diff --git a/src/main/deploy/choreo/2026.chor b/src/main/deploy/choreo/2026.chor deleted file mode 100644 index 3f2d1a4f..00000000 --- a/src/main/deploy/choreo/2026.chor +++ /dev/null @@ -1,84 +0,0 @@ -{ - "name":"2026", - "version":2, - "type":"Swerve", - "variables":{ - "expressions":{}, - "poses":{} - }, - "config":{ - "frontLeft":{ - "x":{ - "exp":"11.25 in", - "val":0.28575 - }, - "y":{ - "exp":"9.75 in", - "val":0.24765 - } - }, - "backLeft":{ - "x":{ - "exp":"-11.25 in", - "val":-0.28575 - }, - "y":{ - "exp":"9.75 in", - "val":0.24765 - } - }, - "mass":{ - "exp":"150 lbs", - "val":68.0388555 - }, - "inertia":{ - "exp":"6 kg m ^ 2", - "val":6.0 - }, - "gearing":{ - "exp":"6.75", - "val":6.75 - }, - "radius":{ - "exp":"2 in", - "val":0.0508 - }, - "vmax":{ - "exp":"1300 RPM", - "val":136.1356816555577 - }, - "tmax":{ - "exp":"0.13 N * m", - "val":0.13 - }, - "cof":{ - "exp":"1.2", - "val":1.2 - }, - "bumper":{ - "front":{ - "exp":"17.938 in", - "val":0.4556251999999999 - }, - "side":{ - "exp":"16.438 in", - "val":0.41752519999999993 - }, - "back":{ - "exp":"17.938 in", - "val":0.4556251999999999 - } - }, - "differentialTrackWidth":{ - "exp":"22 in", - "val":0.5588 - } - }, - "generationFeatures":[], - "codegen":{ - "root":null, - "genVars":true, - "genTrajData":true, - "useChoreoLib":true - } -} diff --git a/src/main/deploy/choreo/BlueLeftNeutralZone.traj b/src/main/deploy/choreo/BlueLeftNeutralZone.traj index 9ffe2217..fa836c69 100644 --- a/src/main/deploy/choreo/BlueLeftNeutralZone.traj +++ b/src/main/deploy/choreo/BlueLeftNeutralZone.traj @@ -3,15 +3,15 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.0, "y":7.5, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.507976055145264, "y":7.5, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.701042175292969, "y":7.281223297119141, 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"overrideIntervals":false}, + {"x":7.058018684387207, "y":4.29621696472168, "heading":-2.356193041775537, "intervals":47, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.28985595703125, "y":4.29621696472168, "heading":1.69515114307497, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.212356090545654, "y":6.104437828063965, "heading":1.7126927697559444, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.015511989593506, "y":7.5, "heading":-3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.0, "y":7.5, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -33,16 +33,16 @@ 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"val":-3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"BLTransition.x", "val":4.0}, "y":{"exp":"BLTransition.y", "val":7.5}, "heading":{"exp":"BLTransition.heading", "val":3.141592653589793}, "intervals":22, "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}, @@ -67,255 +67,404 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.2794, - "y":0.2794 + "x":0.28575, + "y":0.24765 }, "backLeft":{ - "x":-0.2794, - "y":0.2794 + "x":-0.28575, + "y":0.24765 }, "mass":56.69904625, "inertia":6.0, - "gearing":6.5, + "gearing":6.75, "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.5, + "vmax":366.5191429188092, + "tmax":0.25, + "cof":1.0, "bumper":{ - "front":0.4064, - 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a/src/main/deploy/choreo/BlueRightNeutralZone.traj b/src/main/deploy/choreo/BlueRightNeutralZone.traj index f922e5e4..a5732379 100644 --- a/src/main/deploy/choreo/BlueRightNeutralZone.traj +++ b/src/main/deploy/choreo/BlueRightNeutralZone.traj @@ -3,14 +3,14 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":4.0, "y":0.65, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.5, "y":0.65, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.0472731590271, "y":0.8682471513748169, "heading":0.8408968235928708, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.8, "y":1.75, "heading":1.5707963267948966, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.8, "y":3.5, "heading":1.5707963267948966, "intervals":43, "split":false, 