Add New Path and Clean Up Names in GUI

Team-501-The-PowerKnights · Mar 30, 2024 · fd83d8d · fd83d8d
1 parent 6a0df50
commit fd83d8d
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Showing 5 changed files with 130 additions and 22 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Return Auto.auto b/src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Return Auto.auto
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.5,
+      "y": 6.97
+    },
+    "rotation": 0.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Delay Auto Start"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Narrow Path 01"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Auto AMP w/ Pre-Load"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Narrow Path 01 Return"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...anner/autos/Narrow 1 Note Shoot Auto.auto → ...autos/Narrow 1 Note Shoot Scoot Auto.auto b/...anner/autos/Narrow 1 Note Shoot Auto.auto → ...autos/Narrow 1 Note Shoot Scoot Auto.auto
diff --git a/...oy/pathplanner/autos/Wide Shoot Auto.auto → ...r/autos/Wide 1 Note Shoot Scoot Auto.auto b/...oy/pathplanner/autos/Wide Shoot Auto.auto → ...r/autos/Wide 1 Note Shoot Scoot Auto.auto
diff --git a/src/main/deploy/pathplanner/paths/Narrow Path 01 Return.path b/src/main/deploy/pathplanner/paths/Narrow Path 01 Return.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.54,
+        "y": 6.42
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.562418342251094,
+        "y": 6.42
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 7.15
+      },
+      "prevControl": {
+        "x": 0.5999999999999996,
+        "y": 7.15
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Adam",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -376,7 +376,7 @@ void configurePathPlannerCommands() {
     NamedCommands.registerCommand(
         "Shoot Auto AMP w/ Pre-Load",
         Commands.sequence(
-            new WaitCommand(1.0),
+            new WaitCommand(0.5),
             m_mast.setTask(Mast.Task.LAUNCHSUB),
             m_launcher.setTask(Launcher.Task.LAUNCHSUB),
             new WaitUntilCommand(m_launcher::atSpeed),
@@ -386,7 +386,7 @@ void configurePathPlannerCommands() {
     NamedCommands.registerCommand(
         "Shoot Auto Note 1 w/ Pre-Load",
         Commands.sequence(
-            new WaitCommand(1.0),
+            new WaitCommand(0.5),
             m_mast.setTask(Mast.Task.LAUCNHNOTE1),
             m_launcher.setTask(Launcher.Task.LAUCNHNOTE1),
             new WaitUntilCommand(m_launcher::atSpeed),
@@ -395,7 +395,7 @@ void configurePathPlannerCommands() {
     NamedCommands.registerCommand(
         "Shoot Auto Note 2 w/ Pre-Load",
         Commands.sequence(
-            new WaitCommand(1.0),
+            new WaitCommand(0.5),
             m_mast.setTask(Mast.Task.LAUCNHNOTE2),
             m_launcher.setTask(Launcher.Task.LAUCNHNOTE2),
             new WaitUntilCommand(m_launcher::atSpeed),
@@ -451,9 +451,10 @@ private enum AutoSelection {
     //
     // STU
     //
-    narrowShootAuto("Narrow 1 Note Shoot Auto", "Narrow 1 Note Shoot Auto"),
+    narrowShootScootAuto("Narrow 1 Note Shoot Scoot Auto", "Narrow 1 Note Shoot Scoot Auto"),
+    narrowShootReturnAuto("Narrow 1 Note Shoot Return Auto", "Narrow 1 Note Shoot Return Auto"),
     middleSitStillShootAuto("Middle Sit Still Shoot Auto", "Middle Sit Still Shoot Auto"),
-    wideShootAuto("Wide Shoot Auto", "Wide Shoot Auto");
+    wideShootScootAuto("Wide 1 Note Shoot Scoot Auto", "Wide 1 Note Shoot Scoot Auto");
     // @formatter:on
 
     private final String name;
@@ -486,6 +487,24 @@ public void createAutoChooser() {
     // Default option is safety of "do nothing"
     autoChooser.setDefaultOption("Do Nothing", AutoSelection.doNothing);
 
+    /** Adam's Autos */
+
+    /** Shoot w/ Starting Note & Then Pick-Up and Shoot Two Notes */
+    autoChooser.addOption("[A] Narrow 3 Notes Shoot", AutoSelection.narrowAdamShootAuto);
+    /** */
+    autoChooser.addOption("[A] Narrow 2 Notes Climb", AutoSelection.narrowAdamClimbAuto);
+
+    /** Stu's Autos */
+
+    /** Simple Shoot w/ Starting Note */
+    autoChooser.addOption("[S] Narrow Shoot & Scoot", AutoSelection.narrowShootScootAuto);
+    //
+    autoChooser.addOption("[S] Narrow Shoot & Return", AutoSelection.narrowShootReturnAuto);
+    //
+    autoChooser.addOption("[S] Middle Sit & Shoot", AutoSelection.middleSitStillShootAuto);
+    //
+    autoChooser.addOption("[S] Wide Shoot & Scoot", AutoSelection.wideShootScootAuto);
+
     /** Test */
     //
     autoChooser.addOption("Simple Test", AutoSelection.simpleTest);
@@ -496,30 +515,14 @@ public void createAutoChooser() {
     //
     autoChooser.addOption("Sit Still", AutoSelection.sitStill);
     //
-    autoChooser.addOption("Sit Still and Shoot", AutoSelection.sitStillShootAuto);
+    autoChooser.addOption("Sit Still & Shoot", AutoSelection.sitStillShootAuto);
 
     /** Drive */
     //
     // autoChooser.addOption("Simple BACKWARD", AutoSelection.doSimpleBackward);
     //
     // autoChooser.addOption("Simple FORWARD", AutoSelection.doSimpleForward);
 
-    /** Adam's Autos */
-
-    /** Shoot w/ Starting Note & Then Pick-Up and Shoot Two Notes */
-    autoChooser.addOption("[A] Narrow 3 Notes Shoot", AutoSelection.narrowAdamShootAuto);
-    /** */
-    autoChooser.addOption("[A] Narrow 2 Notes Climb", AutoSelection.narrowAdamClimbAuto);
-
-    /** Stu's Autos */
-
-    /** Simple Shoot w/ Starting Note */
-    autoChooser.addOption("[S] Narrow Scoot & Shoot", AutoSelection.narrowShootAuto);
-    //
-    autoChooser.addOption("[S] Middle Sit & Shoot", AutoSelection.middleSitStillShootAuto);
-    //
-    autoChooser.addOption("[S] Wide Scoot & Shoot", AutoSelection.wideShootAuto);
-
     // Put the chooser on the dashboard
     SmartDashboard.putData("Auto Chooser", autoChooser);
   }
@@ -564,6 +567,10 @@ public void createAutoDelayChooser() {
     autoDelayChooser.addOption("8 Sec", Integer.valueOf(8));
     autoDelayChooser.addOption("9 Sec", Integer.valueOf(9));
     autoDelayChooser.addOption("10 Sec", Integer.valueOf(10));
+    autoDelayChooser.addOption("11 Sec", Integer.valueOf(11));
+    autoDelayChooser.addOption("12 Sec", Integer.valueOf(12));
+    autoDelayChooser.addOption("13 Sec", Integer.valueOf(13));
+    autoDelayChooser.addOption("14 Sec", Integer.valueOf(14));
 
     // Put the chooser on the dashboard
     SmartDashboard.putData("Auto Delay Chooser", autoDelayChooser);