diff --git a/src/main/deploy/pathplanner/autos/Blue_Right.auto b/src/main/deploy/pathplanner/autos/Blue_Right.auto new file mode 100644 index 0000000..c107706 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Blue_Right.auto @@ -0,0 +1,108 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "start to 20" + } + }, + { + "type": "named", + "data": { + "name": "Tower L2" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "to stasion from 20" + } + }, + { + "type": "named", + "data": { + "name": "Tower L0" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "From staision to 19" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Take" + } + }, + { + "type": "named", + "data": { + "name": "Tower L3" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue_left.auto b/src/main/deploy/pathplanner/autos/Blue_left.auto new file mode 100644 index 0000000..dd31989 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Blue_left.auto @@ -0,0 +1,101 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start to 22" + } + }, + { + "type": "named", + "data": { + "name": "Tower L2" + } + } + ] + } + }, + { + "type": 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a/src/main/deploy/pathplanner/autos/New Auto.auto +++ /dev/null @@ -1,45 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Example Path" - } - }, - { - "type": "named", - "data": { - "name": "Tower L2" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Shoot" - } - } - ] - } - } - ] - } - }, - "resetOdom": false, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Red_Left.auto b/src/main/deploy/pathplanner/autos/Red_Left.auto new file mode 100644 index 0000000..a0b5bff --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Red_Left.auto @@ -0,0 +1,101 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ 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-59.99999999999999 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/From staision to 19.path b/src/main/deploy/pathplanner/paths/From staision to 19.path new file mode 100644 index 0000000..12084e4 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/From staision to 19.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.8714897260273973, + "y": 6.887 + }, + "prevControl": null, + "nextControl": { + "x": 1.5907464839765395, + "y": 6.167743242050857 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.832, + "y": 5.114 + }, + "prevControl": { + "x": 3.6948839418992603, + "y": 5.351491979164047 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + 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7.0617372958409845, + "y": 2.214150138669688 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.123758561643836, + "y": 2.95 + }, + "prevControl": { + "x": 5.619604989509057, + "y": 2.199378504720618 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 119.74488129694218 + }, + "reversed": false, + "folder": "Blue_Left", + "idealStartingState": { + "velocity": 0, + "rotation": 180.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Start to 9.path b/src/main/deploy/pathplanner/paths/Start to 9.path new file mode 100644 index 0000000..f8bf81b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Start to 9.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 9.511, + "y": 6.2 + }, + "prevControl": null, + "nextControl": { + "x": 10.511, + "y": 6.2 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 12.411215753424658, + "y": 5.09933647260274 + }, + "prevControl": { + "x": 11.930393835616437, + "y": 5.640261130136986 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -59.99999999999999 + }, + "reversed": false, + "folder": "Red_Left", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/player to 17.path b/src/main/deploy/pathplanner/paths/player to 17.path new file mode 100644 index 0000000..5be0634 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/player to 17.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.0, + "y": 1.0 + }, + "prevControl": null, + "nextControl": { + "x": 0.4995113340509192, + "y": 0.6519800181957841 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.831549657534247, + "y": 2.95 + }, + "prevControl": { + "x": 3.448369372179858, + "y": 2.6968809014560344 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 59.99999999999999 + }, + "reversed": false, + "folder": "Blue_Left", + "idealStartingState": { + "velocity": 0, + "rotation": 49.8 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/player to 6.path b/src/main/deploy/pathplanner/paths/player to 6.path new file mode 100644 index 0000000..fb3a8ce --- /dev/null +++ b/src/main/deploy/pathplanner/paths/player to 6.