From 06eafa6a2955b4faa9b2e153e841d0af40e7ce98 Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Thu, 20 Nov 2025 16:26:49 -0500 Subject: [PATCH 1/8] without revlib (no code changes) --- vendordeps/AdvantageKit.json | 6 +- ....2.3.json => PathplannerLib-2025.2.7.json} | 8 +- ....2.2.json => Phoenix6-frc2025-latest.json} | 118 +++++++++++++----- vendordeps/maple-sim.json | 4 +- 4 files changed, 98 insertions(+), 38 deletions(-) rename vendordeps/{PathplannerLib-2025.2.3.json => PathplannerLib-2025.2.7.json} (87%) rename vendordeps/{Phoenix6-25.2.2.json => Phoenix6-frc2025-latest.json} (80%) diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index fa81b2fc..2707c2b7 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "4.1.0", + "version": "4.1.2", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2025", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "4.1.0" + "version": "4.1.2" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "4.1.0", + "version": "4.1.2", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/PathplannerLib-2025.2.3.json b/vendordeps/PathplannerLib-2025.2.7.json similarity index 87% rename from vendordeps/PathplannerLib-2025.2.3.json rename to vendordeps/PathplannerLib-2025.2.7.json index 8d2727f6..d0b69393 100644 --- a/vendordeps/PathplannerLib-2025.2.3.json +++ b/vendordeps/PathplannerLib-2025.2.7.json @@ -1,7 +1,7 @@ { - "fileName": "PathplannerLib-2025.2.3.json", + "fileName": "PathplannerLib-2025.2.7.json", "name": "PathplannerLib", - "version": "2025.2.3", + "version": "2025.2.7", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2025", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.2.3" + "version": "2025.2.7" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.2.3", + "version": "2025.2.7", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6-25.2.2.json b/vendordeps/Phoenix6-frc2025-latest.json similarity index 80% rename from vendordeps/Phoenix6-25.2.2.json rename to vendordeps/Phoenix6-frc2025-latest.json index 39ae6c5b..ce44ce4f 100644 --- a/vendordeps/Phoenix6-25.2.2.json +++ b/vendordeps/Phoenix6-frc2025-latest.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-25.2.2.json", + "fileName": "Phoenix6-frc2025-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "25.2.2", + "version": "25.4.0", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.2.2" + "version": "25.4.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.2.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,35 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.2.2", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -210,7 +238,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -226,7 +254,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -242,7 +270,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -258,7 +286,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -274,7 +302,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -290,7 +318,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -306,7 +334,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -322,7 +350,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -338,7 +366,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -354,7 +382,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -370,7 +398,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -386,7 +414,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -402,7 +430,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.2.2", + "version": "25.4.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,6 +442,38 @@ "osxuniversal" ], "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" } ] } diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json index 68ae20d5..65f44133 100644 --- a/vendordeps/maple-sim.json +++ b/vendordeps/maple-sim.json @@ -1,7 +1,7 @@ { "fileName": "maple-sim.json", "name": "maplesim", - "version": "0.3.8", + "version": "0.3.14", "frcYear": "2025", "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.ironmaple", "artifactId": "maplesim-java", - "version": "0.3.8" + "version": "0.3.14" }, { "groupId": "org.dyn4j", From 275fa20172f1a302d12fad10ba8bf7e94386d13d Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Thu, 20 Nov 2025 17:11:49 -0500 Subject: [PATCH 2/8] fixed??? --- .../java/frc/robot/utils/motor/MotorSimulator.java | 2 +- .../java/frc/robot/utils/simulation/ArmSimulator.java | 2 +- .../frc/robot/utils/simulation/ClimberSimulator.java | 2 +- .../frc/robot/utils/simulation/IntakeSimulator.java | 2 +- vendordeps/REVLib.json | 10 +++++----- 5 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/utils/motor/MotorSimulator.java b/src/main/java/frc/robot/utils/motor/MotorSimulator.java index db9ccb08..8fd8e27f 100644 --- a/src/main/java/frc/robot/utils/motor/MotorSimulator.java +++ b/src/main/java/frc/robot/utils/motor/MotorSimulator.java @@ -26,7 +26,7 @@ public MotorSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) { this.ligament = ligament; encoderSim = motorSim.getRelativeEncoderSim(); - encoderSim.setPositionConversionFactor(1.0); + // encoderSim.setPositionConversionFactor(1.0); encoderSim.setPosition(0.0); encoderSim.setInverted(false); } diff --git a/src/main/java/frc/robot/utils/simulation/ArmSimulator.java b/src/main/java/frc/robot/utils/simulation/ArmSimulator.java index 0356c88b..46402787 100644 --- a/src/main/java/frc/robot/utils/simulation/ArmSimulator.java +++ b/src/main/java/frc/robot/utils/simulation/ArmSimulator.java @@ -61,7 +61,7 @@ public ArmSimulator(SparkMax motor, ArmParameters params, LoggedMechanismLigamen encoderSim = motorSim.getRelativeEncoderSim(); forwardSwitchSim = motorSim.getForwardLimitSwitchSim(); reverseSwitchSim = motorSim.getReverseLimitSwitchSim(); - encoderSim.setPositionConversionFactor(1.0); + // encoderSim.setPositionConversionFactor(1.0); encoderSim.setPosition(0.0); encoderSim.setInverted(false); } diff --git a/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java b/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java index 66897b89..b7106e0a 100644 --- a/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java +++ b/src/main/java/frc/robot/utils/simulation/ClimberSimulator.java @@ -52,7 +52,7 @@ public ClimberSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) { this.ligament = ligament; encoderSim = motorSim.getRelativeEncoderSim(); - encoderSim.setPositionConversionFactor(1.0); + // encoderSim.setPositionConversionFactor(1.0); encoderSim.setPosition(0.0); encoderSim.setInverted(false); } diff --git a/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java b/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java index 73468e77..825c32d6 100644 --- a/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java +++ b/src/main/java/frc/robot/utils/simulation/IntakeSimulator.java @@ -57,7 +57,7 @@ public IntakeSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) { this.ligament = ligament; encoderSim = motorSim.getRelativeEncoderSim(); - encoderSim.setPositionConversionFactor(1.0); + // encoderSim.setPositionConversionFactor(1.0); encoderSim.setPosition(0.0); encoderSim.setInverted(false); } diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 9658c4a6..459a62f7 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.2", + "version": "2025.0.3", "frcYear": "2025", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.2" + "version": "2025.0.3" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.2", + "version": "2025.0.3", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +36,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.2", + "version": "2025.0.3", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +53,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.2", + "version": "2025.0.3", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, From 37138586036449f443e3abb8f46184f35c5ec2b3 Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 16:36:38 -0500 Subject: [PATCH 3/8] started choreo --- src/main/deploy/choreo/Paths.chor | 289 ++++++++++++++++++ src/main/deploy/choreo/Post C to S1.traj | 74 +++++ src/main/deploy/choreo/Post D to S1.traj | 75 +++++ src/main/deploy/choreo/Post E to S1.traj | 113 +++++++ src/main/deploy/choreo/R4 to Post E.traj | 106 +++++++ src/main/deploy/choreo/S1 to Post B.traj | 123 ++++++++ src/main/deploy/choreo/S1 to Post C.traj | 89 ++++++ src/main/deploy/choreo/S1 to Post D.traj | 91 ++++++ src/main/deploy/pathplanner/autos/Choreo.auto | 55 ++++ .../java/frc/robot/commands/autos/Paths.java | 21 ++ .../commands/autos/RightFourPieceFork.java | 6 +- 11 files changed, 1039 insertions(+), 3 deletions(-) create mode 100644 src/main/deploy/choreo/Paths.chor create mode 100644 src/main/deploy/choreo/Post C to S1.traj create mode 100644 src/main/deploy/choreo/Post D to S1.traj create mode 100644 src/main/deploy/choreo/Post E to S1.traj create mode 100644 src/main/deploy/choreo/R4 to Post E.traj create mode 100644 src/main/deploy/choreo/S1 to Post B.traj create mode 100644 src/main/deploy/choreo/S1 to Post C.traj create mode 100644 src/main/deploy/choreo/S1 to Post D.traj create mode 100644 src/main/deploy/pathplanner/autos/Choreo.auto diff --git a/src/main/deploy/choreo/Paths.chor b/src/main/deploy/choreo/Paths.chor new file mode 100644 index 00000000..07a12f22 --- /dev/null +++ b/src/main/deploy/choreo/Paths.chor @@ -0,0 +1,289 @@ +{ + "name":"Paths", + "version":1, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{ + "A":{ + "x":{ + "exp":"3.2076 m", + "val":3.2076 + }, + "y":{ + "exp":"4.061430505 m", + "val":4.061430505 + }, + "heading":{ + "exp":"0 rad", + "val":0.0 + } + }, + "B":{ + "x":{ + "exp":"3.2076 m", + "val":3.2076 + }, + "y":{ + "exp":"3.732813495 m", + "val":3.732813495 + }, + "heading":{ + "exp":"0 rad", + "val":0.0 + } + }, + "C":{ + "x":{ + "exp":"3.8176981000607 m", + "val":3.8176981000607 + }, + "y":{ + "exp":"2.9336485880936 m", + "val":2.9336485880936 + }, + "heading":{ + "exp":"1 / 3 * pi rad", + "val":1.0471975511965976 + } + }, + "D":{ + "x":{ + "exp":"4.1022887788364 m", + "val":4.1022887788364 + }, + "y":{ + "exp":"2.7693400830936 m", + "val":2.7693400830936 + }, + "heading":{ + "exp":"1 / 3 * pi rad", + "val":1.0471975511965976 + } + }, + "E":{ + "x":{ + "exp":"5.0994349400607 m", + "val":5.0994349400607 + }, + "y":{ + "exp":"2.8981180830936 m", + "val":2.8981180830936 + }, + "heading":{ + "exp":"2 / 3 * pi rad", + "val":2.0943951023931953 + } + }, + "F":{ + "x":{ + "exp":"5.3840256188364 m", + "val":5.3840256188364 + }, + "y":{ + "exp":"3.0624265880936 m", + "val":3.0624265880936 + }, + "heading":{ + "exp":"2 / 3 * pi rad", + "val":2.0943951023931953 + } + }, + "G":{ + "x":{ + "exp":"5.77107368 m", + "val":5.77107368 + }, + "y":{ + "exp":"3.990369495 m", + "val":3.990369495 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "H":{ + "x":{ + "exp":"5.77107368 m", + "val":5.77107368 + }, + "y":{ + "exp":"4.318986505 m", + "val":4.318986505 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "I":{ + "x":{ + "exp":"5.1609755799393 m", + "val":5.1609755799393 + }, + "y":{ + "exp":"5.1181514119064 m", + "val":5.1181514119064 + }, + "heading":{ + "exp":"4 / 3 * pi rad", + "val":4.1887902047863905 + } + }, + "J":{ + "x":{ + "exp":"4.8763849011636 m", + "val":4.8763849011636 + }, + "y":{ + "exp":"5.2824599169064 m", + "val":5.2824599169064 + }, + "heading":{ + "exp":"4 / 3 * pi rad", + "val":4.1887902047863905 + } + }, + "K":{ + "x":{ + "exp":"3.8792387399393 m", + "val":3.8792387399393 + }, + "y":{ + "exp":"5.1536819169064 m", + "val":5.1536819169064 + }, + "heading":{ + "exp":"5 / 3 * pi rad", + "val":5.235987755982989 + } + }, + "L":{ + "x":{ + "exp":"3.5946480611636 m", + "val":3.5946480611636 + }, + "y":{ + "exp":"4.9893734119064 