Changes from Finger Lakes Regional (#77)

* Put SwerveDriveToPose.toClimb into SwerveDriveToClimb, remove isFinished from climb * Shuffleboard config * Run conveyor to amp on climber up * Shuffleboard config * Log turn current * Change auton name to 3.5 * Reformat * Lower drive current limit * Log alignment target speed * Change global constraints, make almost all paths global constraints * Fix HGF paths * Move amp scoring back * Increase align debounce, increase max height lift * Change default path constraints * Leave shooter on all the time * Increase epsilon for leds at trap height * Tune paths, reduce auton shooting debounce * Reduce distance tolerance, increase shot distance * Remove shooter startup delays * Tune auto * Remove auto trap score * Decrease teleop std devs * Filter only center speaker tag when aligning * Undo tag filtering alignment * Adjust 5 piece second pickup * Up teleop std devs * Rewrite amper methods, add AmperScoreSpeed * Settings * Tuning changes * Tune 5 piece * Remove kD on shoot align * Tune hgf * Shoot align kD * Add velocity check to is aligned to speaker * Disable livewindow, controls * Fix trap conveyor to amp on driver * Increase climber deadband * Remove area weighted average * Decrease velocity tolerance for shooting alignment * Add leds when climb up * Add ADE and DE autos * Auto tuning * Remove specific shot tolerance, set default auto * Re zero back left * Rename Amper.run to Amper.runRoller --------- Co-authored-by: Prog694 <prog692@gmail.com>
StuyPulse · Mar 19, 2024 · f4b80a7 · f4b80a7
1 parent 8108b92
commit f4b80a7
Show file tree

Hide file tree

Showing 67 changed files with 925 additions and 315 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -9,9 +9,9 @@
     "Tests"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 5.55,
-  "defaultMaxAccel": 5.5,
+  "defaultMaxVel": 5.0,
+  "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
-  "maxModuleSpeed": 5.55
+  "maxModuleSpeed": 5.0
 }
diff --git a/shuffleboard.json b/shuffleboard.json
@@ -0,0 +1,173 @@
+{
+  "tabPane": [
+    {
+      "title": "SmartDashboard",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "SmartDashboard/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "titleType": 0,
+        "tiles": {
+          "8,0": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "ComboBox Chooser",
+              "_source0": "network_table:///SmartDashboard/Autonomous",
+              "_title": "SmartDashboard/Autonomous",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "7,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Vision/Has Any Data",
+              "_title": "Sees Tag",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "8,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Shooter/Left RPM",
+              "_title": "Left RPM",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "9,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Shooter/Right RPM",
+              "_title": "Right RPM",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "7,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Shooter/Feeder RPM",
+              "_title": "Feeder RPM",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "9,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Odometry/Odometry/Rotation",
+              "_title": "Angle",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "6,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Note Detection/Has Note Data",
+              "_title": "Sees Note",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "6,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Intake/Has Note",
+              "_title": "Has Note",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "7,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Conveyor/Gandalf Motor Speed",
+              "_title": "Gandalf",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "6,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Amper/Lift Height",
+              "_title": "Lift Height (m)",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "8,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Amper/Intake Speed",
+              "_title": "Intake",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          }
+        }
+      }
+    }
+  ],
+  "windowGeometry": {
+    "x": -7.199999809265137,
+    "y": -7.199999809265137,
+    "width": 1550.4000244140625,
+    "height": 838.4000244140625
+  }
+}
diff --git a/src/main/deploy/pathplanner/autos/2 DE.auto b/src/main/deploy/pathplanner/autos/2 DE.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A To D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D to Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Ferry Shot to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E To Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/3 ADE.auto b/src/main/deploy/pathplanner/autos/3 ADE.auto
@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "First Piece To A"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A To D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D to Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Ferry Shot to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E To Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/4 CBA.auto b/src/main/deploy/pathplanner/autos/4 CBA.auto
@@ -8,7 +8,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "First Piece To C"
+            "pathName": "First Piece To A"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/A To D.path b/src/main/deploy/pathplanner/paths/A To D.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8972116309439864,
-        "y": 6.992609748972753
+        "x": 2.8,
+        "y": 6.94
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.887479699685557,
-        "y": 7.131782849932818
+        "x": 3.7902680687415704,
+        "y": 7.079173100960065
       },
       "isLocked": false,
       "linkedName": "A"
     },
     {
       "anchor": {
-        "x": 7.954724143027569,
+        "x": 8.2,
         "y": 7.431149973519566
       },
       "prevControl": {
-        "x": 6.964456074285999,
+        "x": 7.209731931258429,
         "y": 7.2919768725595
       },
       "nextControl": null,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/A To E.path b/src/main/deploy/pathplanner/paths/A To E.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8972116309439864,
-        "y": 6.992609748972753
+        "x": 2.8,
+        "y": 6.94
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.017061543382346,
-        "y": 7.0757674107940804
+        "x": 4.91984991243836,
+        "y": 7.023157661821328
       },
       "isLocked": false,
       "linkedName": "A"
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/A To Intermediate D.path b/src/main/deploy/pathplanner/paths/A To Intermediate D.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8972116309439864,
-        "y": 6.992609748972753
+        "x": 2.8,
+        "y": 6.94
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.9440729154402097,
-        "y": 7.0405677582459765
+        "x": 3.846861284496223,
+        "y": 6.987958009273224
       },
       "isLocked": false,
       "linkedName": "A"
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.55,
-    "maxAcceleration": 5.5,
+    "maxVelocity": 5.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },