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(donothing.resetOdometry()), + new LoggableCommandWrapper(donothing.cmd()))); + return routine; + } + + public AutoRoutine test() { + AutoRoutine routine = factory.newRoutine("test"); + AutoTrajectory traj = routine.trajectory("test_spin"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + return routine; + } + + /* + + public AutoRoutine depotDipAndDot() { + AutoRoutine routine = factory.newRoutine("dot"); + AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); + AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + + traj.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); + + traj1.cmd(); // dot + + return routine; + } + + public AutoRoutine outpostDipAndDot() { + AutoRoutine routine = factory.newRoutine("dot"); + AutoTrajectory traj = routine.trajectory("bigDot_depot_1"); + AutoTrajectory traj1 = routine.trajectory("bigDot_depot_2"); + + routine.active().onTrue(new LoggableSequentialCommandGroup( + new LoggableCommandWrapper(traj.resetOdometry()), + new LoggableCommandWrapper(traj.cmd()))); + + traj.done().onTrue(new LoggableParallelCommandGroup( + new AutoShoot(hopper, feeder, shootState, 5), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(4), + new Agitate(deployer)))); + + traj1.cmd(); // dot + + return routine; + } + */ +} diff --git a/src/main/java/frc/robot/commands/auto/AutoShoot.java b/src/main/java/frc/robot/commands/auto/AutoShoot.java index ec0ebfe4..cf4deb8d 100644 --- a/src/main/java/frc/robot/commands/auto/AutoShoot.java +++ b/src/main/java/frc/robot/commands/auto/AutoShoot.java @@ -2,18 +2,26 @@ import frc.robot.commands.feeder.SpinFeeder; import frc.robot.commands.hopper.AutoSpinHopper; -import frc.robot.commands.hopper.SpinHopper; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableRaceCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; import frc.robot.utils.logging.commands.LoggableWaitCommand; -public class AutoShoot extends LoggableRaceCommandGroup{ - public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, double time){ +public class AutoShoot extends LoggableSequentialCommandGroup{ + public AutoShoot(HopperSubsystem hopperSubsystem, FeederSubsystem feederSubsystem, ShootingState shootState, double time){ super( - new AutoSpinHopper(hopperSubsystem), - new SpinFeeder(feederSubsystem), - new LoggableWaitCommand(time) + new SetShootingState(shootState, ShootState.SHOOTING_HUB), + new LoggableWaitCommand(2), + new LoggableRaceCommandGroup( + new AutoSpinHopper(hopperSubsystem, feederSubsystem), + new LoggableWaitCommand(time-2) + ), + new SetShootingState(shootState, ShootState.STOPPED) ); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/auto/TestAuto.java b/src/main/java/frc/robot/commands/auto/TestAuto.java new file mode 100644 index 00000000..4e737f13 --- /dev/null +++ b/src/main/java/frc/robot/commands/auto/TestAuto.java @@ -0,0 +1,28 @@ +package frc.robot.commands.auto; + +import choreo.auto.AutoFactory; +import frc.robot.commands.drive.DriveSwerve; +import frc.robot.commands.intakeDeployment.ToggleDeployment; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.commands.turret.RunTurretToRevLimit; +import frc.robot.constants.enums.DriveDirection; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.*; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; +import frc.robot.utils.logging.commands.LoggableWaitCommand; + +public class TestAuto extends LoggableSequentialCommandGroup { + public TestAuto( + SwerveSubsystem drivetrain, AutoFactory auto, ShooterSubsystem shooter, ShootingState shootstate, + HopperSubsystem hopper, FeederSubsystem feeder, TurretSubsystem turret, AnglerSubsystem angler, + ControllerSubsystem controller, IntakeDeployerSubsystem intake) { + super( + LoggableCommandWrapper.wrap(auto.resetOdometry("swipe")), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("swipe")) + ); + } +} diff --git a/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java b/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java index a7118706..2c0c7db2 100644 --- a/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java +++ b/src/main/java/frc/robot/commands/auto/newauto/FastDepotBlue.java @@ -30,10 +30,10 @@ public FastDepotBlue( LoggableCommandWrapper.wrap(auto.resetOdometry("Depot_Fast")), LoggableCommandWrapper.wrap(auto.trajectoryCmd("Depot_Fast")) ), - new AutoShoot(hopper, feeder, 1), + new AutoShoot(hopper, feeder, shootstate, 1), new ToggleDeployment(intake), new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, 20), + new AutoShoot(hopper, feeder, shootstate, 20), new LoggableSequentialCommandGroup( new DriveSwerve(drivetrain, DriveDirection.FORWARD, 5, 0.3), new DriveSwerve(drivetrain, DriveDirection.BACKWARD, 0.5, 0.6), diff --git a/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java b/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java index 972425c3..3f8131e1 100644 --- a/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java +++ b/src/main/java/frc/robot/commands/auto/newauto/FastDepotRed.java @@ -30,10 +30,10 @@ public FastDepotRed( LoggableCommandWrapper.wrap(auto.resetOdometry("Depot_Fast")), LoggableCommandWrapper.wrap(auto.trajectoryCmd("Depot_Fast")) ), - new AutoShoot(hopper, feeder, 1), + new AutoShoot(hopper, feeder, shootstate, 1), new ToggleDeployment(intake), new LoggableParallelCommandGroup( - new AutoShoot(hopper, feeder, 20), + new AutoShoot(hopper, feeder, shootstate, 20), new LoggableSequentialCommandGroup( new DriveSwerve(drivetrain, DriveDirection.BACKWARD, 6, 0.3), new DriveSwerve(drivetrain, DriveDirection.FORWARD, 0.5, 0.6), diff --git a/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java b/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java index ed325892..8e6256b8 100644 --- a/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java +++ b/src/main/java/frc/robot/commands/hopper/AutoSpinHopper.java @@ -2,18 +2,21 @@ import edu.wpi.first.wpilibj.Timer; import frc.robot.constants.Constants; +import frc.robot.subsystems.FeederSubsystem; import frc.robot.subsystems.HopperSubsystem; import frc.robot.utils.logging.commands.LoggableCommand; public class AutoSpinHopper extends LoggableCommand { + public final FeederSubsystem feedersubsystem; public final HopperSubsystem subsystem; public final Timer timer; - public AutoSpinHopper(HopperSubsystem subsystem){ + public AutoSpinHopper(HopperSubsystem subsystem, FeederSubsystem feedersubsystem){ timer = new Timer(); this.subsystem = subsystem; + this.feedersubsystem = feedersubsystem; addRequirements(subsystem); } @@ -25,6 +28,7 @@ public void initialize() { @Override public void execute() { subsystem.setSpeed(Constants.HOPPER_AUTO_SPEED); + feedersubsystem.setSpeed(Constants.FEEDER_SPEED); } @Override diff --git a/src/main/java/frc/robot/commands/intakeDeployment/Agitate.java b/src/main/java/frc/robot/commands/intakeDeployment/Agitate.java index 952939f9..5973ff6f 100644 --- a/src/main/java/frc/robot/commands/intakeDeployment/Agitate.java +++ b/src/main/java/frc/robot/commands/intakeDeployment/Agitate.java @@ -4,6 +4,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.constants.Constants; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.utils.logging.commands.LoggableCommand; @@ -29,11 +30,12 @@ public void execute() { timer.start(); } subsystem.setSpeed(timer.hasElapsed(Constants.AGITATOR_CYCLE_TIME/2.0) ? Constants.AGITATOR_DOWN: Constants.AGITATIOR_UP); - Logger.recordOutput("agitatortimer", timer.hasElapsed(Constants.AGITATOR_CYCLE_TIME/2.0)); } @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + CommandScheduler.getInstance().schedule(new ForceDeployDown(subsystem)); + } @Override public boolean isFinished() { diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java index 3bdb119b..f81e11c9 100644 --- a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java +++ b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployDown.java @@ -4,6 +4,8 @@ package frc.robot.commands.intakeDeployment; +import edu.wpi.first.wpilibj.Timer; +import frc.robot.constants.Constants; import frc.robot.constants.enums.DeploymentState; import frc.robot.constants.enums.ShootingState; import frc.robot.constants.enums.ShootingState.ShootState; @@ -12,18 +14,22 @@ public class ForceDeployDown extends LoggableCommand { private final IntakeDeployerSubsystem subsystem; + private final Timer timer; - public ForceDeployDown(IntakeDeployerSubsystem subsystem, ShootingState state) { + public ForceDeployDown(IntakeDeployerSubsystem subsystem) { this.subsystem = subsystem; + timer = new Timer(); } @Override public void initialize() { subsystem.setDeploymentState(DeploymentState.DOWN); + timer.restart(); } @Override public void execute() { + subsystem.setSpeed(Constants.INITIAL_INTAKE_DEPLOYMENT_SPEED); } @Override @@ -32,6 +38,6 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { - return true; + return subsystem.getRevLimitSwitchState() || timer.hasElapsed(Constants.INTAKE_DEPLOYER_TIMEOUT_TIMER); } } diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java new file mode 100644 index 00000000..6afd9b4b --- /dev/null +++ b/src/main/java/frc/robot/commands/intakeDeployment/ForceDeployUp.java @@ -0,0 +1,37 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.intakeDeployment; + +import frc.robot.constants.enums.DeploymentState; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.IntakeDeployerSubsystem; +import frc.robot.utils.logging.commands.LoggableCommand; + +public class ForceDeployUp extends LoggableCommand { + private final IntakeDeployerSubsystem subsystem; + + public ForceDeployUp(IntakeDeployerSubsystem subsystem) { + this.subsystem = subsystem; + } + + @Override + public void initialize() { + subsystem.setDeploymentState(DeploymentState.UP); + } + + @Override + public void execute() { + } + + @Override + public void end(boolean interrupted) { + } + + @Override + public boolean isFinished() { + return true; + } +} diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 