m", + "val":4.9893734119064 + }, + "heading":{ + "exp":"5 / 3 * pi rad", + "val":5.235987755982989 + } + }, + "R4":{ + "x":{ + "exp":"7.142991913746631 m", + "val":7.142991913746631 + }, + "y":{ + "exp":"2 m", + "val":2.0 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "S1":{ + "x":{ + "exp":"0.8796831418724709 m", + "val":0.8796831418724709 + }, + "y":{ + "exp":"1.0444864371099356 m", + "val":1.0444864371099356 + }, + "heading":{ + "exp":"0.9426766270029469 rad", + "val":0.9426766270029469 + } + }, + "S2":{ + "x":{ + "exp":"1.626 m", + "val":1.626 + }, + "y":{ + "exp":"0.679 m", + "val":0.679 + }, + "heading":{ + "exp":"0.9426766270029469 rad", + "val":0.9426766270029469 + } + } + } + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"12.25 in", + "val":0.31115 + }, + "y":{ + "exp":"12.25 in", + "val":0.31115 + } + }, + "backLeft":{ + "x":{ + "exp":"-12.25 in", + "val":-0.31115 + }, + "y":{ + "exp":"12.25 in", + "val":0.31115 + } + }, + "mass":{ + "exp":"129 lbs", + "val":58.513415730000006 + }, + "inertia":{ + "exp":"4.342 kg m ^ 2", + "val":4.342 + }, + "gearing":{ + "exp":"8.143", + "val":8.143 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"5676 RPM", + "val":594.3893300591889 + }, + "tmax":{ + 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"vx":3.09558, "vy":1.50599, "omega":0.0106, "ax":-4.62303, "ay":-1.87415, "alpha":0.26576, "fx":[-68.25237,-67.38709,-66.98927,-67.88081], "fy":[-27.68331,-27.89029,-27.46158,-26.62761]}, + {"t":1.02478, "x":3.08234, "y":1.99703, "heading":1.01569, "vx":2.90608, "vy":1.42917, "omega":0.02149, "ax":-4.61821, "ay":-1.89634, "alpha":0.384, "fx":[-68.20407,-67.57598,-66.68196,-67.76529], "fy":[-27.86319,-28.87466,-27.61612,-26.6072]}, + {"t":1.06577, "x":3.19758, "y":2.05402, "heading":1.01657, "vx":2.71677, "vy":1.35144, "omega":0.03723, "ax":-4.61562, "ay":-1.90769, "alpha":0.38486, "fx":[-68.32524,-67.18203,-66.70338,-67.8653], "fy":[-28.12488,-28.84455,-27.8703,-26.78583]}, + {"t":1.10676, "x":3.30507, "y":2.10782, "heading":1.01809, "vx":2.52757, "vy":1.27324, "omega":0.05301, "ax":-4.61409, "ay":-1.9144, "alpha":0.39902, "fx":[-68.21175,-67.3474,-66.65312,-67.774], "fy":[-28.12544,-29.1693,-27.8834,-26.84003]}, + {"t":1.14775, "x":3.4048, "y":2.1584, "heading":1.02027, "vx":2.33843, "vy":1.19477, "omega":0.06937, "ax":-4.61302, "ay":-1.91897, "alpha":0.33967, "fx":[-68.16175,-67.18726,-66.79371,-67.78084], "fy":[-28.21922,-28.97314,-28.00498,-27.08822]}, + {"t":1.18874, "x":3.49678, "y":2.20576, "heading":1.02311, "vx":2.14934, "vy":1.1161, "omega":0.08329, "ax":-4.6123, "ay":-1.92212, "alpha":0.26791, "fx":[-67.95074,-67.36465,-66.90494,-67.66098], "fy":[-28.20046,-28.89885,-28.03358,-27.33683]}, + {"t":1.22973, "x":3.58101, "y":2.2499, "heading":1.02652, "vx":1.96028, "vy":1.03732, "omega":0.09427, "ax":-4.61173, "ay":-1.92455, "alpha":0.14345, "fx":[-67.75783,-67.33465,-67.16265,-67.59272], "fy":[-28.22976,-28.51301,-28.13061,-27.73833]}, + {"t":1.27072, "x":3.65749, "y":2.2908, "heading":1.03039, "vx":1.77124, "vy":0.95843, "omega":0.10015, "ax":-4.61129, "ay":-1.92641, "alpha":-0.00296, "fx":[-67.42821,-67.55225,-67.4199,-67.42188], "fy":[-28.182,-28.17719,-28.17761,-28.18413]}, + {"t":1.31172, "x":3.72622, "y":2.32847, "heading":1.03449, "vx":1.58222, "vy":0.87946, "omega":0.10003, "ax":-4.61093, "ay":-1.92793, "alpha":-0.20071, "fx":[-67.08498,-67.62887,-67.81242,-67.27472], "fy":[-28.16012,-27.58665,-28.28142,-28.78179]}, + {"t":1.35271, "x":3.7872, "y":2.3629, "heading":1.03859, "vx":1.39321, "vy":0.80043, "omega":0.0918, "ax":-4.61064, "ay":-1.92915, "alpha":-0.43465, "fx":[-66.60488,-67.91509,-68.23307,-67.03133], "fy":[-28.07761,-26.97029,-28.36337,-29.46963]}, + {"t":1.3937, "x":3.84044, "y":2.39409, "heading":1.04236, "vx":1.20421, "vy":0.72135, "omega":0.07399, "ax":-4.6104, "ay":-1.93018, "alpha":-0.72836, "fx":[-66.07488,-68.10906,-68.79858,-66.78747], "fy":[-28.00456,-26.10372,-28.49904,-30.3339]}, + {"t":1.43469, "x":3.88592, "y":2.42204, "heading":1.04539, "vx":1.01523, "vy":0.64223, "omega":0.04413, "ax":-4.61019, "ay":-1.93104, "alpha":-1.0765, "fx":[-65.38552,-68.49735,-69.43131,-66.44378], "fy":[-27.87397,-25.1454,-28.62805,-31.34443]}, + {"t":1.47568, "x":3.92367, "y":2.44674, "heading":1.0472, "vx":0.82625, "vy":0.56308, "omega":0.0, "ax":-3.19451, "ay":3.81258, "alpha":-0.00006, "fx":[-46.83218,-46.7078,-46.62388,-46.75777], "fy":[55.63608,55.99998,55.68666,55.76411]}, + {"t":1.51515, "x":3.95379, "y":2.47194, "heading":1.0472, "vx":0.70015, "vy":0.71357, "omega":0.0, "ax":-3.86222, "ay":3.11049, "alpha":0.0, "fx":[-56.67059,-56.64013,-56.64543,-56.03538], "fy":[45.20035,45.5923,45.5874,45.62544]}, + {"t":1.55463, "x":3.97842, "y":2.50253, "heading":1.0472, "vx":0.5477, "vy":0.83635, "omega":0.0, "ax":-3.29631, "ay":1.82396, "alpha":0.00001, "fx":[-48.08996,-48.2589,-48.34356,-48.18593], "fy":[26.85829,26.39622,26.7819,26.68995]}, + {"t":1.5941, "x":3.99747, "y":2.53696, "heading":1.0472, "vx":0.41759, "vy":0.90835, "omega":0.0, "ax":-0.18363, "ay":0.08354, "alpha":0.0, "fx":[-1.89492,-2.01171,-2.07873,-4.75949], "fy":[2.23945,0.98317,0.86706,0.79843]}, + {"t":1.63357, "x":4.01381, "y":2.57288, "heading":1.0472, "vx":0.41034, "vy":0.91165, "omega":0.0, "ax":0.00755, "ay":-0.0034, "alpha":0.0, "fx":[0.09606,0.11431,0.12487,0.1066], "fy":[-0.07065,-0.01658,-0.06188,-0.04985]}, + {"t":1.67304, "x":4.03001, "y":2.60886, "heading":1.0472, "vx":0.41064, "vy":0.91151, "omega":0.0, "ax":-0.01035, "ay":0.00466, "alpha":0.0, "fx":[-0.2175,-0.20778,-0.20216,0.02192], "fy":[-0.01719,0.08819,0.09793,0.10354]}, + {"t":1.71252, "x":4.04622, "y":2.64485, "heading":1.0472, "vx":0.41023, "vy":0.9117, "omega":0.0, "ax":-0.12983, "ay":-0.31719, "alpha":0.00001, "fx":[-1.91114,-1.89588,-1.8873,-1.90236], "fy":[-4.65066,-4.61755,-4.64773,-4.64385]}, + {"t":1.75199, "x":4.06231, "y":2.68059, "heading":1.0472, "vx":0.4051, "vy":0.89918, "omega":0.0, "ax":-2.05167, "ay":-4.55225, "alpha":-0.00001, "fx":[-30.03095,-30.04491,-30.05808,-29.91647], "fy":[-66.88669,-66.47157,-66.49448,-66.51519]}, + {"t":1.79146, "x":4.0767, "y":2.71253, "heading":1.0472, "vx":0.32412, "vy":0.71949, "omega":0.0, "ax":-2.05247, "ay":-4.55564, "alpha":0.0, "fx":[-29.98487,-30.03623,-30.06219,-30.01357], "fy":[-66.58942,-66.72763,-66.61081,-66.63848]}, + {"t":1.83094, "x":4.08789, "y":2.73739, "heading":1.0472, "vx":0.2431, "vy":0.53966, "omega":0.0, "ax":-2.05276, "ay":-4.55675, "alpha":0.0, "fx":[-30.03622,-30.03892,-30.04279,-29.99608], "fy":[-66.74875,-66.62015,-66.62719,-66.63468]}, + {"t":1.87041, "x":4.09589, "y":2.75514, "heading":1.0472, "vx":0.16207, "vy":0.35979, "omega":0.0, "ax":-2.0529, "ay":-4.5573, "alpha":0.0, "fx":[-30.01432,-30.03569,-30.0462,-30.0261], "fy":[-66.64397,-66.70141,-66.65301,-66.66453]}, + {"t":1.90988, "x":4.10069, "y":2.76579, "heading":1.0472, "vx":0.08104, "vy":0.1799, "omega":0.0, "ax":-2.05299, "ay":-4.55762, "alpha":0.00001, "fx":[-30.03041,-30.03417,-30.0323,-30.0306], "fy":[-66.67056,-66.67234,-66.66941,-66.66975]}, + {"t":1.94936, "x":4.10229, "y":2.76934, "heading":1.0472, "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/pathplanner/autos/Choreo.auto b/src/main/deploy/pathplanner/autos/Choreo.auto new file mode 100644 index 00000000..19873726 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Choreo.auto @@ -0,0 +1,55 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "R4 to Post E" + } + }, + { + "type": "path", + "data": { + "pathName": "Post E to S1" + } + }, + { + "type": "path", + "data": { + "pathName": "S1 to Post C" + } + }, + { + "type": "path", + "data": { + "pathName": "Post C to S1" + } + }, + { + "type": "path", + "data": { + "pathName": "S1 to Post D" + } + }, + { + "type": "path", + "data": { + "pathName": "Post D to S1" + } + }, + { + "type": "path", + "data": { + "pathName": "S1 to Post B" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/autos/Paths.java b/src/main/java/frc/robot/commands/autos/Paths.java index 8dff19a0..38c2eaec 100644 --- a/src/main/java/frc/robot/commands/autos/Paths.java +++ b/src/main/java/frc/robot/commands/autos/Paths.java @@ -10,6 +10,7 @@ public class Paths { // Robot to Post private final Command robotOneToPostJCommand; private final Command robotFourToPostECommand; + private final Command robotFourToPostECommand2; private final Command robotTwoToPostHCommand; // Post to Station private final Command postJToStationOneCommand; @@ -17,6 +18,7 @@ public class Paths { private final Command postLToStationOneCommand; private final Command postHToStationOneCommand; private final Command postEToStationOneCommand; + private final Command postEToStationOneCommand2; private final Command postBToStationTwoCommand; private final Command postCToStationTwoCommand; private final Command postDToStationTwoCommand; @@ -26,6 +28,7 @@ public class Paths { private final Command stationOneToPostACommand; private final Command stationTwoToPostBCommand; private final Command stationTwoToPostCCommand; + private final Command stationTwoToPostCCommand2; private final Command stationTwoToPostDCommand; // Cross the Line Paths private final Command leftCrossTheLineCommand; @@ -48,6 +51,8 @@ public Paths() { AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E").mirrorPath()); robotFourToPostECommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E")); + robotFourToPostECommand2 = + AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("R4 to Post E")); robotTwoToPostHCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 2 to Post H")); // Post to Station Paths @@ -61,6 +66,8 @@ public Paths() { AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post L to Station 1")); postEToStationOneCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post E to Station 1")); + postEToStationOneCommand2 = + AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("Post E to S1")); postBToStationTwoCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Post B to Station 2")); postCToStationTwoCommand = @@ -78,6 +85,8 @@ public Paths() { AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post B")); stationTwoToPostCCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post C")); + stationTwoToPostCCommand2 = + AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("S1 to Post C")); stationTwoToPostDCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Station 2 to Post D")); // Cross The Line Paths @@ -102,6 +111,10 @@ public Command getRobotFourToPostECommand() { return robotFourToPostECommand; } + public Command getRobotFourToPostECommand2() { + return robotFourToPostECommand2; + } + public Command getRobotTwoToPostHCommand() { return robotTwoToPostHCommand; } @@ -123,6 +136,10 @@ public Command getPostEToStationOneCommand() { return postEToStationOneCommand; } + public Command getPostEToStationOneCommand2() { + return postEToStationOneCommand2; + } + public Command getPostBToStationTwoCommand() { return postBToStationTwoCommand; } @@ -152,6 +169,10 @@ public Command getStationTwoToPostCCommand() { return stationTwoToPostCCommand; } + public Command getStationTwoToPostCCommand2() { + return stationTwoToPostCCommand2; + } + public Command getStationTwoToPostDCommand() { return stationTwoToPostDCommand; } diff --git a/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java b/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java index 901b375f..f482783c 100644 --- a/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java +++ b/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java @@ -20,7 +20,7 @@ public RightFourPieceFork( ElevatorPosition scorePosition2) { super( new