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b/src/main/deploy/pathplanner/BlueLongSide3.path @@ -2,15 +2,15 @@ "waypoints": [ { "anchorPoint": { - "x": 1.831789277613643, + "x": 1.8317892776136429, "y": 1.4100000000000001 }, "prevControl": null, "nextControl": { - "x": 2.233698996273372, - "y": 0.19183331154696143 + "x": 2.194006746609981, + "y": 0.5259147360399987 }, - "holonomicAngle": 180.0, + "holonomicAngle": -180, "isReversal": false, "velOverride": null, "isLocked": false, @@ -29,18 +29,18 @@ }, { "anchorPoint": { - "x": 3.4702491289481054, - "y": 0.5 + "x": 3.469999999999999, + "y": 0.5850000000000001 }, "prevControl": { - "x": 2.903750792304015, - "y": 0.5121827599278289 + "x": 2.903501663355909, + "y": 0.5971827599278284 }, "nextControl": { - "x": 4.059828911198247, - "y": 0.48732086489784743 + "x": 4.059579782250141, + "y": 0.5723208648978481 }, - "holonomicAngle": -90.0, + "holonomicAngle": -90, "isReversal": false, "velOverride": null, "isLocked": false, @@ -54,16 +54,16 @@ }, { "anchorPoint": { - "x": 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- "scoreLow", - "stowFast" + "scoreMidCube" ] }, { - "position": 12.1, + "position": 11.672727272727245, "names": [ - "stowFast" + "intakeCone" ] } ] diff --git a/src/main/deploy/pathplanner/BlueLongSide3Balance.path b/src/main/deploy/pathplanner/BlueLongSide3Balance.path index 8e7300ee..f791e071 100644 --- a/src/main/deploy/pathplanner/BlueLongSide3Balance.path +++ b/src/main/deploy/pathplanner/BlueLongSide3Balance.path @@ -29,16 +29,16 @@ }, { "anchorPoint": { - "x": 3.4702491289481046, - "y": 0.6363999999999992 + "x": 3.469999999999999, + "y": 0.62 }, "prevControl": { - "x": 2.903750792304015, - "y": 0.6485827599278275 + "x": 2.903608829998719, + "y": 0.6035735699388901 }, "nextControl": { - "x": 4.059828911198247, - "y": 0.6237208648978472 + "x": 3.7255740064063705, + "y": 0.6274121362832377 }, "holonomicAngle": -90, "isReversal": false, @@ -54,16 +54,16 @@ }, { "anchorPoint": { - "x": 5.322028637978249, - "y": 0.62 + "x": 5.083951738359405, + "y": 0.76 }, "prevControl": { - "x": 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"isLocked": false, - "isStopPoint": true, - "stopEvent": { - "names": [ - "scoreMid", - "stowFast" - ], - "executionBehavior": "sequential", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 12.710359453180912, - "y": 0.4610115297701718 - }, - "prevControl": { - "x": 13.995640625566965, - "y": 0.4549201498062567 - }, - "nextControl": { - "x": 11.93048476759094, - "y": 0.4647076183274699 - }, - "holonomicAngle": -0.6030911943805108, - "isReversal": false, - "velOverride": null, - "isLocked": false, "isStopPoint": false, "stopEvent": { "names": [], @@ -207,20 +179,20 @@ }, { "anchorPoint": { - "x": 10.675838545233322, - "y": 0.9665960667751126 + "x": 10.17, + "y": 1.42 }, "prevControl": { - "x": 11.418989030631842, - "y": 0.7351304660389744 + "x": 11.303763762542722, + "y": 0.4142138375462151 }, "nextControl": { - "x": 10.469925478710824, - "y": 1.0307308450986328 + "x": 10.009899993288254, + "y": 1.562028151436321 }, - "holonomicAngle": -240, + "holonomicAngle": 135.0, "isReversal": false, - "velOverride": 1.1, + "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { @@ -232,20 +204,20 @@ }, { "anchorPoint": { - "x": 10.052717316973096, - "y": 1.5319527754440134 + "x": 9.64, + "y": 1.91 }, "prevControl": { - "x": 10.274320548641098, - "y": 1.3103495437760126 + "x": 9.92102051072681, + "y": 1.6446725902591142 }, "nextControl": { - "x": 