diff --git a/simgui-ds.json b/simgui-ds.json index 2d7292c..80276d6 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -128,10 +128,6 @@ } ], "robotJoysticks": [ - { - "guid": "78696e70757401000000000000000000", - "useGamepad": true - }, { "guid": "Keyboard2" } diff --git a/src/main/deploy/choreo/1.traj b/src/main/deploy/choreo/1.traj index 3d53d95..bfffd22 100644 --- a/src/main/deploy/choreo/1.traj +++ b/src/main/deploy/choreo/1.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.960691570504961, "y":4.1854845123291, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.344605412292481, "y":4.07038688659668, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.960691570504961, "y":4.1854845123291, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.344605412292481, "y":4.07038688659668, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.010135310363769, "y":4.07038688659668, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"H.x", "val":5.960691570504961}, "y":{"exp":"H.y", "val":4.1854845123291}, "heading":{"exp":"H.heading", "val":0.0}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.0398054122924805 m + 12 in", "val":6.344605412292481}, "y":{"exp":"4.07038688659668 m", "val":4.07038688659668}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"H.x", "val":5.960691570504961}, "y":{"exp":"H.y", "val":4.1854845123291}, "heading":{"exp":"H.heading", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.0398054122924805 m + 12 in", "val":6.344605412292481}, "y":{"exp":"4.07038688659668 m", "val":4.07038688659668}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.8069353103637695 m + 8 in", "val":6.010135310363769}, "y":{"exp":"4.07038688659668 m", "val":4.07038688659668}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,76 +28,40 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.36168,2.60564], + "waypoints":[0.0,0.62739,1.19983], "samples":[ - 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"fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.276, "y":5.70271635055542, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"5.8069353103637695 m + 8 in", "val":6.010135310363769}, "y":{"exp":"4.033540725708008 m", "val":4.033540725708008}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.347236156463623 m", "val":6.347236156463623}, "y":{"exp":"4.042398452758789 m", "val":4.042398452758789}, "heading":{"exp":"3.14 rad", "val":3.14}, "intervals":109, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.8069353103637695 m + 8 in", "val":6.010135310363769}, "y":{"exp":"4.033540725708008 m", "val":4.033540725708008}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.347236156463623 m", "val":6.347236156463623}, "y":{"exp":"4.042398452758789 m", "val":4.042398452758789}, "heading":{"exp":"3.14 rad", "val":3.14}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"ALG.x - 10 in", "val":7.276}, "y":{"exp":"ALG.y + 0.5 m", "val":5.70271635055542}, "heading":{"exp":"ALG.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,95 +30,49 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.93829,3.49998], + "waypoints":[0.0,0.43183,1.61085], "samples":[ - {"t":0.0, "x":6.01014, "y":4.03354, 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"fixHeading":false, "overrideIntervals":false}, + {"x":7.276, "y":5.70271635055542, "heading":0.0, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.328636646270752, "y":5.433008193969727, "heading":1.0485362094133197, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":5.199468612670898, "y":5.2337236404418945, "heading":1.0485362094133197, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,8 +17,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"ALG.x - 10 in", "val":7.276}, "y":{"exp":"ALG.y + 0.5 m", "val":5.70271635055542}, "heading":{"exp":"ALG.heading", "val":0.0}, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.328636646270752 m", 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"splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/7.traj b/src/main/deploy/choreo/7.traj index 42b3a5f..6f221e9 100644 --- a/src/main/deploy/choreo/7.traj +++ b/src/main/deploy/choreo/7.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.276, "y":5.70271635055542, "heading":0.0, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.276, "y":5.70271635055542, "heading":0.0, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.4, "y":5.70271635055542, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"ALG.x - 10 in", "val":7.276}, "y":{"exp":"ALG.y + 0.5 m", "val":5.70271635055542}, "heading":{"exp":"ALG.heading", "val":0.0}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"ALG.x - 10 in", "val":7.276}, "y":{"exp":"ALG.y + 0.5 m", "val":5.70271635055542}, "heading":{"exp":"ALG.heading", "val":0.0}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.4 m", "val":6.4}, "y":{"exp":"ALG.y + 0.5 m", "val":5.70271635055542}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,50 +26,28 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.02276], + "waypoints":[0.0,0.93173], "samples":[ - {"t":0.0, "x":7.276, "y":5.70272, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.85755, "ay":0.0, "alpha":0.0, "fx":[-14.29495,-14.29495,-14.29495,-14.29495], 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"heading":1.5707963267948966, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.2855706214904785, "y":6.216185092926025, "heading":1.5707963267948966, "intervals":8, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.132050676727295, "y":6.20868240356445, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"STAP.x", "val":7.132050676727295}, "y":{"exp":"STAP.y", "val":6.20868240356445}, "heading":{"exp":"STAP.heading", "val":1.5707963267948966}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.2855706214904785 m", "val":7.2855706214904785}, "y":{"exp":"6.216185092926025 m", 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"overrideIntervals":false}, + {"x":2.7, "y":4.002921295166016, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"L1_B.x", "val":3.0}, "y":{"exp":"L1_B.y", "val":4.05}, "heading":{"exp":"L1_B.heading", "val":-0.5235987755982988}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"L1_A.x", "val":3.0}, "y":{"exp":"L1_A.y", "val":4.002921295166016}, "heading":{"exp":"L1_A.heading", "val":0.5235987755982988}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"L1_B.x", "val":2.7}, "y":{"exp":"L1_B.y", "val":4.05}, "heading":{"exp":"L1_B.heading", "val":0.0}, "intervals":10, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"L1_A.x", "val":2.7}, "y":{"exp":"L1_A.y", "val":4.002921295166016}, "heading":{"exp":"L1_A.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,30 +26,19 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.56656], + "waypoints":[0.0,0.46882], "samples":[ - {"t":0.0, "x":3.0, "y":4.05, "heading":-0.5236, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.04347, "ay":-0.5713, "alpha":13.11876, "fx":[-20.3665,-41.50322,9.42904,49.54198], "fy":[45.60546,-27.89163,-49.11869,-6.68834]}, - {"t":0.02698, "x":2.99998, "y":4.04979, "heading":-0.5236, "vx":-0.00117, "vy":-0.01541, "omega":0.35393, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,15 +14,17 @@ {"from":2, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":0, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}, + {"from":4, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"LP1.x", "val":1.3760840475653748}, "y":{"exp":"LP1.y", "val":5.730308866876195}, 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"props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"MAX_VEL", "val":2.7}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"APPROACH", "val":1.25}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"APPROACH", "val":1.25}}}, "enabled":true}, + {"from":4, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -38,151 +42,152 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.15099,1.76886,2.90311,3.46608], + "waypoints":[0.0,1.14899,1.7661,2.81522,3.47898], "samples":[ - {"t":0.0, "x":1.37608, "y":5.73031, "heading":2.40378, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.43623, 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"data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, @@ -23,17 +23,17 @@ "waypoints":[ {"x":{"exp":"LP2.x", "val":1.396378903923582}, "y":{"exp":"LP2.y", "val":4.061209894144896}, "heading":{"exp":"LP2.heading", "val":-2.792526803190927}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.5883970260620117 m", "val":2.5883970260620117}, "y":{"exp":"3.8996474742889404 m", "val":3.899647474288941}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"B.x", "val":3.0229080922758}, "y":{"exp":"B.y", "val":3.867436782836916}, "heading":{"exp":"B.heading", "val":3.141592653589793}, "intervals":30, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"LP2_APP.x", "val":2.141139268875122}, "y":{"exp":"LP2_APP.y", 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"split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.0, "y":4.061209894144896, "heading":-2.792526803190927, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.396378903923582, "y":4.061209894144896, "heading":-2.792526803190927, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ @@ -18,7 +18,7 @@ "params":{ "waypoints":[ {"x":{"exp":"LP2.x", "val":1.396378903923582}, "y":{"exp":"LP2.y", "val":4.061209894144896}, "heading":{"exp":"LP2.heading", "val":-2.792526803190927}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"L2_B.x", "val":3.0229080922758}, "y":{"exp":"L2_B.y", "val":3.867436782836916}, "heading":{"exp":"L2_B.heading", "val":6.283185307179586}, "intervals":46, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"heading":{"exp":"M_SL3_H.heading", "val":0.0}, "intervals":92, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"SL3.x", "val":1.2720113128733683}, "y":{"exp":"SL3.y", "val":7.422144087002366}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -36,262 +36,268 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.96373,2.79536,3.61509,5.77467], + "waypoints":[0.0,2.07859,2.9067,3.7249,6.03427], "samples":[ - {"t":0.0, "x":1.67201, "y":7.32214, "heading":2.19911, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.35233, "ay":-0.66529, "alpha":-0.83532, "fx":[56.91452,55.97995,54.53878,56.09372], "fy":[-5.03142,-11.38218,-17.03483,-10.9117]}, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,11 +18,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SL3.x", "val":1.6720113128733682}, "y":{"exp":"SL3.y", "val":7.322144087002364}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":64, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SL3.x", "val":1.2720113128733683}, "y":{"exp":"SL3.y", "val":7.422144087002366}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":67, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.882889747619629 m", "val":4.882889747619629}, "y":{"exp":"5.60640811920166 m", "val":5.60640811920166}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"I.x", 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+3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":7.322144087002364, "heading":2.199114857512855, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":7.422144087002366, "heading":2.199114857512855, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.891410827636719, "y":5.960750102996826, "heading":0.0, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":5.083755457035938, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":58, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6720113128733682, "y":7.322144087002364, "heading":2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":5.083755457035938, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":60, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":7.422144087002366, "heading":2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,10 +18,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SL3.x", "val":1.6720113128733682}, "y":{"exp":"SL3.y", "val":7.322144087002364}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SL3.x", "val":1.2720113128733683}, "y":{"exp":"SL3.y", "val":7.422144087002366}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":66, "split":false, 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,10 +18,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SL3.x", "val":1.6720113128733682}, "y":{"exp":"SL3.y", "val":7.322144087002364}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SL3.x", "val":1.2720113128733683}, "y":{"exp":"SL3.y", "val":7.422144087002366}, "heading":{"exp":"SL3.heading", "val":2.199114857512855}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"3.498450517654419 m", "val":3.498450517654419}, "y":{"exp":"5.714933395385742 m", "val":5.714933395385742}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":36, "split":false, "fixTranslation":true, 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+3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":7.322144087002364, "heading":2.199114857512855, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.252634048461914, "y":5.619338035583496, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.620492494471631, "y":5.210163118636832, "heading":2.0943951023931953, "intervals":42, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6720113128733682, "y":7.322144087002364, "heading":2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.2720113128733683, "y":7.422144087002366, "heading":2.199114857512855, "intervals":56, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.252634048461914, "y":5.619338035583496, "heading":0.0, 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"intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0229080922758, "y":3.867436782836916, "heading":3.141592653589793, "intervals":57, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,9 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SR3.x", "val":1.6720113128733682}, "y":{"exp":"SR3.y", "val":0.7298559129976354}, 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"version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.303603172302246, "y":2.479037284851074, "heading":0.0, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.620492494471631, "y":2.842758176529184, "heading":4.1887902047863905, "intervals":42, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.620492494471631, "y":2.842758176529184, "heading":4.1887902047863905, "intervals":44, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,10 +18,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"SR3.x", "val":1.6720113128733682}, "y":{"exp":"SR3.y", "val":0.7298559129976354}, "heading":{"exp":"SR3.heading", "val":-2.199114857512855}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SR3.x", "val":1.2720113128733683}, "y":{"exp":"SR3.y", "val":0.629855912997634}, "heading":{"exp":"SR3.heading", "val":-2.199114857512855}, "intervals":57, "split":false, 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"split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SR3.x", "val":1.2720113128733683}, "y":{"exp":"SR3.y", "val":0.629855912997634}, "heading":{"exp":"SR3.heading", "val":-2.199114857512855}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -36,108 +36,113 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.3941,1.96281,3.79453], + "waypoints":[0.0,1.52368,2.09171,4.02855], "samples":[ - {"t":0.0, "x":1.67201, "y":0.72986, "heading":-2.19911, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.34141, "ay":2.50557, "alpha":0.00428, "fx":[39.04431,39.01215,39.01609,39.04828], "fy":[41.75354,41.78359,41.77984,41.74977]}, - {"t":0.03768, "x":1.67367, "y":0.73163, "heading":-2.19911, "vx":0.08822, 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"version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.5145692825317383, "y":2.343416213989258, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.899844205744824, "y":2.6784338929293305, "heading":4.1887902047863905, "intervals":42, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.899844205744824, "y":2.6784338929293305, 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"splits":[0,59] }, "events":[] } diff --git a/src/main/deploy/choreo/SR3-E.traj b/src/main/deploy/choreo/SR3-E.traj index 195a9b4..157745e 100644 --- a/src/main/deploy/choreo/SR3-E.traj +++ b/src/main/deploy/choreo/SR3-E.traj @@ -3,10 +3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":66, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.915987491607666, "y":2.1324501037597656, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":5.083755457035938, "y":2.6784338929293305, "heading":5.235987755982989, "intervals":58, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.363107168309131, "y":2.842758176529184, "heading":5.235987755982989, "intervals":60, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":65, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.363107168309131, "y":2.842758176529184, "heading":5.235987755982989, "intervals":62, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, 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"splits":[0,131] }, "events":[] } diff --git a/src/main/deploy/choreo/SR3-K.traj b/src/main/deploy/choreo/SR3-K.traj index 933ca5d..8bd2e15 100644 --- a/src/main/deploy/choreo/SR3-K.traj +++ b/src/main/deploy/choreo/SR3-K.traj @@ -3,13 +3,13 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.6720113128733682, "y":0.7298559129976354, "heading":-2.199114857512855, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.2720113128733683, "y":0.629855912997634, "heading":-2.199114857512855, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.223389148712158, "y":1.9066819686889644, "heading":0.0, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":2.7632617950439453, "y":4.673529340744018, "heading":0.0, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, 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a/src/main/deploy/choreo/STAW_PUSH.traj b/src/main/deploy/choreo/STAW_PUSH.traj index 66da1bd..a04a2dc 100644 --- a/src/main/deploy/choreo/STAW_PUSH.traj +++ b/src/main/deploy/choreo/STAW_PUSH.traj @@ -28,29 +28,29 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.45555,0.9111], + "waypoints":[0.0,0.45462,0.90924], "samples":[ - {"t":0.0, "x":7.13311, "y":7.58696, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":3.4297, "ay":0.0, "alpha":0.0, "fx":[57.17151,57.17151,57.17151,57.17151], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.04556, "x":7.13667, "y":7.58696, "heading":1.5708, "vx":0.15624, "vy":0.0, "omega":0.0, "ax":3.42875, "ay":0.0, "alpha":0.0, "fx":[57.15561,57.15561,57.15561,57.15561], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.09111, "x":7.14735, "y":7.58696, "heading":1.5708, "vx":0.31244, "vy":0.0, "omega":0.0, "ax":3.42703, "ay":0.0, "alpha":0.0, "fx":[57.12698,57.12698,57.12698,57.12698], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.13667, "x":7.16514, "y":7.58696, 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}, "events":[] diff --git a/src/main/deploy/choreo/STC-C.traj b/src/main/deploy/choreo/STC-C.traj index 3458bed..87d268a 100644 --- a/src/main/deploy/choreo/STC-C.traj +++ b/src/main/deploy/choreo/STC-C.traj @@ -3,10 +3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.106650676727295, "y":1.8433175964355497, "heading":-0.6981317007977318, "intervals":61, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.106650676727295, "y":1.8433175964355497, "heading":-0.6981317007977318, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.2389349937438965, "y":2.3581981658935547, "heading":2.13271766176822, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.620492494471631, "y":2.842758176529184, "heading":4.1887902047863905, "intervals":40, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,10 +17,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"STCW.x", "val":7.133112869262695}, "y":{"exp":"STCW.y", "val":0.46504479598998927}, "heading":{"exp":"STCW.heading", "val":-1.5707963267948966}, "intervals":63, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"STCW.x", "val":7.133112869262695}, "y":{"exp":"STCW.y", "val":0.46504479598998927}, "heading":{"exp":"STCW.heading", "val":-1.5707963267948966}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.293331623077393 