1e3fa3f8..cea3cf06 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -45,7 +45,7 @@ public enum Mode { public static final int XBOX_CONTROLLER_PORT = 2; //Speeds - public static final double INTAKE_SPEED = 0.8; + public static final double INTAKE_SPEED = 1; public static final double INTAKE_REVERSE_SPEED = -0.5; public static final double HOPPER_SPEED = 1; public static final double HOPPER_AUTO_SPEED = 0.35; @@ -56,12 +56,12 @@ public enum Mode { public static final double FEEDER_SPEED = 1; public static final double MAX_SPEED = Units.feetToMeters(14.5); public static final double SHOOTER_SPEED = 1500; - public static final double INTAKE_DEPLOYER_SPEED = -0.075; + public static final double INTAKE_DEPLOYER_SPEED = 0; public static final double INTAKE_RETRACTION_SPEED = 0.075; public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.3; public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.3; public static final double AGITATOR_DOWN = -0.15; - public static final double AGITATIOR_UP = 0.15; + public static final double AGITATIOR_UP = 0.3; //Diags @@ -82,9 +82,9 @@ public enum Mode { public static final double ANGLER_TIMEOUT = 5; public static final int SERVER_SOCKET_CONNECTION_TIMEOUT = 2000; public static final double SHOOTER_TIMEOUT = 5; - public static final double INTAKE_DEPLOYER_TIMEOUT_TIMER = 5; + public static final double INTAKE_DEPLOYER_TIMEOUT_TIMER = 0.5; public static final double TURRET_TIMEOUT = 5; - public static final int AGITATOR_CYCLE_TIME = 3; + public static final double AGITATOR_CYCLE_TIME = 1; //Angles public static final Rotation2d ANGLER_MIN_ANGLE = Rotation2d.fromDegrees(45); diff --git a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java index 29e67776..fdbbde82 100644 --- a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java @@ -71,6 +71,8 @@ public class ControllerSubsystem extends SubsystemBase { private static final PoseControlProfile BLUE_SHUTTLE_PROFILE = new PoseControlProfile(BLUE_HUB_TARGET_POSE, 37.0, 90.0, -14.0); + private double rpmMod = 0; + private final SwerveSubsystem drivebase; private final IntakeDeployerSubsystem intakeDeployer; private final RobotContainer robotContainer; @@ -305,14 +307,17 @@ private double calculateAnglerAngleDegrees(ShootState state, double computedDist private double calculateShooterVelocity(ShootState state, double computedDistanceMeters, PoseControlProfile profile) { double distance = (UnitConversion.METER_TO_FOOT * computedDistanceMeters) - Constants.COMPUTATED_DISTANCE_OFFSET; if (state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM) { - return (-3.35357 * distance * distance - -36.02163 * distance - -1920.78263); + return (-5.24406 * distance * distance + + 3.98 * distance + - 2063.94375) + rpmMod; } else if (state == ShootState.SHUTTLING) { return (((-distance * distance) - 5 * distance) - 2800); } return profile.defaultShooterVelocityRpm; } + public void addRpm(double rpm){ + rpmMod += rpm; + } private double calculateTurretAngleDegrees(ShootState state, Pose2d robotPose, PoseControlProfile profile) { if (state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM || state == ShootState.SHUTTLING) { @@ -338,7 +343,7 @@ public double getTargetAnglerAngleDegrees() { public double getTargetShooterVelocityRpm() { //return activeTargets.shooterVelocityRpm * 0.9; use in squishy mode - return activeTargets.shooterVelocityRpm; + return activeTargets.shooterVelocityRpm * 0.95; } diff --git a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java index 83ec368f..bb24d327 100644 --- a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java @@ -33,7 +33,7 @@ public class IntakeDeployerSubsystem extends SubsystemBase { public static final String LOGGING_NAME = "IntakeDeployer"; - public DeploymentState deploymentState = DeploymentState.UP; + public DeploymentState deploymentState = DeploymentState.STOPPED; private final SparkMaxIo io; public IntakeDeployerSubsystem(SparkMaxIo io) { @@ -96,7 +96,7 @@ public static SparkMaxIo createSimIo(RobotVisualizer visualizer) { private static SparkMax createMotor() { SparkMax motor = new SparkMax(Constants.INTAKE_DEPLOYMENT_ID, SparkLowLevel.MotorType.kBrushless); SparkMaxConfig motorConfig = new SparkMaxConfig(); - motorConfig.idleMode(SparkBaseConfig.IdleMode.kBrake); + motorConfig.idleMode(SparkBaseConfig.IdleMode.kCoast); motorConfig.smartCurrentLimit(Constants.INTAKE_DEPLOYER_CURRENT_LIMIT); motor.configure( motorConfig, diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json index 48751078..9a106abd 100644 --- a/vendordeps/ChoreoLib2026.json +++ b/vendordeps/ChoreoLib2026.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib2026.json", "name": "ChoreoLib", - "version": "2026.0.2", + "version": "2026.0.3", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2026.0.2" + "version": "2026.0.3" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2026.0.2", + "version": "2026.0.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false,