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"fy":[-7.75449,-4.89214,7.75449,4.89214]}, - {"t":11.15368, "x":2.21328, "y":6.975, "heading":-1.32139, "vx":-0.93454, "vy":-0.35511, "omega":0.62139, "ax":0.0, "ay":0.0, "alpha":-2.74934, "fx":[-5.33015,8.97338,5.33015,-8.97338], "fy":[-8.97338,-5.33015,8.97338,5.33015]}, - {"t":11.19133, "x":2.1781, "y":6.96163, "heading":-1.29799, "vx":-0.93454, "vy":-0.35511, "omega":0.51787, "ax":0.0, "ay":0.0, "alpha":-3.1268, "fx":[-5.82152,10.34438,5.82152,-10.34438], "fy":[-10.34438,-5.82152,10.34438,5.82152]}, - {"t":11.22899, "x":2.14291, "y":6.94826, "heading":-1.27849, "vx":-0.93454, "vy":-0.35511, "omega":0.40013, "ax":0.0, "ay":0.0, "alpha":-3.55283, "fx":[-6.38426,11.88055,6.38426,-11.88055], "fy":[-11.88055,-6.38426,11.88055,6.38426]}, - {"t":11.26664, "x":2.10772, "y":6.93489, "heading":-1.26343, "vx":-0.93454, "vy":-0.35511, "omega":0.26636, "ax":0.00002, "ay":0.00001, "alpha":-4.03302, "fx":[-7.04287,13.59425,7.04343,-13.59369], "fy":[-13.59386,-7.04303,13.59408,7.04326]}, - {"t":11.3043, "x":2.07253, "y":6.92152, "heading":-1.2534, "vx":-0.93454, "vy":-0.35511, "omega":0.1145, "ax":4.6071, "ay":1.75063, "alpha":-3.01956, "fx":[62.49793,74.50695,68.4124,55.80072], "fy":[13.26368,17.8756,35.48232,32.63772]}, - {"t":11.34195, "x":2.04061, "y":6.90939, "heading":-1.24909, "vx":-0.76106, "vy":-0.28919, "omega":0.0008, "ax":10.09951, "ay":3.83768, "alpha":-0.01361, "fx":[143.18281,143.18528,143.1336,143.13107], "fy":[54.33287,54.32742,54.46348,54.46905]}, - {"t":11.3796, "x":2.01911, "y":6.90122, "heading":-1.24906, "vx":-0.38078, "vy":-0.14469, "omega":0.00029, "ax":10.11262, "ay":3.84266, "alpha":-0.0076, "fx":[143.35781,143.3591,143.33018,143.32888], "fy":[54.43229,54.42919,54.50531,54.50845]}, - {"t":11.41726, "x":2.01194, "y":6.89849, "heading":-1.24905, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 23d6ba3a..2f21cb68 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -772,13 +772,9 @@ public void bindXboxOperator(int port, DriverController driver) { // xboxOperator.y().and(() -> hopper.isDeployed()).whileTrue(intake.getReverseCommand()); // Feeder - xboxOperator - .a() - .whileTrue(Commands.startEnd(feeder::spinForward, () -> {}, feeder).withName("Advance")); + xboxOperator.a().whileTrue(feeder.getSpinForwardCommand()); - xboxOperator - .x() - .whileTrue(Commands.startEnd(feeder::reverse, () -> {}, feeder).withName("Reverse")); + xboxOperator.x().whileTrue(feeder.getReverseCommand()); // Desaturate turret and advance feeder xboxOperator.rightBumper().whileTrue(createDesaturateAndShootCommand(driver)); @@ -835,8 +831,7 @@ private Command createDesaturateAndShootCommand(DriverController driver) { allianceSelector::fieldRotated) .withName("Desaturate turret"), Commands.sequence( - Commands.waitUntil(launcher::isTurretDesaturated), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withName("Advance"))); + Commands.waitUntil(launcher::isTurretDesaturated), feeder.getSpinForwardCommand())); } private static void logHIDs() { diff --git a/src/main/java/frc/robot/auto/AutoMode.java b/src/main/java/frc/robot/auto/AutoMode.java index 2a6e868e..0a146f6f 100644 --- a/src/main/java/frc/robot/auto/AutoMode.java +++ b/src/main/java/frc/robot/auto/AutoMode.java @@ -5,13 +5,24 @@ import choreo.auto.AutoTrajectory; import choreo.trajectory.SwerveSample; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; +import frc.robot.subsystems.feeder.Feeder; +import frc.robot.subsystems.intake.Intake; import java.util.Optional; public abstract class AutoMode { private final AutoFactory autoFactory; - - public AutoMode(Drive drivetrain) { + protected final Drive drive; + protected final Feeder feeder; + protected final Intake intake; + + public AutoMode(Drive drivetrain, Feeder feeder, Intake intake) { + this.drive = drivetrain; + this.feeder = feeder; + this.intake = intake; autoFactory = new AutoFactory( drivetrain::getPose, @@ -34,10 +45,18 @@ public AutoFactory getAutoFactory() { public Optional getInitialPose() { return getInitialTrajectory().getInitialPose(); } - ; public SwerveSample[] getLoggableTrajectory() { SwerveSample[] trajArray = new SwerveSample[0]; return getInitialTrajectory().getRawTrajectory().samples().toArray(trajArray); } + + protected Command stopDrive() { + return DriveCommands.getStopCommand(drive); + } + + protected Command shakeAndFeed(double timeoutSeconds) { + return Commands.parallel(feeder.getSpinForwardCommand(), intake.getShakeIntakeCommand()) + .withTimeout(timeoutSeconds); + } } diff --git a/src/main/java/frc/robot/auto/B_DepotAuto.java b/src/main/java/frc/robot/auto/B_DepotAuto.java deleted file mode 100644 index b2144900..00000000 --- a/src/main/java/frc/robot/auto/B_DepotAuto.java +++ /dev/null @@ -1,66 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; -import frc.robot.subsystems.feeder.Feeder; -import frc.robot.subsystems.intake.Intake; -import frc.robot.subsystems.launcher.Launcher; - -public class B_DepotAuto extends AutoMode { - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; - - public B_DepotAuto( - Drive drivetrain, - // Hopper hopperSubsystem, - Feeder feederSubsystem, - Intake intakeSubsystem, - Launcher launcherSubsystem) { - super(drivetrain); - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_DepotAuto"); - - // Load trajectories - AutoTrajectory