9.899340288529222, - "y": 1.6853298038878854 + "x": 9.92102051072681, + "y": 1.6446725902591142 }, - "holonomicAngle": -230.565, - "isReversal": false, - "velOverride": 0.5, + "holonomicAngle": 135.0, + "isReversal": true, + "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { @@ -257,19 +229,19 @@ }, { "anchorPoint": { - "x": 9.58, - "y": 2.1 + "x": 12.247927656949537, + "y": 0.8 }, "prevControl": { - "x": 9.811844239073094, - "y": 1.7728258533440158 + "x": 10.412032785600946, + "y": 0.8582081226445775 }, "nextControl": { - "x": 9.811844239073094, - "y": 1.7728258533440158 + "x": 12.997167392511077, + "y": 0.7762449151646026 }, - "holonomicAngle": -233.70737027152052, - "isReversal": true, + "holonomicAngle": 0, + "isReversal": false, "velOverride": null, "isLocked": false, "isStopPoint": false, @@ -282,47 +254,47 @@ }, { "anchorPoint": { - "x": 12.241323195959462, - "y": 0.9137069945872414 + "x": 14.94, + "y": 1.0 }, "prevControl": { - "x": 10.751831465065349, - "y": 1.24626287892141 + "x": 14.753849500715443, + "y": 0.9911576445701102 }, "nextControl": { - "x": 12.795638772675721, - "y": 0.7899460478215792 + "x": 15.126150499284556, + "y": 1.0088423554298898 }, "holonomicAngle": 0, "isReversal": false, - "velOverride": null, + "velOverride": 1.7, "isLocked": false, "isStopPoint": false, "stopEvent": { "names": [], - "executionBehavior": "parallel", + "executionBehavior": "sequential", "waitBehavior": "none", "waitTime": 0 } }, { "anchorPoint": { - "x": 14.690057941453269, - "y": 0.6011132689402157 + "x": 12.133336898252745, + "y": 0.9430548685658775 }, "prevControl": { - "x": 13.118481910763213, - "y": 0.6803012084711098 + "x": 13.212093493131476, + "y": 0.9889594045181639 }, "nextControl": { - "x": 13.118481910763213, - "y": 0.6803012084711098 + "x": 11.280920105699861, + "y": 0.9067818135636272 }, "holonomicAngle": 0, - "isReversal": true, + "isReversal": false, "velOverride": null, "isLocked": false, - "isStopPoint": true, + "isStopPoint": false, "stopEvent": { "names": [], "executionBehavior": "parallel", @@ -332,15 +304,15 @@ }, { "anchorPoint": { - "x": 11.42507828079486, - "y": 0.777763287893749 + "x": 9.412857773083967, + "y": 2.430250123658143 }, "prevControl": { - "x": 12.576349093974784, - "y": 0.759489148002003 + "x": 9.485403883088468, + "y": 0.7254165385523761 }, "nextControl": null, - "holonomicAngle": 0, + "holonomicAngle": 89.56594936786054, "isReversal": false, "velOverride": null, "isLocked": false, @@ -358,46 +330,51 @@ "isReversed": null, "markers": [ { - "position": 1.5, + "position": 6.35, "names": [ "intakeCube" ] }, { - "position": 7.727272727272723, + "position": 4.272727272727248, "names": [ - "intakeCone" + "stowFast" ] }, { - "position": 3.2727272727272476, + "position": 5.65, "names": [ - "stowFast" + "yeetCone" ] }, { - "position": 10.11999999999987, + "position": 8.2, "names": [ "stowFast" ] }, { - "position": 4.85, + "position": 1.35, + "names": [ + "intakeCone" + ] + }, + { + "position": 9.1, "names": [ "superstructureMid" ] }, { - "position": 11.8, + "position": 9.95, "names": [ - "scoreLow", - "stowFast" + "scoreMidCube" ] }, { - "position": 12.1, + "position": 11.672727272727245, "names": [ - "stowFast" + "intakeCone" ] } ] diff --git a/src/main/deploy/pathplanner/RedLongSide3Balance.path b/src/main/deploy/pathplanner/RedLongSide3Balance.path index 924361a6..514f73c5 100644 --- a/src/main/deploy/pathplanner/RedLongSide3Balance.path +++ b/src/main/deploy/pathplanner/RedLongSide3Balance.path @@ -30,15 +30,15 @@ { "anchorPoint": { "x": 13.07, - "y": 0.5850000000000001 + "y": 0.62 }, "prevControl": { - "x": 13.63649833664409, - "y": 0.5971827599278284 + "x": 13.63639117000128, + "y": 0.6035735699388901 }, "nextControl": { - "x": 12.480420217749858, - "y": 0.5723208648978481 + "x": 12.814425993593629, + "y": 0.6274121362832377 }, "holonomicAngle": -90, "isReversal": false, @@ -55,15 +55,15 @@ { "anchorPoint": { "x": 11.456048261640595, - "y": 0.6274121362832377 + "y": 0.76 }, "prevControl": { - "x": 12.210807019128113, - "y": 0.5972217859837348 + "x": 11.687520700269365, + "y": 0.7248742157058787 }, "nextControl": { - "x": 10.999194764346976, - "y": 0.6456862761749838 + "x": 11.004004601829513, + "y": 0.8285973162943797 }, "holonomicAngle": -180, "isReversal": false, @@ -80,15 +80,15 @@ { "anchorPoint": { "x": 10.262137788713268, - "y": 0.75 + "y": 0.88 }, "prevControl": { "x": 10.626402310555378, - "y": 0.7261431759945587 + "y": 0.8561431759945587 }, "nextControl": { "x": 9.938702092805528, - "y": 0.7711828163646773 + "y": 0.9011828163646773 }, "holonomicAngle": 180.0, "isReversal": false, @@ -105,15 +105,15 @@ { "anchorPoint": { "x": 9.579390151728632, - "y": 0.75 + "y": 0.91 }, "prevControl": { "x": 9.721544120556, - "y": 0.75 + "y": 0.91 }, "nextControl": { "x": 9.721544120556, - "y": 0.75 + "y": 0.91 }, "holonomicAngle": -180, "isReversal": true, @@ -130,17 +130,17 @@ { "anchorPoint": { "x": 10.82863612535736, - "y": 0.44 + "y": 0.71 }, "prevControl": { - "x": 10.366617045797375, - "y": 0.5148716098131612 + "x": 10.36058986157532, + "y": 0.7097122620158964 }, "nextControl": { - "x": 11.166179468213526, - "y": 0.38530006534486455 + "x": 11.07838270387787, + "y": 0.7101535352006862 }, - "holonomicAngle": 0.0, + "holonomicAngle": -0.01, "isReversal": false, "velOverride": null, "isLocked": false, @@ -155,17 +155,17 @@ { "anchorPoint": { "x": 12.272293176805197, - "y": 0.39999999999999997 + "y": 0.625 }, "prevControl": { - "x": 11.352369525176831, - "y": 0.39999999999999997 + "x": 11.255032722831404, + "y": 0.6165242346594101 }, "nextControl": { - "x": 11.352369525176831, - "y": 0.39999999999999997 + "x": 11.255032722831404, + "y": 0.6165242346594101 }, - "holonomicAngle": 0.11, + "holonomicAngle": -0.1, "isReversal": true, "velOverride": null, "isLocked": false, @@ -179,16 +179,16 @@ }, { "anchorPoint": { - "x": 10.17, - "y": 1.42 + "x": 10.25, + "y": 1.58 }, "prevControl": { - "x": 11.303763762542722, - "y": 0.4142138375462151 + "x": 10.871320756319326, + "y": 1.06223270306723 }, "nextControl": { - "x": 10.009899993288254, - "y": 1.562028151436321 + "x": 10.085586273249527, + "y": 1.717011438958727 }, "holonomicAngle": 135.0, "isReversal": false, @@ -204,16 +204,16 @@ }, { "anchorPoint": { - "x": 9.64, - "y": 1.91 + "x": 9.63, + "y": 2.17 }, "prevControl": { - "x": 9.92102051072681, - "y": 1.6446725902591142 + "x": 9.91102051072681, + "y": 1.9046725902591142 }, "nextControl": { - "x": 9.92102051072681, - "y": 1.6446725902591142 + "x": 9.91102051072681, + "y": 1.9046725902591142 }, "holonomicAngle": 135.0, "isReversal": true, @@ -254,16 +254,16 @@ }, { "anchorPoint": { - "x": 14.94, - "y": 1.0 + "x": 14.92, + "y": 1.05 }, "prevControl": { - "x": 14.753849500715443, - "y": 0.9911576445701102 + "x": 14.733849500715444, + "y": 1.0411576445701103 }, "nextControl": { - "x": 15.068236580242154, - "y": 1.0060913799639148 + "x": 15.048236580242154, + "y": 1.056091379963915 }, "holonomicAngle": 0, "isReversal": false, @@ -280,15 +280,15 @@ { "anchorPoint": { "x": 13.720283054601198, - "y": 2.18 + "y": 2.5300000000000002 }, "prevControl": { "x": 14.618086964050594, - "y": 2.18 + "y": 2.5300000000000002 }, "nextControl": { "x": 13.562613069641971, - "y": 2.18 + "y": 2.5300000000000002 }, "holonomicAngle": 0, "isReversal": false, @@ -305,16 +305,16 @@ { "anchorPoint": { "x": 12.47, - "y": 2.18 + "y": 2.5300000000000002 }, "prevControl": { "x": 12.633708031248645, - "y": 2.18 + "y": 2.5300000000000002 }, "nextControl": null, "holonomicAngle": 0.0, "isReversal": false, - "velOverride": 0.5, + "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { @@ -360,7 +360,7 @@ ] }, { - "position": 9.1, + "position": 9.15, "names": [ "superstructureMid" ] diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path index 81423284..e4d65dbe 100644 --- a/src/main/deploy/pathplanner/RedMidBump2Balance.path +++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path @@ -296,7 +296,7 @@ { "position": 7.25, "names": [ - "scoreLow" + "yeetCone" ] } ] diff --git a/src/main/deploy/pathplanner/RedMidBump2BalanceTest.path b/src/main/deploy/pathplanner/RedMidBump2BalanceTest.path deleted file mode 100644 index 9f935410..00000000 --- a/src/main/deploy/pathplanner/RedMidBump2BalanceTest.path +++ /dev/null @@ -1,307 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 14.726347249887482, - "y": 2.2126117936446406 - }, - "prevControl": null, - "nextControl": { - "x": 14.414037893923183, - "y": 2.2126117936446406 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [ - "home", - "preloadCone", - "scoreMid", - "stowFast" - ], - "executionBehavior": "sequential", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 14.062645805170028, - "y": 2.4 - }, - "prevControl": { - "x": 14.263956668776407, - "y": 2.4054408341515225 - }, - "nextControl": { - "x": 13.837264746505177, - "y": 2.393908620036086 - }, - "holonomicAngle": 270, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 13.185487090366278, - "y": 2.4 - }, - "prevControl": { - "x": 13.61169548664272, - "y": 2.4 - }, - "nextControl": { - "x": 12.75918223411434, - "y": 2.4 - }, - "holonomicAngle": 270, - "isReversal": false, - "velOverride": 1, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 10.52, - "y": 2.4 - }, - "prevControl": { - "x": 10.756611193619722, - "y": 2.4320559235166566 - }, - "nextControl": { - "x": 9.890563610914457, - "y": 2.3147243862876787 - }, - "holonomicAngle": -90.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 9.4, - "y": 2.21 - }, - "prevControl": { - "x": 9.59233583400602, - "y": 2.21 - }, - "nextControl": { - "x": 9.177710579073263, - "y": 2.21 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 8.31, - "y": 2.21 - }, - "prevControl": { - "x": 8.484470378059298, - "y": 2.213708847478485 - }, - "nextControl": { - "x": 8.484470378059298, - "y": 2.213708847478485 - }, - "holonomicAngle": 180.0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 10.304777448460671, - "y": 2.45 - }, - "prevControl": { - "x": 9.409650250880562, - "y": 2.45 - }, - "nextControl": { - "x": 11.19990464604078, - "y": 2.45 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 11.364677562176983, - "y": 2.47 - }, - "prevControl": { - "x": 11.190023941642838, - "y": 2.47 - }, - "nextControl": { - "x": 11.752586236380168, - "y": 2.47 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": 1.0, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 13.19, - "y": 2.47 - }, - "prevControl": { - "x": 12.83665082603713, - "y": 2.47 - }, - "nextControl": { - "x": 13.543349173962868, - "y": 2.47 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": 2.