Tuned Wing Down paths

FRCTeam3255 · Oct 29, 2024 · 187b528 · 187b528
1 parent 7d6f513
commit 187b528
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Showing 6 changed files with 67 additions and 26 deletions.
diff --git a/src/main/deploy/pathplanner/paths/PsW1W2W3.1.path b/src/main/deploy/pathplanner/paths/PsW1W2W3.1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "W1",
-      "waypointRelativePos": 0.7,
+      "waypointRelativePos": 0.6,
       "command": {
         "type": "parallel",
         "data": {

diff --git a/src/main/deploy/pathplanner/paths/PsW1W2W3.2.path b/src/main/deploy/pathplanner/paths/PsW1W2W3.2.path
@@ -8,20 +8,36 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.671561759880276,
-        "y": 6.902042374607271
+        "x": 2.0801062616615122,
+        "y": 6.770913244273474
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.54,
-        "y": 5.56
+        "x": 2.391152335748853,
+        "y": 6.321743227809496
       },
       "prevControl": {
-        "x": 1.5508167603722594,
-        "y": 6.073199547997617
+        "x": 2.2780551404333225,
+        "y": 6.532338005293589
+      },
+      "nextControl": {
+        "x": 2.5057637817050153,
+        "y": 6.108328811201469
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.77,
+        "y": 5.75
+      },
+      "prevControl": {
+        "x": 2.5176287842244145,
+        "y": 6.181634995624721
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,16 +46,16 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 1.0,
-      "rotationDegrees": 0.0,
+      "waypointRelativePos": 1.1,
+      "rotationDegrees": -56.0,
       "rotateFast": false
     }
   ],
   "constraintZones": [],
   "eventMarkers": [
     {
       "name": "W2",
-      "waypointRelativePos": 0.85,
+      "waypointRelativePos": 1.4,
       "command": {
         "type": "parallel",
         "data": {
@@ -63,7 +79,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0,
+    "rotation": -56.0,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/PsW1W2W3.3.path b/src/main/deploy/pathplanner/paths/PsW1W2W3.3.path
@@ -3,37 +3,59 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.54,
-        "y": 5.56
+        "x": 2.77,
+        "y": 5.75
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.456797671433181,
-        "y": 5.513776484129545
+        "x": 2.5042495310643846,
+        "y": 5.4111158103551364
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5518150181599504,
-        "y": 4.198201444835939
+        "x": 2.3209540765874896,
+        "y": 4.650634669440361
       },
       "prevControl": {
-        "x": 1.7449183616315946,
-        "y": 4.607496850321336
+        "x": 2.278461170442448,
+        "y": 4.942014597292088
+      },
+      "nextControl": {
+        "x": 2.3482533995946864,
+        "y": 4.46343931167672
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.574447790225748,
+        "y": 4.287943663773314
+      },
+      "prevControl": {
+        "x": 2.426251465329535,
+        "y": 4.432240085382781
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.35,
+      "rotationDegrees": -35.0,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [
     {
       "name": "W3",
-      "waypointRelativePos": 0.8,
+      "waypointRelativePos": 1.2,
       "command": {
         "type": "parallel",
         "data": {
@@ -57,13 +79,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -25.75999999999999,
+    "rotation": -35.0,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "Wing Down",
   "previewStartingState": {
-    "rotation": 0.0,
+    "rotation": -56.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -382,7 +382,7 @@ public ShooterPositionGroup(Measure<Angle> shooterAngle, Measure<Velocity<Angle>
     }
 
     public static final ShooterPositionGroup PREP_NONE = new ShooterPositionGroup(NONE_STATE_ANGLE,
-        Units.RotationsPerSecond.of(10), Units.RotationsPerSecond.of(10), Units.Meters.of(0));
+        Units.RotationsPerSecond.of(0), Units.RotationsPerSecond.of(0), Units.Meters.of(0));
     public static final ShooterPositionGroup PREP_AMP_SHOOTER = new ShooterPositionGroup(Units.Degrees.of(111),
         Units.RotationsPerSecond.of(10), Units.RotationsPerSecond.of(10), Units.Meters.of(0));
     // Amping w/ amper

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -60,7 +60,9 @@ public void disabledInit() {
     Shooter.hasZeroed = false;
     Elevator.hasZeroed = false;
 
-    RobotContainer.checkForManualZeroing().schedule();
+    if (!hasAutonomousRun) {
+      RobotContainer.checkForManualZeroing().schedule();
+    }
     m_robotContainer.setDisabledLEDs();
   }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -104,7 +104,8 @@ public RobotContainer() {
             .andThen(Commands.deferredProxy(
                 () -> subStateMachine.tryTargetState(subStateMachine, subIntake, subLEDs, subShooter, subTransfer,
                     subElevator, subDrivetrain))))
-        .onTrue(new GamePieceRumble(conDriver, conOperator).asProxy());
+        .onTrue(new GamePieceRumble(conDriver, conOperator).asProxy())
+        .onTrue(Commands.runOnce(() -> subTransfer.setGamePieceCollected(true)));
 
     gamePieceCollectedTrigger
         .onTrue(Commands