blueStartToDepot = routine.trajectory("BlueStartToDepot"); - - @Override - public String getName() { - return "BlueDepotAuto"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return blueStartToDepot; - } - - @Override - public AutoRoutine getAutoRoutine() { - - routine - .active() - .onTrue( - Commands.sequence( - blueStartToDepot.resetOdometry(), - Commands.parallel( - blueStartToDepot.cmd(), - Commands.sequence( - // Commands.runOnce(hopper::deploy, hopper), - intake.getDeployCommand().withTimeout(10.0))))); - - blueStartToDepot - .done() - .onTrue(Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0)); - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java b/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java index 2da3add6..ad9a3028 100644 --- a/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java +++ b/src/main/java/frc/robot/auto/B_LeftTrenchAuto.java @@ -10,33 +10,23 @@ import frc.robot.subsystems.launcher.Launcher; public class B_LeftTrenchAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory blueLeftNeutralZone; + private final AutoTrajectory blueLeftTransitionToNZ; public B_LeftTrenchAuto( Drive drivetrain, - // Hopper hopperSubsystem, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); launcher = launcherSubsystem; + routine = getAutoFactory().newRoutine("B_LeftTrenchAuto"); + blueLeftNeutralZone = routine.trajectory("BlueLeftNeutralZone"); + blueLeftTransitionToNZ = routine.trajectory("BlueLeftTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_LeftTrenchAuto"); - - // Load trajectories - AutoTrajectory blueLeftNeutralZone = routine.trajectory("BlueLeftNeutralZone"); - AutoTrajectory blueLeftTransitionToNZ = routine.trajectory("BlueLeftTransitionToNZ"); - @Override public String getName() { return "BlueLeftTrenchAuto"; @@ -57,8 +47,7 @@ public AutoRoutine getAutoRoutine() { blueLeftNeutralZone.resetOdometry(), DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) .withTimeout(1.5), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), - Commands.runOnce(feeder::stop, feeder), + feeder.getSpinForwardCommand().withTimeout(3.0), Commands.parallel( blueLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -66,19 +55,12 @@ public AutoRoutine getAutoRoutine() { .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( blueLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - blueLeftTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + blueLeftTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java index 123efdb4..e8ed0c24 100644 --- a/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/B_LeftTrenchMoveFirstAuto.java @@ -9,31 +9,21 @@ import frc.robot.subsystems.launcher.Launcher; public class B_LeftTrenchMoveFirstAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory blueLeftNeutralZone; + private final AutoTrajectory blueLeftTransitionToNZ; public B_LeftTrenchMoveFirstAuto( Drive drivetrain, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); + routine = getAutoFactory().newRoutine("B_LeftTrenchMoveFirstAuto"); + blueLeftNeutralZone = routine.trajectory("BlueLeftNinetyNeutralZone"); + blueLeftTransitionToNZ = routine.trajectory("BlueLeftTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_LeftTrenchMoveFirstAuto"); - - // Load trajectories - AutoTrajectory blueLeftNeutralZone = routine.trajectory("BlueLeftNeutralZone"); - AutoTrajectory blueLeftTransitionToNZ = routine.trajectory("BlueLeftTransitionToNZ"); - @Override public String getName() { return "BlueLeftTrenchMoveFirstAuto"; @@ -53,25 +43,20 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( blueLeftNeutralZone.resetOdometry(), Commands.parallel( - blueLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); + blueLeftNeutralZone.cmd(), + Commands.sequence( + Commands.waitSeconds(0.8), intake.getDeployCommand().withTimeout(9.2))))); blueLeftNeutralZone .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( blueLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - blueLeftTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + blueLeftTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_MoveForward1M.java b/src/main/java/frc/robot/auto/B_MoveForward1M.java deleted file mode 100644 index 4a608b25..00000000 --- a/src/main/java/frc/robot/auto/B_MoveForward1M.java +++ /dev/null @@ -1,43 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; - -public class B_MoveForward1M extends AutoMode { - - public B_MoveForward1M(Drive drivetrain) { - super(drivetrain); - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("bluemoveforward1m"); - - // Load the routine's trajectories - AutoTrajectory trajectory = routine.trajectory("blueMoveForward1m"); - - @Override - public String