m", "val":4.293331623077393}, "y":{"exp":"2.3581981658935547 m", "val":2.3581981658935547}, "heading":{"exp":"2.1327176617682198 rad", "val":2.13271766176822}, "intervals":40, "split":false, 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"constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,9 +16,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"STE.x", "val":7.1}, "y":{"exp":"STE.y", "val":2.6784338929293305}, "heading":{"exp":"STE.heading", "val":5.235987755982989}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"E.x", "val":5.083755457035938}, "y":{"exp":"E.y", "val":2.6784338929293305}, "heading":{"exp":"E.heading", "val":5.235987755982989}, "intervals":31, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"STE.x", "val":7.1}, "y":{"exp":"STE.y", "val":2.6784338929293305}, "heading":{"exp":"STE.heading", "val":5.235987755982989}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"STE.x", "val":6.8}, "y":{"exp":"STE.y", "val":2.6784338929293305}, "heading":{"exp":"STE.heading", "val":5.235987755982989}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"E.x", "val":5.083755457035938}, "y":{"exp":"E.y", "val":2.6784338929293305}, "heading":{"exp":"E.heading", "val":5.235987755982989}, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"STE.x", "val":6.8}, "y":{"exp":"STE.y", "val":2.6784338929293305}, "heading":{"exp":"STE.heading", "val":5.235987755982989}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.669829845428467 m", "val":5.669829845428467}, "y":{"exp":"E.y", "val":2.6784338929293305}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,112 +32,105 @@ }, 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"fx":[-56.18565,-56.19113,-56.79322,-56.80061], "fy":[-11.63471,11.60778,8.33491,-8.28461]}, + {"t":2.94593, "x":7.2, "y":2.84276, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0,44] }, "events":[] diff --git a/src/main/deploy/choreo/STG-G.traj b/src/main/deploy/choreo/STG-G.traj index 0126dc0..0b88a18 100644 --- a/src/main/deploy/choreo/STG-G.traj +++ b/src/main/deploy/choreo/STG-G.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.2, "y":3.867436782836916, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.960691570504961, "y":3.867436782836916, "heading":0.0, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.2, "y":3.867436782836916, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.960691570504961, "y":3.867436782836916, "heading":0.0, "intervals":24, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.2, "y":3.867436782836916, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -15,8 +15,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"STG.x", "val":7.2}, "y":{"exp":"STG.y", "val":3.867436782836916}, "heading":{"exp":"STG.heading", "val":0.0}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"G.x", "val":5.960691570504961}, "y":{"exp":"G.y", "val":3.867436782836916}, "heading":{"exp":"G.heading", "val":0.0}, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"STG.x", "val":7.2}, "y":{"exp":"STG.y", "val":3.867436782836916}, "heading":{"exp":"STG.heading", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"G.x", "val":5.960691570504961}, "y":{"exp":"G.y", "val":3.867436782836916}, "heading":{"exp":"G.heading", "val":0.0}, "intervals":24, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"STG.x", "val":7.2}, "y":{"exp":"STG.y", "val":3.867436782836916}, "heading":{"exp":"STG.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -30,60 +30,58 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.20358,2.40715], + "waypoints":[0.0,1.20016,2.40032], "samples":[ - {"t":0.0, "x":7.2, "y":3.86744, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.43008, 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"heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,24] }, "events":[] } diff --git a/src/main/deploy/choreo/STH-H.traj b/src/main/deploy/choreo/STH-H.traj index 88be1d1..e734c94 100644 --- a/src/main/deploy/choreo/STH-H.traj +++ b/src/main/deploy/choreo/STH-H.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.2, "y":4.1854845123291, "heading":0.0, "intervals":97, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.960691570504961, "y":4.1854845123291, "heading":0.0, "intervals":97, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.2, "y":4.1854845123291, "heading":0.0, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.960691570504961, "y":4.1854845123291, "heading":0.0, "intervals":62, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.2, "y":4.1854845123291, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,8 +16,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"STH.x", "val":7.2}, "y":{"exp":"STH.y", "val":4.1854845123291}, "heading":{"exp":"STH.heading", "val":0.0}, "intervals":97, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"H.x", "val":5.960691570504961}, "y":{"exp":"H.y", "val":4.1854845123291}, "heading":{"exp":"H.heading", "val":0.0}, "intervals":97, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"STH.x", "val":7.2}, "y":{"exp":"STH.y", "val":4.1854845123291}, "heading":{"exp":"STH.heading", "val":0.0}, "intervals":62, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"H.x", "val":5.960691570504961}, "y":{"exp":"H.y", "val":4.1854845123291}, "heading":{"exp":"H.heading", "val":0.0}, "intervals":62, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"STH.x", "val":7.2}, "y":{"exp":"STH.y", "val":4.1854845123291}, "heading":{"exp":"STH.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -32,204 +32,134 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.40823,4.81646], + "waypoints":[0.0,1.53105,3.06209], "samples":[ - {"t":0.0, "x":7.2, "y":4.18548, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.85687, "ay":0.0, "alpha":0.0, "fx":[-14.2836,-14.2836,-14.2836,-14.2836], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.02483, "x":7.19974, "y":4.18548, "heading":0.0, "vx":-0.02127, 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a/src/main/deploy/choreo/STJ-J.traj b/src/main/deploy/choreo/STJ-J.traj index 8e08338..ebf8705 100644 --- a/src/main/deploy/choreo/STJ-J.traj +++ b/src/main/deploy/choreo/STJ-J.traj @@ -3,10 +3,10 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.8, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.669829845428467, "y":5.373566107070669, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":5.083755457035938, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":31, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.1, "y":5.373566107070669, "heading":1.0471975511965976, "intervals":40, 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"overrideIntervals":false}, {"x":3.620492494471631, "y":5.210163118636832, "heading":2.0943951023931953, "intervals":21, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.220803260803223, "y":5.603847026824951, "heading":2.13271766176822, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.133112869262695, "y":7.58695520401001, "heading":1.5707963267948966, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -19,7 +19,7 @@ "params":{ "waypoints":[ {"x":{"exp":"STLW.x", "val":7.133112869262695}, "y":{"exp":"STLW.y", "val":7.58695520401001}, "heading":{"exp":"STLW.heading", "val":1.5707963267948966}, "intervals":51, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.22139835357666 m", "val":4.22139835357666}, "y":{"exp":"5.6071882247924805 m", "val":5.6071882247924805}, 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"alpha":0.42406, "fx":[-46.9628,-45.44684,-47.59963,-48.91818], "fy":[-32.99371,-35.04556,-32.05451,-30.01298]}, + {"t":4.44468, "x":7.13311, "y":7.58696, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0,74] }, "events":[] diff --git a/src/main/deploy/choreo/project.chor b/src/main/deploy/choreo/project.chor index 5c58920..0a64eb2 100644 --- a/src/main/deploy/choreo/project.chor +++ b/src/main/deploy/choreo/project.chor @@ -359,7 +359,7 @@ "L1_A":{ "x":{ "exp":"L1_B.x", - "val":3.0 + "val":2.7 }, "y":{ "exp":"2 * REEF.y - L1_B.y", @@ -367,21 +367,21 @@ }, "heading":{ "exp":"-L1_B.heading", - "val":0.5235987755982988 + "val":0.0 } }, "L1_B":{ "x":{ - "exp":"3 m", - "val":3.0 + "exp":"2.7 m", + "val":2.7 }, "y":{ "exp":"4.05 m", "val":4.05 }, "heading":{ - "exp":"-30 deg", - "val":-0.5235987755982988 + "exp":"0 deg", + "val":0.0 } }, "L1_L":{ @@ -666,12 +666,12 @@ }, "SL3":{ "x":{ - "exp":"1.645925521850586 m - cos(SL3.heading) * CS_BACKUP - (2 in * sin(SL3.heading))", - "val":1.6720113128733682 + "exp":"1.245925521850586 m - cos(SL3.heading) * CS_BACKUP - (2 in * sin(SL3.heading))", + "val":1.2720113128733683 }, "y":{ - "exp":"7.444474220275879 m - sin(SL3.heading) * CS_BACKUP + (2 in * cos(SL3.heading))", - "val":7.322144087002364 + "exp":"7.544474220275879 m - sin(SL3.heading) * CS_BACKUP + (2 in * cos(SL3.heading))", + "val":7.422144087002366 }, "heading":{ "exp":"A_CS + 90 deg", @@ -709,11 +709,11 @@ "SR3":{ "x":{ "exp":"SL3.x", - "val":1.6720113128733682 + "val":1.2720113128733683 }, "y":{ "exp":"FieldWidth - SL3.y", - "val":0.7298559129976354 + "val":0.629855912997634 }, "heading":{ "exp":"-SL3.heading", @@ -793,7 +793,7 @@ "STE":{ "x":{ "exp":"STJ.x", - "val":7.1 + "val":6.8 }, "y":{ "exp":"E.y", @@ -862,8 +862,8 @@ }, "STJ":{ "x":{ - "exp":"7.1 m", - "val":7.1 + "exp":"6.8 m", + "val":6.8 }, "y":{ "exp":"J.y", @@ -938,16 +938,16 @@ "val":7.1225000000000005 }, "radius":{ - "exp":"1.96 in", - "val":0.049783999999999995 + "exp":"1.952 in", + "val":0.049580799999999994 }, "vmax":{ "exp":"5700 RPM", "val":596.9026041820607 }, "tmax":{ - "exp":"0.1 N * m", - "val":0.1 + "exp":"0.4 N * m", + "val":0.4 }, "cof":{ "exp":"1.5", diff --git a/src/main/deploy/choreo/split_path.traj b/src/main/deploy/choreo/split_path.traj index dbd0179..7bdeae1 100644 --- a/src/main/deploy/choreo/split_path.traj +++ b/src/main/deploy/choreo/split_path.traj @@ -3,9 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.4578444957733154, "y":7.405858039855957, "heading":2.194819513866496, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.014284610748291, "y":6.3548054695129395, "heading":-1.2105440264067155, "intervals":45, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.8003172874450684, "y":6.812026023864746, "heading":0.0, "intervals":56, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false}, + {"x":1.4578444957733154, "y":7.405858039855957, "heading":2.194819513866496, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.014284610748291, "y":6.3548054695129395, "heading":-1.2105440264067155, "intervals":44, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.8003172874450684, "y":6.812026023864746, "heading":0.0, "intervals":54, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false}, {"x":1.4578444957733154, "y":7.405858039855957, "heading":2.194819513866496, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, @@ -19,9 +19,9 @@ }, "params":{ 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"fx":[57.06534,54.86927,54.64792,56.8314], "fy":[-3.44995,-16.00508,-16.94047,-6.66471]}, + {"t":2.55938, "x":2.61095, "y":4.86519, "heading":2.80367, "vx":0.43268, "vy":-1.74939, "omega":1.14872, "ax":3.38513, "ay":-0.3068, "alpha":-1.44215, "fx":[56.93308,55.95195,55.64435,57.18473], "fy":[4.57261,-11.32997,-13.13546,-0.56379]}, + {"t":2.5888, "x":2.62514, "y":4.81358, "heading":2.83747, "vx":0.53228, "vy":-1.75842, "omega":1.10629, "ax":3.37423, "ay":0.16851, "alpha":-1.81231, "fx":[54.88106,56.84991,56.58689,56.66898], "fy":[15.59346,-3.94893,-7.79809,7.3895]}, + {"t":2.61823, "x":2.64227, "y":4.76191, "heading":2.87002, "vx":0.63157, "vy":-1.75346, "omega":1.05296, "ax":3.2448, "ay":0.83085, "alpha":-2.22935, "fx":[48.72804,56.20404,57.05318,54.37204], "fy":[29.55931,8.46074,-0.08361,17.46298]}, + {"t":2.64765, "x":2.66225, "y":4.71068, "heading":2.90101, "vx":0.72704, "vy":-1.72902, "omega":0.98737, "ax":2.85477, "ay":1.68938, "alpha":-2.60648, "fx":[36.54305,48.90956,55.86515,49.03296], "fy":[43.69798,28.58876,11.15146,29.20674]}, + {"t":2.67708, "x":2.68488, "y":4.66053, "heading":2.93006, "vx":0.81104, "vy":-1.67931, "omega":0.91067, "ax":2.06304, "ay":2.55291, "alpha":-3.04979, "fx":[20.32386,27.01078,50.36537,39.85982], "fy":[53.24164,49.72773,26.42907,40.82463]}, + {"t":2.7065, "x":2.70964, "y":4.61223, "heading":2.95685, "vx":0.87174, "vy":-1.60419, "omega":0.82093, "ax":1.07555, "ay":3.09022, "alpha":-3.27, "fx":[5.17668,1.16778,37.50059,27.87052], "fy":[56.8129,56.73076,42.7069,49.7997]}, + {"t":2.73592, "x":2.73576, "y":4.56636, "heading":2.98101, "vx":0.90339, "vy":-1.51326, "omega":0.72472, "ax":0.20575, "ay":3.29919, "alpha":-2.91218, "fx":[-6.27892,-15.12506,19.53116,15.59176], "fy":[56.76563,54.87138,53.41568,54.93114]}, + {"t":2.76535, "x":2.76243, "y":4.52326, "heading":3.00233, "vx":0.90945, "vy":-1.41619, "omega":0.63903, "ax":-0.45144, "ay":3.3119, "alpha":-2.43705, "fx":[-14.31655,-24.10353,3.32126,4.99784], "fy":[55.34416,51.69825,56.86542,56.92307]}, + {"t":2.79477, "x":2.78899, "y":4.48303, "heading":3.02114, "vx":0.89616, "vy":-1.31874, "omega":0.56732, "ax":-0.91363, "ay":3.24177, "alpha":-2.0718, "fx":[-19.94183,-29.35369,-8.26885,-3.35451], "fy":[53.62054,49.00491,56.4467,57.08315]}, + {"t":2.8242, "x":2.81496, "y":4.44563, "heading":3.03783, "vx":0.86928, "vy":-1.22335, "omega":0.50636, "ax":-1.23653, "ay":3.15088, "alpha":-1.81, "fx":[-23.97539,-32.68671,-16.05905,-9.72805], "fy":[51.97936,46.91737,54.81463,56.38299]}, + {"t":2.85362, "x":2.84001, "y":4.41099, "heading":3.05273, "vx":0.8329, "vy":-1.13064, "omega":0.4531, "ax":-1.46769, "ay":3.06273, "alpha":-1.61683, "fx":[-26.95696,-34.95449,-21.36836,-14.58295], "fy":[50.52742,45.30537,53.02803,55.35616]}, + {"t":2.88304, "x":2.86388, "y":4.37905, "heading":3.06606, "vx":0.78971, "vy":-1.04052, "omega":0.40553, "ax":-1.63852, "ay":2.98412, "alpha":-1.46884, "fx":[-29.22629,-36.58347,-25.11787,-18.32572], "fy":[49.27417,44.0409,51.40309,54.25728]}, + {"t":2.91247, "x":2.88641, "y":4.34973, "heading":3.07799, "vx":0.7415, "vy":-0.95271, "omega":0.36231, "ax":-1.76866, "ay":2.91592, "alpha":-1.35193, "fx":[-30.99891,-37.80412,-27.86704,-21.26052], "fy":[48.19915,43.02979,50.00185,53.19701]}, + {"t":2.94189, "x":2.90746, "y":4.32296, "heading":3.08865, "vx":0.68946, "vy":-0.86691, "omega":0.32253, "ax":-1.87048, "ay":2.85716, "alpha":-1.2573, "fx":[-32.41486,-38.74988,-29.95196,-23.60326], "fy":[47.27574,42.2062,48.81046,52.21771]}, + {"t":2.97132, "x":2.92693, "y":4.29869, "heading":3.09814, "vx":0.63442, "vy":-0.78284, "omega":0.28553, "ax":-1.952, "ay":2.80649, "alpha":-1.17923, "fx":[-33.56773,-39.5026,-31.5797,-25.50556], "fy":[46.47894,41.52414,47.79731,51.33073]}, + {"t":3.00074, "x":2.94476, "y":4.27687, "heading":3.10655, "vx":0.57698, "vy":-0.70027, "omega":0.25084, "ax":-2.01856, "ay":2.76257, "alpha":-1.11377, "fx":[-34.52184,-40.11501,-32.88219,-27.07451], "fy":[45.78738,40.951,46.93072,50.53399]}, + {"t":3.03017, "x":2.96086, "y":4.25746, "heading":3.11393, "vx":0.51759, "vy":-0.61898, "omega":0.21806, "ax":-2.07382, "ay":2.72429, "alpha":-1.05814, "fx":[-35.32259,-40.62242,-33.94649,-28.38678], "