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 15.469999999999999, - "y": 2.47 - }, - "prevControl": { - "x": 14.905523814536057, - "y": 2.47 - }, - "nextControl": { - "x": 14.905523814536057, - "y": 2.47 - }, - "holonomicAngle": 0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 12.81345667954494, - "y": 2.45 - }, - "prevControl": { - "x": 13.901648329612451, - "y": 2.4590682637505625 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "maxVelocity": 3, - "maxAcceleration": 3, - "isReversed": null, - "markers": [ - { - "position": 2.95, - "names": [ - "intakeCube" - ] - }, - { - "position": 5.530909090909119, - "names": [ - "stowFast" - ] - }, - { - "position": 8.58181818181817, - "names": [ - "scoreMid" - ] - }, - { - "position": 8.83636363636363, - "names": [ - "stowFast" - ] - } - ] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path index b52a3ce0..e5da595f 100644 --- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path @@ -296,8 +296,8 @@ { "position": 7.25, "names": [ - "scoreLow" + "yeetCone" ] } ] -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d585628c..b1c2edf7 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -220,11 +220,11 @@ private void configureButtonBindings() { // X swerve driveController.start().onTrue(swerve.getXSwerveCommand()); - // Manual Auto Balance - // driveController - // .povLeft() - // .onTrue(swerve.run(() -> autobalance.setEnabled(true))) - // .onFalse(swerve.runOnce(() -> autobalance.setEnabled(false))); + //Manual Auto Balance + driveController + .povLeft() + .onTrue(swerve.run(() -> autobalance.setEnabled(true))) + .onFalse(swerve.runOnce(() -> autobalance.setEnabled(false))); // Snaps for all cardinal directions driveController.x().onTrue(autoRotate.getCommand(() -> AutoRotate.getLeftAngle())); @@ -268,14 +268,6 @@ private void configureButtonBindings() { .onTrue(superstructureManager.getManualScoreCommand(NodeHeight.HIGH)) .onFalse(superstructureManager.getCommand(States.STOWED)); - // Yeet Cube Mid - operatorController - .povLeft() - .onTrue(superstructureManager.getCommand(States.YEET_CUBE_MID)) - .onFalse(superstructureManager.getCommand(States.STOWED)); - // Yeet Cone Mid - // operatorController.povRight().onTrue(superstructureManager.getCommand(States.YEET_CONE_MID)).onFalse(superstructureManager.getCommand(States.STOWED)); - // Yeet Cone operatorController .povRight() .onTrue(superstructureManager.getCommand(States.YEET_CONE)) diff --git a/src/main/java/frc/robot/autos/AutoKind.java b/src/main/java/frc/robot/autos/AutoKind.java index ca169d41..4ce0ab09 100644 --- a/src/main/java/frc/robot/autos/AutoKind.java +++ b/src/main/java/frc/robot/autos/AutoKind.java @@ -9,32 +9,36 @@ public enum AutoKind { DO_NOTHING("", 0.01, 0.01, false), - BLUE_SHORT_SIDE_3("BlueShortSide3", 4.5, 4, false), - RED_SHORT_SIDE_3("RedShortSide3", 4.5, 4, false), + //Mid 1 + BLUE_MID_1_BALANCE("BlueMid1Balance", 2, 3, true), + RED_MID_1_BALANCE("RedMid1Balance", 2, 3, true), + //Mid 1.5 BLUE_MID_BUMP_1_5_BALANCE("BlueMidBump1.5Balance", 2, 3, true), RED_MID_BUMP_1_5_BALANCE("RedMidBump1.5Balance", 2, 3, true), - BLUE_MID_FLAT_1_5_BALANCE("BlueMidFlat1.5Balance", 2, 3, true), RED_MID_FLAT_1_5_BALANCE("RedMidFlat1.5Balance", 2, 3, true), + //Mid 2 BLUE_MID_FLAT_2_BALANCE("BlueMidFlat2Balance", 3, 3, true), BLUE_MID_BUMP_2_BALANCE("BlueMidBump2Balance", 