LoggableParallelCommandGroup( - new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand()), + new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand2()), new SetElevatorStoredPosition(scorePosition1, elevator, lightStrip), new LoggableSequentialCommandGroup( new LoggableWaitCommand(1.25), @@ -28,11 +28,11 @@ public RightFourPieceFork( new ShootCoral(coral, 0.5), new LoggableParallelCommandGroup( new LoggableCommandWrapper( - Paths.getInstance().getPostEToStationOneCommand()), // Post E to Station + Paths.getInstance().getPostEToStationOneCommand2()), // Post E to Station new LightlessPickup(elevator, coral)), new LoggableParallelCommandGroup( new LoggableCommandWrapper( - Paths.getInstance().getStationTwoToPostCCommand()), // Station 2 to Post B + Paths.getInstance().getStationTwoToPostCCommand2()), // Station 2 to Post B new SetElevatorStoredPosition(scorePosition2, elevator, lightStrip), new LoggableSequentialCommandGroup( new LoggableWaitCommand(1.3), From 639d2cd72ea1d52b80e2b92b72fa378e25c4be5f Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 16:42:25 -0500 Subject: [PATCH 4/8] forgot to add choreolib :skull: --- vendordeps/ChoreoLib-2025.0.3.json | 44 ++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 vendordeps/ChoreoLib-2025.0.3.json diff --git a/vendordeps/ChoreoLib-2025.0.3.json b/vendordeps/ChoreoLib-2025.0.3.json new file mode 100644 index 00000000..17b5a9fa --- /dev/null +++ b/vendordeps/ChoreoLib-2025.0.3.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib-2025.0.3.json", + "name": "ChoreoLib", + "version": "2025.0.3", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2025", + "mavenUrls": [ + "https://lib.choreo.autos/dep", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2025.0.3" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2025.0.3", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} From 3111cb14fce505d16c0a78244051cce859812c9d Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 16:49:40 -0500 Subject: [PATCH 5/8] made it better --- .../autochooser/chooser/AutoChooser2025.java | 4 +- .../commands/autos/RightFourPieceFork.java | 6 +- .../commands/autos/RightFourPieceFork2.java | 71 +++++++++++++++++++ 3 files changed, 76 insertions(+), 5 deletions(-) create mode 100644 src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java diff --git a/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java b/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java index 057baac6..e7610e82 100644 --- a/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java +++ b/src/main/java/frc/robot/autochooser/chooser/AutoChooser2025.java @@ -52,11 +52,11 @@ public AutoChooser2025( new RobotCentricDrive(drivetrain, 0.25, 3)), Map.entry( new AutoEvent(AutoAction.TWO_PIECE_HIGH, FieldLocation.RIGHT), - new RightFourPieceFork( + new RightFourPieceFork2( elevator, coral, lightStrip, ElevatorPosition.LEVEL4, ElevatorPosition.LEVEL4)), Map.entry( new AutoEvent(AutoAction.TWO_PIECE_LOW, FieldLocation.RIGHT), - new RightFourPieceFork( + new RightFourPieceFork2( elevator, coral, lightStrip, ElevatorPosition.LEVEL2, ElevatorPosition.LEVEL4)), Map.entry( new AutoEvent(AutoAction.TWO_PIECE_HIGH, FieldLocation.LEFT), diff --git a/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java b/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java index f482783c..901b375f 100644 --- a/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java +++ b/src/main/java/frc/robot/commands/autos/RightFourPieceFork.java @@ -20,7 +20,7 @@ public RightFourPieceFork( ElevatorPosition scorePosition2) { super( new LoggableParallelCommandGroup( - new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand2()), + new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand()), new SetElevatorStoredPosition(scorePosition1, elevator, lightStrip), new LoggableSequentialCommandGroup( new LoggableWaitCommand(1.25), @@ -28,11 +28,11 @@ public RightFourPieceFork( new ShootCoral(coral, 0.5), new LoggableParallelCommandGroup( new LoggableCommandWrapper( - Paths.getInstance().getPostEToStationOneCommand2()), // Post E to Station + Paths.getInstance().getPostEToStationOneCommand()), // Post E to Station new LightlessPickup(elevator, coral)), new LoggableParallelCommandGroup( new LoggableCommandWrapper( - Paths.getInstance().getStationTwoToPostCCommand2()), // Station 2 to Post B + Paths.getInstance().getStationTwoToPostCCommand()), // Station 2 to Post B new SetElevatorStoredPosition(scorePosition2, elevator, lightStrip), new LoggableSequentialCommandGroup( new LoggableWaitCommand(1.3), diff --git a/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java b/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java new file mode 100644 index 00000000..73184414 --- /dev/null +++ b/src/main/java/frc/robot/commands/autos/RightFourPieceFork2.java @@ -0,0 +1,71 @@ +package frc.robot.commands.autos; + +import frc.robot.commands.coral.ShootCoral; +import frc.robot.commands.elevator.SetElevatorStoredPosition; +import frc.robot.constants.ElevatorPosition; +import frc.robot.subsystems.coral.CoralSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.lightStrip.LightStrip; +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 RightFourPieceFork2 extends LoggableSequentialCommandGroup { + public RightFourPieceFork2( + ElevatorSubsystem elevator, + CoralSubsystem coral, + LightStrip lightStrip, + ElevatorPosition scorePosition1, + ElevatorPosition scorePosition2) { + super( + new LoggableParallelCommandGroup( + new LoggableCommandWrapper(Paths.getInstance().getRobotFourToPostECommand2()), + new SetElevatorStoredPosition(scorePosition1, elevator, lightStrip), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(1.25), + new GoAndWaitAtElevatorPosition(elevator, scorePosition1))), + new ShootCoral(coral, 0.5), + new LoggableParallelCommandGroup( + new LoggableCommandWrapper( + Paths.getInstance().getPostEToStationOneCommand2()), // Post