getName() { - return "bluemoveforward1m"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return trajectory; - } - - @Override - public AutoRoutine getAutoRoutine() { - - // spotless:off - // When the routine begins, reset odometry and start the first trajectory - routine.active().onTrue( - Commands.sequence( - trajectory.resetOdometry(), - trajectory.cmd())); - // spotless:on - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/B_OutpostAuto.java b/src/main/java/frc/robot/auto/B_OutpostAuto.java deleted file mode 100644 index 0ffa284f..00000000 --- a/src/main/java/frc/robot/auto/B_OutpostAuto.java +++ /dev/null @@ -1,66 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; -import frc.robot.subsystems.feeder.Feeder; -import frc.robot.subsystems.intake.Intake; -import frc.robot.subsystems.launcher.Launcher; - -public class B_OutpostAuto extends AutoMode { - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; - - public B_OutpostAuto( - Drive drivetrain, - // Hopper hopperSubsystem, - Feeder feederSubsystem, - Intake intakeSubsystem, - Launcher launcherSubsystem) { - super(drivetrain); - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_OutpostAuto"); - - // Load trajectories - AutoTrajectory blueStartToOutpost = routine.trajectory("BlueStartToOutpost"); - - @Override - public String getName() { - return "BlueOutpostAuto"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return blueStartToOutpost; - } - - @Override - public AutoRoutine getAutoRoutine() { - - routine - .active() - .onTrue( - Commands.sequence( - blueStartToOutpost.resetOdometry(), - Commands.parallel( - blueStartToOutpost.cmd(), - Commands.sequence( - // Commands.runOnce(hopper::deploy, hopper), - intake.getDeployCommand().withTimeout(10.0))))); - - blueStartToOutpost - .done() - .onTrue(Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0)); - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/B_Path.java b/src/main/java/frc/robot/auto/B_Path.java deleted file mode 100644 index fe3d3eac..00000000 --- a/src/main/java/frc/robot/auto/B_Path.java +++ /dev/null @@ -1,43 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; - -public class B_Path extends AutoMode { - - public B_Path(Drive drivetrain) { - super(drivetrain); - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("bluesquared"); - - // Load the routine's trajectories - AutoTrajectory trajectory = routine.trajectory("bluesquare"); - - @Override - public String getName() { - return "bluesquared"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return trajectory; - } - - @Override - public AutoRoutine getAutoRoutine() { - - // spotless:off - // When the routine begins, reset odometry and start the first trajectory - routine.active().onTrue( - Commands.sequence( - trajectory.resetOdometry(), - trajectory.cmd())); - // spotless:on - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/B_RightTrenchAuto.java b/src/main/java/frc/robot/auto/B_RightTrenchAuto.java index 16f0b840..ffa43e6a 100644 --- a/src/main/java/frc/robot/auto/B_RightTrenchAuto.java +++ b/src/main/java/frc/robot/auto/B_RightTrenchAuto.java @@ -10,33 +10,23 @@ import frc.robot.subsystems.launcher.Launcher; public class B_RightTrenchAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory blueRightNeutralZone; + private final AutoTrajectory blueRightTransitionToNZ; public B_RightTrenchAuto( Drive drivetrain, - // Hopper hopperSubsystem, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); launcher = launcherSubsystem; + routine = getAutoFactory().newRoutine("B_RightTrenchAuto"); + blueRightNeutralZone = routine.trajectory("BlueRightNeutralZone"); + blueRightTransitionToNZ = routine.trajectory("BlueRightTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_RightTrenchAuto"); - - // Load trajectories - AutoTrajectory blueRightNeutralZone = routine.trajectory("BlueRightNeutralZone"); - AutoTrajectory blueRightTransitionToNZ = routine.trajectory("BlueRightTransitionToNZ"); - @Override public String getName() { return "BlueRightTrenchAuto"; @@ -57,8 +47,7 @@ public AutoRoutine getAutoRoutine() { blueRightNeutralZone.resetOdometry(), DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) .withTimeout(1.5), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), - Commands.runOnce(feeder::stop, feeder), + feeder.getSpinForwardCommand().withTimeout(3.0), Commands.parallel( blueRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -66,19 +55,12 @@ public AutoRoutine getAutoRoutine() { .