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 new file mode 100644 index 0000000..351794c --- /dev/null +++ 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 +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Auto.auto b/src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Scoot Auto.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Auto.auto rename to src/main/deploy/pathplanner/autos/Narrow 1 Note Shoot Scoot Auto.auto diff --git a/src/main/deploy/pathplanner/autos/Wide Shoot Auto.auto b/src/main/deploy/pathplanner/autos/Wide 1 Note Shoot Scoot Auto.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/Wide Shoot Auto.auto rename to src/main/deploy/pathplanner/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 new file mode 100644 index 0000000..164935d --- /dev/null +++ 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 +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 184274d..4d715d5 100644 --- 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); @@ -496,7 +515,7 @@ 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 */ // @@ -504,22 +523,6 @@ public void createAutoChooser() { // // 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);