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 16.5, + "y": 1.0 + }, + "prevControl": null, + "nextControl": { + "x": 15.88214897260274, + "y": 1.222709760273973 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 13.673373287671234, + "y": 2.95066352739726 + }, + "prevControl": { + "x": 14.07906678082192, + "y": 2.3045590753424654 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 119.99999999999999 + }, + "reversed": false, + "folder": "Red_Right", + "idealStartingState": { + "velocity": 0, + "rotation": 125.66500000000002 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/player to 8.path b/src/main/deploy/pathplanner/paths/player to 8.path new file mode 100644 index 0000000..0450360 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/player to 8.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 16.068, + "y": 7.354 + }, + "prevControl": null, + "nextControl": { + "x": 15.315276315789474, + "y": 7.1338125 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 13.643585526315787, + "y": 5.102631578947368 + }, + "prevControl": { + "x": 14.047697368421051, + "y": 5.593338815789473 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -119.99999999999999 + }, + "reversed": false, + "folder": "Red_Left", + "idealStartingState": { + "velocity": 0, + "rotation": -125.00000000000001 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/start to 20.path similarity index 73% rename from src/main/deploy/pathplanner/paths/Example Path.path rename to src/main/deploy/pathplanner/paths/start to 20.path index 2a92484..1669be1 100644 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ b/src/main/deploy/pathplanner/paths/start to 20.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.377611301369862, - "y": 6.376519691780823 + "x": 8.083818493150686, + "y": 6.2 }, "prevControl": null, "nextControl": { - "x": 6.388053545635574, - "y": 6.229010279267341 + "x": 7.0840887999538396, + "y": 6.223249527748764 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 5.166 }, "prevControl": { - "x": 5.496988273610204, - "y": 5.928961058336469 + "x": 5.526958574607466, + "y": 5.912442147177595 }, "nextControl": null, "isLocked": false, @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 2.0, + "maxVelocity": 1.5, + "maxAcceleration": 1.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, @@ -42,10 +42,10 @@ }, "goalEndState": { "velocity": 0, - "rotation": -119.74488129694228 + "rotation": -119.99999999999999 }, "reversed": false, - "folder": null, + "folder": "Blue_Right", "idealStartingState": { "velocity": 0, "rotation": 180.0 diff --git a/src/main/deploy/pathplanner/paths/to stasion from 20.path b/src/main/deploy/pathplanner/paths/to stasion from 20.path new file mode 100644 index 0000000..5c283a9 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/to stasion from 20.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.096, + "y": 5.166 + }, + "prevControl": null, + "nextControl": { + "x": 4.829331595980664, + "y": 5.096592736845906 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.8714897260273973, + "y": 6.887392979452056 + }, + "prevControl": { + "x": 1.1520862560448417, + "y": 6.808390264126811 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -52.59464336859152 + }, + "reversed": false, + "folder": "Blue_Right", + "idealStartingState": { + "velocity": 0, + "rotation": -119.99999999999999 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 872c28d..b527c90 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -2,7 +2,12 @@ "robotWidth": 0.7, "robotLength": 0.7, "holonomicMode": true, - "pathFolders": [], + "pathFolders": [ + "Blue_Left", + "Blue_Right", + "Red_Left", + "Red_Right" + ], "autoFolders": [], "defaultMaxVel": 1.0, "defaultMaxAccel": 1.0, diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index ebf05fc..90cb0c7 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -123,9 +123,9 @@ public void setupPathPlanner() { new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic // drive trains - new PIDConstants(5.0, 0.0, 0.0), + new PIDConstants(4.5, 0.0, 1.5), //i = 0.001, d = 2 // Translation PID constants - new PIDConstants(5.0, 0.0, 0.0) + new PIDConstants(3.0, 0.0, 0.5) // p = 3.0 d = 0.1 // Rotation PID constants ), config, @@ -177,8 +177,8 @@ public Command getAutonomousCommand(String pathName) { public Command driveToPose(Pose2d pose) { // Create the constraints to use while pathfinding PathConstraints constraints = new PathConstraints( - swerveDrive.getMaximumChassisVelocity(), 4.0, - swerveDrive.getMaximumChassisAngularVelocity(), Units.degreesToRadians(720)); + 1.0, 4.0, + 1.0, Units.degreesToRadians(720)); // Since AutoBuilder is configured, we can use it to build pathfinding commands return AutoBuilder.pathfindToPose(