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( blueRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - blueRightTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + blueRightTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java index d368a63c..fce79e83 100644 --- a/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/B_RightTrenchMoveFirstAuto.java @@ -9,30 +9,21 @@ import frc.robot.subsystems.launcher.Launcher; public class B_RightTrenchMoveFirstAuto extends AutoMode { - Drive drive; - Feeder feeder; - Intake intake; - Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory blueRightNeutralZone; + private final AutoTrajectory blueRightTransitionToNZ; public B_RightTrenchMoveFirstAuto( Drive drivetrain, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); + routine = getAutoFactory().newRoutine("B_RightTrenchMoveFirstAuto"); + blueRightNeutralZone = routine.trajectory("BlueRightNinetyNeutralZone"); + blueRightTransitionToNZ = routine.trajectory("BlueRightTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("B_RightTrenchMoveFirstAuto"); - - // Load trajectories - AutoTrajectory blueRightNeutralZone = routine.trajectory("BlueRightNeutralZone"); - AutoTrajectory blueRightTransitionToNZ = routine.trajectory("BlueRightTransitionToNZ"); - @Override public String getName() { return "BlueRightTrenchMoveFirstAuto"; @@ -52,25 +43,20 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( blueRightNeutralZone.resetOdometry(), Commands.parallel( - blueRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); + blueRightNeutralZone.cmd(), + Commands.sequence( + Commands.waitSeconds(0.8), intake.getDeployCommand().withTimeout(9.2))))); blueRightNeutralZone .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( blueRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - blueRightTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + blueRightTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_DepotAuto.java b/src/main/java/frc/robot/auto/R_DepotAuto.java deleted file mode 100644 index b2cfe845..00000000 --- a/src/main/java/frc/robot/auto/R_DepotAuto.java +++ /dev/null @@ -1,66 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; -import frc.robot.subsystems.feeder.Feeder; -import frc.robot.subsystems.intake.Intake; -import frc.robot.subsystems.launcher.Launcher; - -public class R_DepotAuto extends AutoMode { - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; - - public R_DepotAuto( - Drive drivetrain, - // Hopper hopperSubsystem, - Feeder feederSubsystem, - Intake intakeSubsystem, - Launcher launcherSubsystem) { - super(drivetrain); - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_DepotAuto"); - - // Load trajectories - AutoTrajectory redStartToDepot = routine.trajectory("RedStartToDepot"); - - @Override - public String getName() { - return "RedDepotAuto"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return redStartToDepot; - } - - @Override - public AutoRoutine getAutoRoutine() { - - routine - .active() - .onTrue( - Commands.sequence( - redStartToDepot.resetOdometry(), - Commands.parallel( - redStartToDepot.cmd(), - Commands.sequence( - // Commands.runOnce(hopper::deploy, hopper), - intake.getDeployCommand().withTimeout(10.0))))); - - redStartToDepot - .done() - .onTrue(Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0)); - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java b/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java index abb7896f..18599340 100644 --- a/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java +++ b/src/main/java/frc/robot/auto/R_LeftTrenchAuto.java @@ -10,36 +10,26 @@ import frc.robot.subsystems.launcher.Launcher; public class R_LeftTrenchAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory redLeftNeutralZone; + private final AutoTrajectory redLeftTransitionToNZ; public R_LeftTrenchAuto( Drive drivetrain, - // Hopper hopperSubsystem, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); launcher = launcherSubsystem; + routine = getAutoFactory().newRoutine("R_LeftTrenchAuto"); + redLeftNeutralZone = routine.trajectory("RedLeftNeutralZone"); + redLeftTransitionToNZ = routine.trajectory("RedLeftTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_LeftTrenchAuto"); - - // Load trajectories - AutoTrajectory redLeftNeutralZone = routine.trajectory("RedLeftNeutralZone"); - AutoTrajectory redLeftTransitionToNZ = routine.trajectory("RedLeftTransitionToNZ"); - @Override public String getName() { - return "BlueLeftTrenchAuto"; + return "RedLeftTrenchAuto"; } @Override @@ -57,8 +47,7 @@ public AutoRoutine getAutoRoutine() { redLeftNeutralZone.resetOdometry(), DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) .withTimeout(1.5), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), - Commands.runOnce(feeder::stop, feeder), + feeder.getSpinForwardCommand().withTimeout(3.0), Commands.parallel( redLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -66,21 +55,14 @@ public AutoRoutine getAutoRoutine() { .