3, 3, true), + RED_MID_BUMP_2_BALANCE("RedMidBump2Balance", 3, 3, true), + RED_MID_FLAT_2_BALANCE("RedMidFlat2Balance", 3, 3, true), - RED_MID_BUMP_2_BALANCE_TEST("RedMidBump2BalanceTest", 3, 3, true), - + //3s + BLUE_SHORT_SIDE_3("BlueShortSide3", 4.5, 4, false), + RED_SHORT_SIDE_3("RedShortSide3", 4.5, 4, false), BLUE_LONG_SIDE_3("BlueLongSide3", 4, 4, false), - BLUE_LONG_SIDE_3_BALANCE("BlueLongSide3Balance", 4, 4, true), - RED_LONG_SIDE_3("RedLongSide3", 4, 4, false), - RED_LONG_SIDE_3_BALANCE("RedLongSide3Balance", 4, 4, true), - RED_YEET_TEST("RedYeetTest", 4, 4, false), - BLUE_MID_1_BALANCE("BlueMid1Balance", 2, 3, true), - RED_MID_1_BALANCE("RedMid1Balance", 2, 3, true), + //3 extras + RED_LONG_SIDE_3_BALANCE("RedLongSide3Balance", 4, 4, true), + BLUE_LONG_SIDE_3_BALANCE("BlueLongSide3Balance", 4, 4, true), + RED_LONG_SIDE_3_5("RedLongSide3.5", 4, 4, false), + BLUE_LONG_SIDE_3_5("BlueLongSide3.5", 4, 4, false), - RED_MID_BUMP_2_BALANCE("RedMidBump2Balance", 3, 3, true), - RED_MID_FLAT_2_BALANCE("RedMidFlat2Balance", 3, 3, true); + //Tests + RED_YEET_TEST("RedYeetTest", 4, 4, false); public final String pathName; public final PathConstraints constraints; diff --git a/src/main/java/frc/robot/autos/AutoKindWithoutTeam.java b/src/main/java/frc/robot/autos/AutoKindWithoutTeam.java index 395baf93..a3145b19 100644 --- a/src/main/java/frc/robot/autos/AutoKindWithoutTeam.java +++ b/src/main/java/frc/robot/autos/AutoKindWithoutTeam.java @@ -7,17 +7,19 @@ public enum AutoKindWithoutTeam { DO_NOTHING(AutoKind.DO_NOTHING, AutoKind.DO_NOTHING), - FLAT_3(AutoKind.RED_SHORT_SIDE_3, AutoKind.BLUE_SHORT_SIDE_3), - BUMP_3(AutoKind.RED_LONG_SIDE_3, AutoKind.BLUE_LONG_SIDE_3), - BUMP_3_BALANCE(AutoKind.RED_LONG_SIDE_3_BALANCE, AutoKind.BLUE_LONG_SIDE_3_BALANCE), + MID_1_BALANCE(AutoKind.RED_MID_1_BALANCE, AutoKind.BLUE_MID_1_BALANCE), MID_BUMP_1_5_BALANCE(AutoKind.RED_MID_BUMP_1_5_BALANCE, AutoKind.BLUE_MID_BUMP_1_5_BALANCE), MID_FLAT_1_5_BALANCE(AutoKind.RED_MID_FLAT_1_5_BALANCE, AutoKind.BLUE_MID_FLAT_1_5_BALANCE), - MID_1_BALANCE(AutoKind.RED_MID_1_BALANCE, AutoKind.BLUE_MID_1_BALANCE), MID_BUMP_2_BALANCE(AutoKind.RED_MID_BUMP_2_BALANCE, AutoKind.BLUE_MID_BUMP_2_BALANCE), - MID_BUMP_2_BALANCE_TEST(AutoKind.RED_MID_BUMP_2_BALANCE_TEST, AutoKind.BLUE_MID_BUMP_2_BALANCE), MID_FLAT_2_BALANCE(AutoKind.RED_MID_FLAT_2_BALANCE, AutoKind.BLUE_MID_FLAT_2_BALANCE), + + FLAT_3(AutoKind.RED_SHORT_SIDE_3, AutoKind.BLUE_SHORT_SIDE_3), + BUMP_3(AutoKind.RED_LONG_SIDE_3, AutoKind.BLUE_LONG_SIDE_3), + BUMP_3_BALANCE(AutoKind.RED_LONG_SIDE_3_BALANCE, AutoKind.BLUE_LONG_SIDE_3_BALANCE), + BUMP_3_5(AutoKind.RED_LONG_SIDE_3_5, AutoKind.BLUE_LONG_SIDE_3_5), + YEET_TEST(AutoKind.RED_YEET_TEST, AutoKind.DO_NOTHING); public final AutoKind redVersion; diff --git a/src/main/java/frc/robot/swerve/SwerveModule.java b/src/main/java/frc/robot/swerve/SwerveModule.java index ce9fe2b2..6dbf614b 100644 --- a/src/main/java/frc/robot/swerve/SwerveModule.java +++ b/src/main/java/frc/robot/swerve/SwerveModule.java @@ -126,11 +126,12 @@ public void log() { Logger.getInstance() .recordOutput( "Swerve/" + constants.corner.toString() + "/SteerMotorCancoderPosition", - getRawCancoderPosition().getDegrees()); + getCancoderPosition().getDegrees()); Logger.getInstance() .recordOutput( - "Swerve/" + constants.corner.toString() + "/SteerMorotPosition", + "Swerve/" + constants.corner.toString() + "/SteerMotorPosition", getSteerMotorPosition().getDegrees()); + } public void setDesiredState(