From 3488bf7c0dfbd4f066697a280165b7507d59c6f6 Mon Sep 17 00:00:00 2001 From: a1cd <71281043+a1cd@users.noreply.github.com> Date: Sun, 31 Mar 2024 14:18:39 -0400 Subject: [PATCH 1/7] paths Signed-off-by: a1cd <71281043+a1cd@users.noreply.github.com> --- Choreo.chor | 26389 +++++++++------- src/main/deploy/choreo/Amp Mobility.1.traj | 1317 +- src/main/deploy/choreo/Amp Mobility.traj | 1317 +- .../choreo/Center to Nearest Note.1.traj | 2828 +- .../deploy/choreo/Center to Nearest Note.traj | 2828 +- src/main/deploy/choreo/Friend Amp Side.1.traj | 2367 +- src/main/deploy/choreo/Friend Amp Side.2.traj | 1566 +- src/main/deploy/choreo/Friend Amp Side.3.traj | 1112 +- src/main/deploy/choreo/Friend Amp Side.4.traj | 794 +- src/main/deploy/choreo/Friend Amp Side.traj | 4058 +-- .../deploy/choreo/Friend Source Side.1.traj | 1836 +- .../deploy/choreo/Friend Source Side.2.traj | 1457 +- .../deploy/choreo/Friend Source Side.3.traj | 459 +- .../deploy/choreo/Friend Source Side.4.traj | 1565 +- .../deploy/choreo/Friend Source Side.traj | 3844 +-- src/main/deploy/choreo/Greedy (1).1.traj | 257 - src/main/deploy/choreo/Greedy (1).2.traj | 824 - src/main/deploy/choreo/Greedy (1).3.traj | 698 - src/main/deploy/choreo/Greedy (1).4.traj | 1229 - src/main/deploy/choreo/Greedy No Stage.1.traj | 1440 +- src/main/deploy/choreo/Greedy No Stage.2.traj | 683 +- src/main/deploy/choreo/Greedy No Stage.3.traj | 441 +- src/main/deploy/choreo/Greedy No Stage.4.traj | 1574 +- src/main/deploy/choreo/Greedy No Stage.traj | 3097 +- src/main/deploy/choreo/Greedy.1.traj | 221 - src/main/deploy/choreo/Greedy.2.traj | 374 - src/main/deploy/choreo/Greedy.3.traj | 464 - src/main/deploy/choreo/Greedy.4.traj | 599 - src/main/deploy/choreo/Greedy.traj | 1616 - .../P2 Center Intake Nearest Far Note.1.traj | 613 +- .../P2 Center Intake Nearest Far Note.traj | 613 +- .../P3 Center Intake Nearest Far Note.1.traj | 1378 +- .../P3 Center Intake Nearest Far Note.traj | 1378 +- src/main/deploy/choreo/Source Mobility.1.traj | 1000 +- src/main/deploy/choreo/Source Mobility.traj | 1000 +- src/main/deploy/choreo/Source Side.1.traj | 1071 + src/main/deploy/choreo/Temp Greedy.traj | 2304 +- .../deploy/choreo/Wake Playoffs Path.1.traj | 2151 ++ 38 files changed, 41370 insertions(+), 37392 deletions(-) delete mode 100644 src/main/deploy/choreo/Greedy (1).1.traj delete mode 100644 src/main/deploy/choreo/Greedy (1).2.traj delete mode 100644 src/main/deploy/choreo/Greedy (1).3.traj delete mode 100644 src/main/deploy/choreo/Greedy (1).4.traj delete mode 100644 src/main/deploy/choreo/Greedy.1.traj delete mode 100644 src/main/deploy/choreo/Greedy.2.traj delete mode 100644 src/main/deploy/choreo/Greedy.3.traj delete mode 100644 src/main/deploy/choreo/Greedy.4.traj delete mode 100644 src/main/deploy/choreo/Greedy.traj diff --git a/Choreo.chor b/Choreo.chor index 89a5ce00..468ee8c2 100644 --- a/Choreo.chor +++ b/Choreo.chor @@ -1,16 +1,16 @@ { "version": "v0.3", "robotConfiguration": { - "mass": 150, + 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17 00:00:00 2001 From: a1cd <71281043+a1cd@users.noreply.github.com> Date: Sun, 31 Mar 2024 14:22:17 -0400 Subject: [PATCH 2/7] more auto paths Signed-off-by: a1cd <71281043+a1cd@users.noreply.github.com> --- src/main/deploy/choreo/Greedy.1.traj | 2282 +++++++++++++++++ src/main/deploy/choreo/Greedy.2.traj | 536 ++++ src/main/deploy/choreo/Greedy.3.traj | 608 +++++ src/main/deploy/choreo/Greedy.4.traj | 860 +++++++ src/main/deploy/choreo/Greedy.traj | 2282 +++++++++++++++++ src/main/deploy/choreo/Sim PID Tuner.1.traj | 1580 ++++++++++++ src/main/deploy/choreo/Sim PID Tuner.traj | 1580 ++++++++++++ src/main/deploy/choreo/Temp Greedy.1.traj | 869 +++++++ src/main/deploy/choreo/Temp Greedy.2.traj | 248 ++ src/main/deploy/choreo/Temp Greedy.3.traj | 185 ++ src/main/deploy/choreo/Temp Greedy.4.traj | 311 +++ .../autos/Simulation PID Tuning Path.auto | 25 + 12 files changed, 11366 insertions(+) create mode 100644 src/main/deploy/choreo/Greedy.1.traj create mode 100644 src/main/deploy/choreo/Greedy.2.traj create mode 100644 src/main/deploy/choreo/Greedy.3.traj create mode 100644 src/main/deploy/choreo/Greedy.4.traj create mode 100644 src/main/deploy/choreo/Greedy.traj create mode 100644 src/main/deploy/choreo/Sim PID Tuner.1.traj create mode 100644 src/main/deploy/choreo/Sim PID Tuner.traj create mode 100644 src/main/deploy/choreo/Temp Greedy.1.traj create mode 100644 src/main/deploy/choreo/Temp Greedy.2.traj create mode 100644 src/main/deploy/choreo/Temp Greedy.3.traj create mode 100644 src/main/deploy/choreo/Temp Greedy.4.traj create mode 100644 src/main/deploy/pathplanner/autos/Simulation PID Tuning Path.auto diff --git a/src/main/deploy/choreo/Greedy.1.traj b/src/main/deploy/choreo/Greedy.1.traj new file mode 100644 index 00000000..36ff55cb --- /dev/null +++ b/src/main/deploy/choreo/Greedy.1.traj @@ -0,0 +1,2282 @@ +{ + "samples": [ + { + "x": 1.390610933303833, + "y": 5.547595977783203, + "heading": -3.1016142009523344, + "angularVelocity": 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"command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Sim PID Tuner" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file From 9f8b7d33e32d39b0c51d06c6f597370e12450f25 Mon Sep 17 00:00:00 2001 From: a1cd <71281043+a1cd@users.noreply.github.com> Date: Sun, 31 Mar 2024 14:34:06 -0400 Subject: [PATCH 3/7] im figuring something out Signed-off-by: a1cd <71281043+a1cd@users.noreply.github.com> --- .run/Test FRC2024.run.xml | 2 +- Choreo.chor | 3036 +++++++++-------- learningMoments.md | 12 + src/main/java/frc/robot/Constants.java | 7 +- src/main/java/frc/robot/RobotContainer.java | 2 + .../frc/robot/commands/FeederCommands.java | 11 +- .../frc/robot/commands/IntakeCommands.java | 7 +- .../frc/robot/commands/ShooterCommands.java | 2 + .../robot/commands/SpecializedCommands.java | 24 + .../frc/robot/subsystems/drive/Drive.java | 60 +- .../frc/robot/subsystems/drive/Module.java | 27 +- .../robot/subsystems/drive/ModuleIOSim.java | 3 +- .../subsystems/drive/ModuleIOSparkMax.java | 4 +- 13 files changed, 1684 insertions(+), 1513 deletions(-) create mode 100644 learningMoments.md create mode 100644 src/main/java/frc/robot/commands/SpecializedCommands.java diff --git a/.run/Test FRC2024.run.xml b/.run/Test FRC2024.run.xml index d93c33ef..a5be4737 100644 --- a/.run/Test FRC2024.run.xml +++ b/.run/Test FRC2024.run.xml @@ -1,5 +1,5 @@ - +