E to Station + new LightlessPickup(elevator, coral)), + new LoggableParallelCommandGroup( + new LoggableCommandWrapper( + Paths.getInstance().getStationTwoToPostCCommand2()), // Station 2 to Post B + new SetElevatorStoredPosition(scorePosition2, elevator, lightStrip), + new LoggableSequentialCommandGroup( + new LoggableWaitCommand(1.3), + new GoAndWaitAtElevatorPosition(elevator, scorePosition2))), + new GoAndWaitAtElevatorPosition( + elevator, + scorePosition2), // this line should be deleted after comp (I don't want to risk + // deleting it now) + new ShootCoral(coral, 0.5) + // new LoggableParallelCommandGroup( + // new LoggableCommandWrapper(Paths.getInstance().getPostCToStationTwoCommand()) + // // new LightlessPickup(elevator, coral) + // ), + // new LoggableParallelCommandGroup( + // new LoggableCommandWrapper(Paths.getInstance().getStationTwoToPostDCommand()) + // // new SetElevatorStoredPosition(ElevatorPosition.LEVEL4, elevator, + // // lightStrip) + // ), + // // new GoAndWaitAtElevatorPosition(elevator, ElevatorPosition.LEVEL4), + // // new ShootCoral(coral, Constants.CORAL_SHOOTER_SPEED), + // new LoggableParallelCommandGroup( + // new LoggableCommandWrapper( + // Paths.getInstance().getPostDToStationTwoCommand()) // Post C to Station 2 + // // new LightlessPickup(elevator, coral)), + // ), + // new LoggableParallelCommandGroup( + // new LoggableCommandWrapper( + // Paths.getInstance().getStationTwoToPostBCommand()) // Station 2 to Post D + // new SetElevatorStoredPosition( + // ElevatorPosition.LEVEL4, elevator, lightStrip) // Elevator to L4 + ); + // new GoAndWaitAtElevatorPosition(elevator, ElevatorPosition.LEVEL4), + // new ShootCoral(coral, Constants.CORAL_SHOOTER_SPEED), + // new ResetElevator(elevator)); + } +} From ce28b96e1fe25240bf51e4c1451e324f1566dc0e Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 17:45:35 -0500 Subject: [PATCH 6/8] (wip might need to rivert) --- src/main/deploy/choreo/Simple path 1.traj | 170 ++++++++++++++++++ .../java/frc/robot/commands/autos/Paths.java | 2 +- 2 files changed, 171 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/choreo/Simple path 1.traj diff --git a/src/main/deploy/choreo/Simple path 1.traj b/src/main/deploy/choreo/Simple path 1.traj new file mode 100644 index 00000000..38bdf951 --- /dev/null +++ b/src/main/deploy/choreo/Simple path 1.traj @@ -0,0 +1,170 @@ +{ + "name":"Simple path 1", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.142991913746631, "y":2.0, "heading":3.141592653589793, "intervals":131, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":16.74248695373535, "y":2.0558362007141113, "heading":3.141592653589793, "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":20.0}}, "enabled":true}, + {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.5}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"R4.x", "val":7.142991913746631}, "y":{"exp":"R4.y", "val":2.0}, "heading":{"exp":"R4.heading", "val":3.141592653589793}, "intervals":131, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"16.74248695373535 m", "val":16.74248695373535}, "y":{"exp":"2.0558362007141113 m", "val":2.0558362007141113}, "heading":{"exp":"3.141592653589793 rad", 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"fx":[-0.00095,-0.001,0.00096,0.00098], "fy":[0.00034,-0.00016,-0.00017,0.00033]}, + {"t":5.19846, "x":14.82876, "y":2.04471, "heading":-3.14134, "vx":1.49968, "vy":0.00872, "omega":-0.00009, "ax":0.0, "ay":-0.00001, "alpha":-0.00036, "fx":[-0.00023,-0.00025,0.00023,0.00025], "fy":[0.00094,-0.0011,-0.0011,0.00091]}, + {"t":5.24844, "x":14.90372, "y":2.04514, "heading":-3.14134, "vx":1.49968, "vy":0.00872, "omega":-0.00011, "ax":0.0, "ay":0.00001, "alpha":-0.00037, "fx":[-0.00102,-0.0011,0.00104,0.00108], "fy":[0.00034,-0.00013,-0.00014,0.00033]}, + {"t":5.29843, "x":14.97868, "y":2.04558, "heading":-3.14135, "vx":1.49968, "vy":0.00872, "omega":-0.00013, "ax":0.0, "ay":-0.00001, "alpha":-0.00039, "fx":[-0.00023,-0.00024,0.00023,0.00025], "fy":[0.00105,-0.00121,-0.00121,0.00101]}, + {"t":5.34841, "x":15.05365, "y":2.04601, "heading":-3.14135, "vx":1.49968, "vy":0.00872, "omega":-0.00014, "ax":0.0, "ay":0.00001, "alpha":-0.00041, "fx":[-0.00114,-0.00123,0.00116,0.00121], "fy":[0.00038,-0.00012,-0.00014,0.00036]}, + {"t":5.3984, "x":15.12861, "y":2.04645, "heading":-3.14136, "vx":1.49968, "vy":0.00872, "omega":-0.00017, "ax":0.0, "ay":-0.00001, "alpha":-0.00044, "fx":[-0.00027,-0.00029,0.00027,0.00029], "fy":[0.0012,-0.00136,-0.00136,0.00115]}, + {"t":5.44838, "x":15.20357, "y":2.04689, "heading":-3.14137, "vx":1.49968, "vy":0.00872, "omega":-0.00019, "ax":0.0, "ay":0.00001, "alpha":-0.00049, "fx":[-0.00132,-0.00141,0.00134,0.00139], "fy":[0.0005,-0.00017,-0.00019,0.00048]}, + {"t":5.49837, "x":15.27853, "y":2.04732, "heading":-3.14138, "vx":1.49968, "vy":0.00872, "omega":-0.00021, "ax":0.0, "ay":-0.00001, "alpha":-0.00055, "fx":[-0.00041,-0.00043,0.00041,0.00044], "fy":[0.00144,-0.00161,-0.00159,0.00138]}, + {"t":5.54836, "x":15.35349, "y":2.04776, "heading":-3.14139, "vx":1.49968, "vy":0.00872, "omega":-0.00024, "ax":0.0, "ay":0.00001, "alpha":-0.00064, "fx":[-0.00159,-0.00176,0.00164,0.00171], "fy":[0.00076,-0.00033,-0.00036,0.00073]}, + {"t":5.59834, "x":15.42845, "y":2.0482, "heading":-3.1414, "vx":1.49968, "vy":0.00872, "omega":-0.00027, "ax":0.0, "ay":-0.00001, "alpha":-0.00074, "fx":[-0.00071,-0.00073,0.00071,0.00074], "fy":[0.00182,-0.00198,-0.00195,0.00175]}, + {"t":5.64833, "x":15.50342, "y":2.04863, "heading":-3.14141, "vx":1.49968, "vy":0.00872, "omega":-0.00031, "ax":0.0, "ay":0.00002, "alpha":-0.00089, "fx":[-0.002,-0.00231,0.00211,0.00219], "fy":[0.00124,-0.00066,-0.00069,0.00121]}, + {"t":5.69831, "x":15.57838, "y":2.04907, "heading":-3.14143, "vx":1.49968, "vy":0.00873, "omega":-0.00035, "ax":0.0, "ay":-0.00001, "alpha":-0.00105, "fx":[-0.00122,-0.00126,0.00123,0.00126], "fy":[0.00233,-0.00255,-0.00249,0.00226]}, + {"t":5.7483, "x":15.65334, "y":2.0495, "heading":-3.14145, "vx":1.49968, "vy":0.00872, "omega":-0.00041, "ax":0.0, "ay":0.00003, "alpha":-0.00122, "fx":[-0.00265,-0.0027,0.00263,0.00271], "fy":[0.00199,-0.00118,-0.00121,0.00196]}, + {"t":5.79828, "x":15.7283, "y":2.04994, "heading":-3.14147, "vx":1.49968, "vy":0.00873, "omega":-0.00047, "ax":0.0, "ay":-0.00001, "alpha":-0.00142, "fx":[-0.00193,-0.00197,0.00194,0.00197], "fy":[0.00286,-0.00324,-0.00316,0.00278]}, + {"t":5.84827, "x":15.80326, "y":2.05038, "heading":-3.14149, "vx":1.49968, "vy":0.00873, "omega":-0.00054, "ax":0.0, "ay":0.00004, "alpha":-0.00156, "fx":[-0.00316,-0.00317,0.00312,0.0032], "fy":[0.00289,-0.0017,-0.00174,0.00285]}, + {"t":5.89825, "x":15.87822, "y":2.05081, "heading":-3.14152, "vx":1.49968, "vy":0.00873, "omega":-0.00062, "ax":0.0, "ay":-0.00003, "alpha":-0.00165, "fx":[-0.00248,-0.00252,0.00249,0.00252], "fy":[0.0029,-0.00371,-0.00359,0.00282]}, + {"t":5.94824, "x":15.95319, "y":2.05125, "heading":-3.14155, "vx":1.49968, "vy":0.00873, "omega":-0.0007, "ax":0.0, "ay":0.00006, "alpha":-0.00142, "fx":[-0.00305,-0.00209,0.00253,0.0026], "fy":[0.00326,-0.00155,-0.00158,0.00322]}, + {"t":5.99822, "x":16.02815, "y":2.05168, "heading":-3.14158, "vx":1.49968, "vy":0.00873, "omega":-0.00077, "ax":0.0, "ay":-0.00006, "alpha":-0.00098, "fx":[-0.00163,-0.00166,0.00164,0.00167], "fy":[0.00085,-0.00278,-0.00262,0.00078]}, + {"t":6.04821, "x":16.10311, "y":2.05212, "heading":3.14156, "vx":1.49968, "vy":0.00873, "omega":-0.00082, "ax":0.0, "ay":0.00008, "alpha":0.00027, "fx":[0.00063,0.00082,-0.00077,-0.0007], "fy":[0.00098,0.0014,0.00138,0.00096]}, + {"t":6.09819, "x":16.17807, "y":2.05256, "heading":3.14152, "vx":1.49968, "vy":0.00873, "omega":-0.0008, "ax":0.0, "ay":-0.00015, "alpha":0.00259, "fx":[0.00401,0.004,-0.00398,-0.00397], "fy":[-0.0072,0.00279,0.00297,-0.00725]}, + {"t":6.14818, "x":16.25303, "y":2.05299, "heading":3.14148, "vx":1.49968, "vy":0.00872, "omega":-0.00067, "ax":0.0, "ay":0.0002, "alpha":0.00554, "fx":[0.01705,-0.00005,-0.00855,-0.00852], "fy":[-0.00794,0.01366,0.01366,-0.00794]}, + {"t":6.19816, "x":16.32799, "y":2.05343, "heading":3.14145, "vx":1.49968, "vy":0.00873, "omega":-0.0004, "ax":0.0, "ay":-0.00037, "alpha":0.01336, "fx":[0.02197,0.02198,-0.0219,-0.02192], "fy":[-0.03006,0.01876,0.01982,-0.03006]}, + {"t":6.24815, "x":16.40295, "y":2.05387, "heading":3.14143, "vx":1.49968, "vy":0.00871, "omega":0.00027, "ax":-0.00001, "ay":0.00095, "alpha":0.0071, "fx":[0.10185,-0.1312,0.01453,0.01451], "fy":[-0.02552,0.05325,0.05329,-0.02548]}, + {"t":6.29813, "x":16.47792, "y":2.0543, "heading":3.14144, "vx":1.49968, "vy":0.00876, "omega":0.00062, "ax":0.00001, "ay":-0.00214, "alpha":0.03463, "fx":[0.05913,0.05918,-0.05877,-0.05882], "fy":[-0.09314,0.02724,0.03383,-0.0931]}, + {"t":6.34812, "x":16.55288, "y":2.05474, "heading":3.14147, "vx":1.49968, "vy":0.00865, "omega":0.00236, "ax":-0.00016, "ay":0.0001, "alpha":-0.04735, "fx":[0.42417,-0.93402,0.2503,0.25029], "fy":[-0.08609,0.08877,0.08892,-0.08603]}, + {"t":6.3981, "x":16.62784, "y":2.05517, "heading":3.14159, "vx":1.49967, "vy":0.00866, "omega":-0.00001, "ax":-9.41603, "ay":-0.05309, "alpha":0.00033, "fx":[-137.74186,-137.74192,-137.74013,-137.74007], "fy":[-0.77869,-0.77911,-0.77004,-0.77863]}, + {"t":6.44809, "x":16.69104, "y":2.05554, "heading":3.14159, "vx":1.02901, "vy":0.00601, "omega":0.00001, "ax":-10.28738, "ay":-0.06022, "alpha":0.00015, "fx":[-150.48744,-150.48745,-150.48744,-150.48744], "fy":[-0.88145,-0.87919,-0.88163,-0.88147]}, + {"t":6.49807, "x":16.72962, "y":2.05576, "heading":3.14159, "vx":0.51479, "vy":0.003, "omega":0.00001, "ax":-10.29886, "ay":-0.05992, "alpha":-0.00025, "fx":[-150.65539,-150.65537,-150.65538,-150.65539], "fy":[-0.87561,-0.87842,-0.87636,-0.87565]}, + {"t":6.54806, "x":16.74249, "y":2.05584, "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/Paths.java b/src/main/java/frc/robot/commands/autos/Paths.java index 38c2eaec..fd7b31d9 100644 --- a/src/main/java/frc/robot/commands/autos/Paths.java +++ b/src/main/java/frc/robot/commands/autos/Paths.java @@ -52,7 +52,7 @@ public Paths() { robotFourToPostECommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E")); robotFourToPostECommand2 = - AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("R4 to Post E")); + AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("Simple path 1")); robotTwoToPostHCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 2 to Post H")); // Post to Station Paths From 28e159a19df37fe507b5e0737dd15c6d31527f3c Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 18:13:51 -0500 Subject: [PATCH 7/8] small+ --- src/main/java/frc/robot/commands/autos/Paths.java | 2 +- src/main/java/frc/robot/constants/GameConstants.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/autos/Paths.java b/src/main/java/frc/robot/commands/autos/Paths.java index fd7b31d9..38c2eaec 100644 --- a/src/main/java/frc/robot/commands/autos/Paths.java +++ b/src/main/java/frc/robot/commands/autos/Paths.java @@ -52,7 +52,7 @@ public Paths() { robotFourToPostECommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 4 to Post E")); robotFourToPostECommand2 = - AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("Simple path 1")); + AutoBuilder.followPath(PathPlannerPath.fromChoreoTrajectory("R4 to Post E")); robotTwoToPostHCommand = AutoBuilder.followPath(PathPlannerPath.fromPathFile("Robot 2 to Post H")); // Post to Station Paths diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index 19da1a17..ec3ce606 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -198,7 +198,7 @@ public enum Mode { // Drivetrain public static final double WHEEL_RADIUS = 0.0508; // TODO: change later - public static