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( redLeftTransitionToNZ.cmd(), Commands.sequence( Commands.waitSeconds(1.0), intake.getDeployCommand().withTimeout(4.0))))); - redLeftTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + redLeftTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java index 2152d068..ff1b1284 100644 --- a/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/R_LeftTrenchMoveFirstAuto.java @@ -9,33 +9,24 @@ import frc.robot.subsystems.launcher.Launcher; public class R_LeftTrenchMoveFirstAuto extends AutoMode { - Drive drive; - Feeder feeder; - Intake intake; - Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory redLeftNeutralZone; + private final AutoTrajectory redLeftTransitionToNZ; public R_LeftTrenchMoveFirstAuto( Drive drivetrain, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); + routine = getAutoFactory().newRoutine("R_LeftTrenchMoveFirstAuto"); + redLeftNeutralZone = routine.trajectory("RedLeftNinetyNeutralZone"); + redLeftTransitionToNZ = routine.trajectory("RedLeftTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_LeftTrenchMoveFirstAuto"); - - // Load trajectories - AutoTrajectory redLeftNeutralZone = routine.trajectory("RedLeftNeutralZone"); - AutoTrajectory redLeftTransitionToNZ = routine.trajectory("RedLeftTransitionToNZ"); - @Override public String getName() { - return "BlueLeftTrenchMoveFirstAuto"; + return "RedLeftTrenchMoveFirstAuto"; } @Override @@ -52,25 +43,20 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( redLeftNeutralZone.resetOdometry(), Commands.parallel( - redLeftNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); + redLeftNeutralZone.cmd(), + Commands.sequence( + Commands.waitSeconds(0.8), intake.getDeployCommand().withTimeout(9.2))))); redLeftNeutralZone .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( redLeftTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - redLeftTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + redLeftTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_MoveAndRotate.java b/src/main/java/frc/robot/auto/R_MoveAndRotate.java deleted file mode 100644 index 2508822c..00000000 --- a/src/main/java/frc/robot/auto/R_MoveAndRotate.java +++ /dev/null @@ -1,43 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; - -public class R_MoveAndRotate extends AutoMode { - - public R_MoveAndRotate(Drive drivetrain) { - super(drivetrain); - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("moveAndRotate"); - - // Load the routine's trajectories - AutoTrajectory trajectory = routine.trajectory("moveAndRotate"); - - @Override - public String getName() { - return "R_MoveAndRotate"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return trajectory; - } - - @Override - public AutoRoutine getAutoRoutine() { - - // spotless:off - // When the routine begins, reset odometry and start the first trajectory - routine.active().onTrue( - Commands.sequence( - trajectory.resetOdometry(), - trajectory.cmd())); - // spotless:on - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/R_MoveStraight.java b/src/main/java/frc/robot/auto/R_MoveStraight.java deleted file mode 100644 index 9bf0b0f5..00000000 --- a/src/main/java/frc/robot/auto/R_MoveStraight.java +++ /dev/null @@ -1,43 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; - -public class R_MoveStraight extends AutoMode { - - public R_MoveStraight(Drive drivetrain) { - super(drivetrain); - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("moveForward1m"); - - // Load the routine's trajectories - AutoTrajectory trajectory = routine.trajectory("moveForward1m"); - - @Override - public String getName() { - return "R_MoveStraight"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return trajectory; - } - - @Override - public AutoRoutine getAutoRoutine() { - - // spotless:off - // When the routine begins, reset odometry and start the first trajectory - routine.active().onTrue( - Commands.sequence( - trajectory.resetOdometry(), - trajectory.cmd())); - // spotless:on - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/R_OutpostAuto.java b/src/main/java/frc/robot/auto/R_OutpostAuto.java deleted file mode 100644 index 9a098caa..00000000 --- a/src/main/java/frc/robot/auto/R_OutpostAuto.java +++ /dev/null @@ -1,66 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; -import frc.robot.subsystems.feeder.Feeder; -import frc.robot.subsystems.intake.Intake; -import frc.robot.subsystems.launcher.Launcher; - -public class R_OutpostAuto extends AutoMode { - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; - - public R_OutpostAuto( - Drive