IOS - WE WON! (#76)

* install pathplanner lib * install pathPlanner lib * commit * the robot is driving to the wrong side * Swerve cleanup and minor changes * fixed incorrect driving with on-the-fly traj generator * moved path generation to AutpBuilder & clean up swerve class * organised the swerve subsystem a bit * run SysId on cuber shooter and updated constants * minor code changes and encoder recalibration * added button to switch motors to coast mode * idk, i did stuff with the cuber * tuned cuber shooter w/ pid & ff, also reorganised the button layout * update button layout * update button layout txt * added automatic "CANNON" mode for cuber * switched cannon mode from while held to toggle on true * add Coast mode to driver controller * update operator button layout * update arm constants * update arm constants * general fixes and improvements to the code * add oscillations to the arm, and * update roller gripper back to a sparkMax * mainer changes * commit * calibrated cuber angle * fix isAtRevSoftLimit * finished the synchronization between the cuber and the arm -- NEEDS TESTING * MorseToLeds *sadge emoji* * fixed adjustForShooterCommand * moved shuffleboard data to a separate function that is called from the constructor * shine leds green when cuber is ready to fire * misc * Update Rollergripper.java * removed auto arm locking * misc * re tuned cuber * this is for you lavi * this is for you lavi * the auto shync shit works * general robot tuning and improvement * general robot tuning and adjustments * stufff * climb over ramp * auto day in HaDream team's field * orbit day * removed proxy command from arm length * place to lower in auto * final code before IOS * training match * ** * roller gripper sparkmax * arm doesnt lock on plexi * end of IOS day 1 * alliance selection * end of IOS day 2 - we WON! --------- Co-authored-by: Excalibur FRC | 6738 <excaliburfrc@gmail.com>
ExcaliburFRC · Oct 5, 2023 · 88cdcaf · 88cdcaf
1 parent 9a02f00
commit 88cdcaf
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Showing 27 changed files with 1,621 additions and 870 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -0,0 +1,7 @@
+{
+  "robotWidth": 0.56665,
+  "robotLength": 0.56665,
+  "holonomicMode": true,
+  "generateJSON": false,
+  "generateCSV": false
+}
diff --git a/cuberConfig b/cuberConfig
@@ -0,0 +1,42 @@
+{
+  "canivore names": [
+    "rio"
+  ],
+  "counts per rotation": 1.0,
+  "encoder canivore name": "rio",
+  "encoder type": "Encoder Port",
+  "encoding": false,
+  "gearing denominator": 1.0,
+  "gearing numerator": 187.7142,
+  "gyro": "Analog Gyro",
+  "gyro canivore name": "rio",
+  "gyro ctor": "0",
+  "is drivetrain": false,
+  "motor controllers": [
+    "SPARK MAX (Brushless)"
+  ],
+  "number of samples per average": 8,
+  "primary encoder inverted": false,
+  "primary encoder ports": [
+    0,
+    1
+  ],
+  "primary motor ports": [
+    41
+  ],
+  "primary motors inverted": [
+    false
+  ],
+  "secondary encoder inverted": false,
+  "secondary encoder ports": [
+    2,
+    3
+  ],
+  "secondary motor ports": [
+    2
+  ],
+  "secondary motors inverted": [
+    false
+  ],
+  "velocity measurement period": 8
+}
diff --git a/src/main/deploy/pathplanner/Bcollect1Cube.path b/src/main/deploy/pathplanner/Bcollect1Cube.path
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+}
diff --git a/src/main/deploy/pathplanner/Bcollect4Cube.path b/src/main/deploy/pathplanner/Bcollect4Cube.path
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+}
diff --git a/src/main/deploy/pathplanner/Bintake5Cube.path b/src/main/deploy/pathplanner/Bintake5Cube.path
@@ -0,0 +1,49 @@
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+}
diff --git a/src/main/deploy/pathplanner/Rintake5Cube.path b/src/main/deploy/pathplanner/Rintake5Cube.path
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+}