final double MAX_VELOCITY = 1.5; // 4 meters per second //TODO: change later + public static final double MAX_VELOCITY = 3.81; // 4 meters per second //TODO: change later public static final double MAX_ANGULAR_SPEED = 6 * Math.PI; // TODO: change later // Other From 6ca116b4702c6c8dfa5a10674777da4683b03a6e Mon Sep 17 00:00:00 2001 From: Lev Strougov <62769580+Levercpu@users.noreply.github.com> Date: Mon, 8 Dec 2025 19:53:33 -0500 Subject: [PATCH 8/8] ptogress so far --- src/main/deploy/choreo/Paths.chor | 64 ++++++- src/main/deploy/choreo/Post C to S1.traj | 83 ++++---- src/main/deploy/choreo/Post D to S1.traj | 85 ++++---- src/main/deploy/choreo/Post E to S1.traj | 171 +++++++++-------- src/main/deploy/choreo/R4 to Post E.traj | 155 +++++++-------- src/main/deploy/choreo/S1 to Post B.traj | 181 +++++++++--------- src/main/deploy/choreo/S1 to Post C.traj | 109 +++++------ src/main/deploy/choreo/S1 to Post D.traj | 112 ++++++----- src/main/deploy/choreo/Simple path 1.traj | 170 ---------------- .../frc/robot/constants/GameConstants.java | 4 +- 10 files changed, 505 insertions(+), 629 deletions(-) delete mode 100644 src/main/deploy/choreo/Simple path 1.traj diff --git a/src/main/deploy/choreo/Paths.chor b/src/main/deploy/choreo/Paths.chor index 07a12f22..6f18015b 100644 --- a/src/main/deploy/choreo/Paths.chor +++ b/src/main/deploy/choreo/Paths.chor @@ -3,7 +3,15 @@ "version":1, "type":"Swerve", "variables":{ - "expressions":{}, + "expressions":{ + "offset":{ + "dimension":"Length", + "var":{ + "exp":"0.2 m", + "val":0.2 + } + } + }, "poses":{ "A":{ "x":{ @@ -173,6 +181,48 @@ "val":5.235987755982989 } }, + "R1":{ + "x":{ + "exp":"7.142991913746631 m", + "val":7.142991913746631 + }, + "y":{ + "exp":"6.0518 m", + "val":6.0518 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "R2":{ + "x":{ + "exp":"7.15 m", + "val":7.15 + }, + "y":{ + "exp":"4.5 m", + "val":4.5 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "R3":{ + "x":{ + "exp":"7.15 m", + "val":7.15 + }, + "y":{ + "exp":"3.5518 m", + "val":3.5518 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "R4":{ "x":{ "exp":"7.142991913746631 m", @@ -203,16 +253,16 @@ }, "S2":{ "x":{ - "exp":"1.626 m", - "val":1.626 + "exp":"0.8796831418724709 m", + "val":0.8796831418724709 }, "y":{ - "exp":"0.679 m", - "val":0.679 + "exp":"7.007313562890064 m", + "val":7.007313562890064 }, "heading":{ - "exp":"0.9426766270029469 rad", - "val":0.9426766270029469 + "exp":"-0.9426766270029469 rad", + "val":-0.9426766270029469 } } } diff --git a/src/main/deploy/choreo/Post C to S1.traj b/src/main/deploy/choreo/Post C to S1.traj index 5b205489..b599efaa 100644 --- a/src/main/deploy/choreo/Post C to S1.traj +++ b/src/main/deploy/choreo/Post C to S1.traj @@ -3,24 +3,24 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.8176981000607, "y":2.9336485880936, "heading":1.0471975511965976, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.8176981000607, "y":2.9336485880936, "heading":1.0471975511965976, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.8796831418724709, "y":1.0444864371099356, "heading":0.9426766270029469, "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":5.0}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":6.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"C.x", "val":3.8176981000607}, "y":{"exp":"C.y", "val":2.9336485880936}, "heading":{"exp":"C.heading", "val":1.0471975511965976}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"C.x", "val":3.8176981000607}, "y":{"exp":"C.y", "val":2.9336485880936}, "heading":{"exp":"C.heading", "val":1.0471975511965976}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"S1.x", "val":0.8796831418724709}, "y":{"exp":"S1.y", "val":1.0444864371099356}, "heading":{"exp":"S1.heading", "val":0.9426766270029469}, "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":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"6 m / s ^ 2", "val":6.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -28,46 +28,43 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.68468], + "waypoints":[0.0,1.5614], "samples":[ - {"t":0.0, "x":3.8177, "y":2.93365, "heading":1.0472, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.2037, "ay":-2.70301, "alpha":-0.9847, "fx":[-59.47571,-62.61201,-63.45678,-60.42847], "fy":[-39.35019,-36.84262,-39.73778,-42.23184]}, - {"t":0.04553, "x":3.81334, "y":2.93085, "heading":1.0472, "vx":-0.1914, "vy":-0.12307, "omega":-0.04484, "ax":-4.2046, "ay":-2.70357, "alpha":-0.70521, "fx":[-60.06718,-62.30059,-62.91599,-60.74154], 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- {"t":6.44809, "x":16.69104, "y":2.05554, "heading":3.14159, "vx":1.02901, "vy":0.00601, "omega":0.00001, "ax":-10.28738, "ay":-0.06022, "alpha":0.00015, "fx":[-150.48744,-150.48745,-150.48744,-150.48744], "fy":[-0.88145,-0.87919,-0.88163,-0.88147]}, - {"t":6.49807, "x":16.72962, "y":2.05576, "heading":3.14159, "vx":0.51479, "vy":0.003, "omega":0.00001, "ax":-10.29886, "ay":-0.05992, "alpha":-0.00025, "fx":[-150.65539,-150.65537,-150.65538,-150.65539], "fy":[-0.87561,-0.87842,-0.87636,-0.87565]}, - {"t":6.54806, "x":16.74249, "y":2.05584, "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/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index ec3ce606..877336aa 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -198,8 +198,8 @@ public enum Mode { // Drivetrain public static final double WHEEL_RADIUS = 0.0508; // TODO: change later - public static final double MAX_VELOCITY = 3.81; // 4 meters per second //TODO: change later - public static final double MAX_ANGULAR_SPEED = 6 * Math.PI; // TODO: change later + public static final double MAX_VELOCITY = 3.708; // 4 meters per second //TODO: change later + public static final double MAX_ANGULAR_SPEED = 8.427; // TODO: change later // Other public static final double GRAVITY = -9.81;