drivetrain, - // Hopper hopperSubsystem, - Feeder feederSubsystem, - Intake intakeSubsystem, - Launcher launcherSubsystem) { - super(drivetrain); - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; - } - - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_OutpostAuto"); - - // Load trajectories - AutoTrajectory redStartToOutpost = routine.trajectory("RedStartToOutpost"); - - @Override - public String getName() { - return "RedOutpostAuto"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return redStartToOutpost; - } - - @Override - public AutoRoutine getAutoRoutine() { - - routine - .active() - .onTrue( - Commands.sequence( - redStartToOutpost.resetOdometry(), - Commands.parallel( - redStartToOutpost.cmd(), - Commands.sequence( - // Commands.runOnce(hopper::deploy, hopper), - intake.getDeployCommand().withTimeout(10.0))))); - - redStartToOutpost - .done() - .onTrue(Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0)); - - return routine; - } -} diff --git a/src/main/java/frc/robot/auto/R_RightTrenchAuto.java b/src/main/java/frc/robot/auto/R_RightTrenchAuto.java index d0682cb3..47b2a15d 100644 --- a/src/main/java/frc/robot/auto/R_RightTrenchAuto.java +++ b/src/main/java/frc/robot/auto/R_RightTrenchAuto.java @@ -10,33 +10,23 @@ import frc.robot.subsystems.launcher.Launcher; public class R_RightTrenchAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory redRightNeutralZone; + private final AutoTrajectory redRightTransitionToNZ; public R_RightTrenchAuto( Drive drivetrain, - // Hopper hopperSubsystem, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - // hopper = hopperSubsystem; - feeder = feederSubsystem; - intake = intakeSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); launcher = launcherSubsystem; + routine = getAutoFactory().newRoutine("R_RightTrenchAuto"); + redRightNeutralZone = routine.trajectory("RedRightNeutralZone"); + redRightTransitionToNZ = routine.trajectory("RedRightTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_RightTrenchAuto"); - - // Load trajectories - AutoTrajectory redRightNeutralZone = routine.trajectory("RedRightNeutralZone"); - AutoTrajectory redRightTransitionToNZ = routine.trajectory("RedRightTransitionToNZ"); - @Override public String getName() { return "RedRightTrenchAuto"; @@ -57,8 +47,7 @@ public AutoRoutine getAutoRoutine() { redRightNeutralZone.resetOdometry(), DriveCommands.getChassisAimingCommand(drive, launcher::getTurretDesaturationDelta) .withTimeout(1.5), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(3.0), - Commands.runOnce(feeder::stop, feeder), + feeder.getSpinForwardCommand().withTimeout(3.0), Commands.parallel( redRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); @@ -66,19 +55,12 @@ public AutoRoutine getAutoRoutine() { .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( redRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - redRightTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + redRightTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java b/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java index e8d9ca3e..31fee8e5 100644 --- a/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java +++ b/src/main/java/frc/robot/auto/R_RightTrenchMoveFirstAuto.java @@ -9,31 +9,21 @@ import frc.robot.subsystems.launcher.Launcher; public class R_RightTrenchMoveFirstAuto extends AutoMode { - Drive drive; - // Hopper hopper; - Feeder feeder; - Intake intake; - Launcher launcher; + private final AutoRoutine routine; + private final AutoTrajectory redRightNeutralZone; + private final AutoTrajectory redRightTransitionToNZ; public R_RightTrenchMoveFirstAuto( Drive drivetrain, Feeder feederSubsystem, Intake intakeSubsystem, Launcher launcherSubsystem) { - super(drivetrain); - drive = drivetrain; - feeder = feederSubsystem; - intake = intakeSubsystem; - launcher = launcherSubsystem; + super(drivetrain, feederSubsystem, intakeSubsystem); + routine = getAutoFactory().newRoutine("R_RightTrenchMoveFirstAuto"); + redRightNeutralZone = routine.trajectory("RedRightNinetyNeutralZone"); + redRightTransitionToNZ = routine.trajectory("RedRightTransitionToNZ"); } - // Define routine - AutoRoutine routine = super.getAutoFactory().newRoutine("R_RightTrenchMoveFirstAuto"); - - // Load trajectories - AutoTrajectory redRightNeutralZone = routine.trajectory("RedRightNeutralZone"); - AutoTrajectory redRightTransitionToNZ = routine.trajectory("RedRightTransitionToNZ"); - @Override public String getName() { return "RedRightTrenchMoveFirstAuto"; @@ -53,25 +43,20 @@ public AutoRoutine getAutoRoutine() { Commands.sequence( redRightNeutralZone.resetOdometry(), Commands.parallel( - redRightNeutralZone.cmd(), intake.getDeployCommand().withTimeout(10.0)))); + redRightNeutralZone.cmd(), + Commands.sequence( + Commands.waitSeconds(0.8), intake.getDeployCommand().withTimeout(9.2))))); redRightNeutralZone .done() .onTrue( Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder), + stopDrive(), + shakeAndFeed(5.0), Commands.parallel( redRightTransitionToNZ.cmd(), intake.getDeployCommand().withTimeout(5.0)))); - redRightTransitionToNZ - .done() - .onTrue( - Commands.sequence( - Commands.runOnce(drive::stop, drive), - Commands.startEnd(feeder::spinForward, () -> {}, feeder).withTimeout(5.0), - Commands.runOnce(feeder::stop, feeder))); + redRightTransitionToNZ.done().onTrue(Commands.sequence(stopDrive(), shakeAndFeed(5.0))); return routine; } diff --git a/src/main/java/frc/robot/auto/TraversingTheBump.java b/src/main/java/frc/robot/auto/TraversingTheBump.java deleted file mode 100644 index 24beafbd..00000000 --- a/src/main/java/frc/robot/auto/TraversingTheBump.java +++ /dev/null @@ -1,33 +0,0 @@ -package frc.robot.auto; - -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; - -public class TraversingTheBump extends AutoMode { - public TraversingTheBump(Drive drivetrain) { - super(drivetrain); - } - - AutoRoutine routine = super.getAutoFactory().newRoutine("traversingTheBump"); - - AutoTrajectory trajectory = routine.trajectory("traversingTheBump"); - - @Override - public String getName() { - return "TraversingTheBump"; - } - - @Override - public AutoTrajectory getInitialTrajectory() { - return trajectory; - } - - @Override - public AutoRoutine getAutoRoutine() { - routine.active().onTrue(Commands.sequence(trajectory.resetOdometry(), trajectory.cmd())); - - return routine; - } -} diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index e0e6111a..f7434a7d 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -65,6 +65,10 @@ private static Translation2d getLinearVelocityFromJoysticks(double x, double y) .getTranslation(); } + public static Command getStopCommand(Drive drive) { + return Commands.runOnce(drive::stop, drive).withName("Stop Drive"); + } + public static final Command getChassisAimingCommand( Drive drive, DoubleSupplier desaturationSupplier) { return DriveCommands.joystickDrive( diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index d28c9a3b..c8e600e6 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -96,9 +96,9 @@ public class Drive extends SubsystemBase { private ChassisSpeeds chassisSpeeds; // PID controllers for following Choreo trajectories - private final PIDController xController = new PIDController(5.0, 0.0, 0.0); - private final PIDController yController = new PIDController(5.0, 0.0, 0.0); - private final PIDController headingController = new PIDController(7.5, 0.0, 0.0); + private final PIDController xController = new PIDController(8.01, 0.0, 0.0); + private final PIDController yController = new PIDController(8.01, 0.0, 0.0); + private final PIDController headingController = new PIDController(8.01, 0.0, 0.0); public Drive( GyroIO gyroIO, diff --git a/src/main/java/frc/robot/subsystems/feeder/Feeder.java b/src/main/java/frc/robot/subsystems/feeder/Feeder.java index 95c3214c..314fb585 100644 --- a/src/main/java/frc/robot/subsystems/feeder/Feeder.java +++ b/src/main/java/frc/robot/subsystems/feeder/Feeder.java @@ -5,6 +5,8 @@ import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import org.littletonrobotics.junction.Logger; @@ -75,6 +77,14 @@ public void spinForward() { kickerIO.setVelocity(MetersPerSecond.of(6.0)); } + public Command getSpinForwardCommand() { + return Commands.startEnd(this::spinForward, this::stop, this).withName("Spin Forward"); + } + + public Command getReverseCommand() { + return Commands.startEnd(this::reverse, this::stop, this).withName("Reverse"); + } + public void reverse() { spindexerIO.setVelocity(MetersPerSecond.of(-2.0)); kickerIO.setVelocity(MetersPerSecond.of(-6.0)); diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index f8ed3f22..358d4ccd 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -84,7 +84,11 @@ public void deployArm() { intakeArmIO.deploy(); } - public boolean isDeployed() { + public void retractArm() { + intakeArmIO.retract(); + } + + public Boolean isDeployed() { return intakeArmInputs.isDeployed == DoubleSolenoid.Value.kForward; } @@ -156,4 +160,13 @@ private Command hopperInterlock() { } return Commands.either(Commands.none(), hopperDeployCommand.get(), hopperIsDeployed); } + + public Command getShakeIntakeCommand() { + return Commands.sequence( + this.idle().withTimeout(1.0), + Commands.runOnce(this::retractArm, this), + this.idle().withTimeout(1.0), + Commands.runOnce(this::deployArm, this)) + .repeatedly(); + } }