fy":[45.18352,40.46321,46.18362,49.82016]}, + {"t":3.05959, "x":2.97519, "y":4.24042, "heading":3.12034, "vx":0.45657, "vy":-0.53882, "omega":0.18693, "ax":-2.12037, "ay":2.6907, "alpha":-1.01032, "fx":[-36.00273,-41.04935,-34.83191,-29.49815], "fy":[44.65312,40.0434,45.53403,49.18035]}, + {"t":3.08901, "x":2.98771, "y":4.22573, "heading":3.12584, "vx":0.39418, "vy":-0.45965, "omega":0.1572, "ax":-2.16008, "ay":2.66104, "alpha":-0.9688, "fx":[-36.58647,-41.4133,-35.58,-30.4499], "fy":[44.18463,39.67853,44.96445,48.6057]}, + {"t":3.11844, "x":2.99837, "y":4.21336, "heading":3.13047, "vx":0.33062, "vy":-0.38135, "omega":0.12869, "ax":-2.19432, "ay":2.6347, "alpha":-0.93242, "fx":[-37.09199,-41.72708,-36.22065,-31.27305], "fy":[43.76871,39.35867,44.46097,48.08811]}, + {"t":3.14786, "x":3.00715, "y":4.20328, "heading":3.13426, "vx":0.26605, "vy":-0.30383, "omega":0.10126, "ax":-2.22413, "ay":2.61115, "alpha":-0.90029, "fx":[-37.53321,-42.00026,-36.77584,-31.99127], "fy":[43.39773,39.07609,44.01253,47.62037]}, + {"t":3.17729, "x":3.01402, "y":4.19547, "heading":3.13723, "vx":0.20061, "vy":-0.22699, "omega":0.07477, "ax":-2.25031, "ay":2.59001, "alpha":-0.87173, "fx":[-37.92093,-42.24014,-37.26207,-32.62291], "fy":[43.06547,38.82475,43.61024,47.19624]}, + {"t":3.20671, "x":3.01894, "y":4.18991, "heading":3.13943, "vx":0.1344, "vy":-0.15079, "omega":0.04912, "ax":-2.27347, "ay":2.57092, "alpha":-0.84617, "fx":[-38.26369,-42.45238,-37.69191,-33.18236], "fy":[42.76675,38.59984,43.24694,46.81031]}, + {"t":3.23614, "x":3.02191, "y":4.18659, "heading":3.14088, "vx":0.0675, "vy":-0.07514, "omega":0.02422, "ax":-2.2941, "ay":2.55361, "alpha":-0.82317, "fx":[-38.56828,-42.64142,-38.07516,-33.68106], "fy":[42.4973,38.39746,42.91682,46.45796]}, + {"t":3.26556, "x":3.02291, "y":4.18548, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 57102b0..1aa9377 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -185,19 +185,34 @@ public void addAutos() { // new GroundAutoCycle(Optional.empty(), POI.LP2, POI.L2_A, ReefScoringOption.L2) // //new GroundAutoCycle(Optional.empty(), POI.LP3, POI.L2_B, ReefScoringOption.L2) // )); - autos.put("Left Frontside AB", ()->flexGroundAuto( + /* autos.put("Left Lolp AB L2B (bad)", ()->flexGroundAuto( new GroundAutoCycle(Optional.empty(), POI.STA, POI.A, ReefScoringOption.L4_PIV), new GroundAutoCycle(Optional.empty(), POI.LP2, POI.B, ReefScoringOption.L4_PIV) , new GroundAutoCycle(Optional.empty(), POI.LP3, POI.L2_B, ReefScoringOption.L2) )); - - autos.put("Left Wall AB", ()->flexGroundAuto( +*/ + autos.put("Left Wall Right 2 Lolp AB L2B", ()->flexGroundAuto( new GroundAutoCycle(Optional.empty(), POI.STAW, POI.A, ReefScoringOption.L4_PIV), new GroundAutoCycle(Optional.empty(), POI.LP2, POI.B, ReefScoringOption.L4_PIV) , new GroundAutoCycle(Optional.empty(), POI.LP3, POI.L2_B, ReefScoringOption.L2) )); + autos.put("Left Wall Left 2 Lolp AB L2B", ()->flexGroundAuto( + new GroundAutoCycle(Optional.empty(), POI.STAW, POI.A, ReefScoringOption.L4_PIV), + new GroundAutoCycle(Optional.empty(), POI.LP1, POI.B, ReefScoringOption.L4_PIV), + new GroundAutoCycle(Optional.empty(), POI.LP2, POI.L2_B, ReefScoringOption.L2)) + + ); + + /* + autos.put("Left Wall All 2 Lolp AB 2 L2", ()->flexGroundAuto( + new GroundAutoCycle(Optional.empty(), POI.STAW, POI.A, ReefScoringOption.L4_PIV), + new GroundAutoCycle(Optional.empty(), POI.LP1, POI.B, ReefScoringOption.L4_PIV), + new GroundAutoCycle(Optional.empty(), POI.LP2, POI.L2_A, ReefScoringOption.L2), + new GroundAutoCycle(Optional.empty(), POI.LP3, POI.L2_B, ReefScoringOption.L2)) + ); + */ // autos.put("Ground L-A-B WALL", ()->flexGroundAuto( // new GroundAutoCycle(Optional.empty(), POI.STLW, POI.L, ReefScoringOption.L4_PIV), // new GroundAutoCycle(Optional.empty(), POI.LP1, POI.A, ReefScoringOption.L4_PIV), @@ -222,7 +237,7 @@ public void addAutos() { // new GroundAutoCycle(Optional.empty(), POI.LP1, POI.B, ReefScoringOption.L4_PIV), // new GroundAutoCycle(Optional.empty(), POI.LP2, POI.L2_B, ReefScoringOption.L2) // )); - autos.put("Push Left Front A-B", ()-> + /* autos.put("Push Left Front A-B", ()-> sequence( m_autoFactory.resetOdometry("8").asProxy(), m_autoFactory.trajectoryCmd("8").asProxy(), @@ -232,6 +247,7 @@ public void addAutos() { , new GroundAutoCycle(Optional.empty(), POI.LP3, POI.L2_B, ReefScoringOption.L2) ))); + */ autos.put("Push Left Wall A-B", ()-> sequence( @@ -797,6 +813,7 @@ public Command bargeUpAndOutVoltage() { Arm.Positions.SCORE_BARGE.elevatorMeters() - Units.inchesToMeters(18); BooleanSupplier nohardstop = ()-> m_arm.position.elevatorMeters() > Arm.Positions.SCORE_BARGE.elevatorMeters() - Units.inchesToMeters(8); + final double elevatorVoltage = 4.55; return sequence( // prep position @@ -810,13 +827,13 @@ public Command bargeUpAndOutVoltage() { parallel( m_arm.mainPivotS.goTo(Arm.Positions.SCORE_BARGE::pivotRadians), m_arm.wristS.goTo(Arm.Positions.SCORE_BARGE::wristRadians), - m_arm.elevatorS.voltage(()->4) + m_arm.elevatorS.voltage(()->elevatorVoltage) ).alongWith(m_hand.inAlgae()).until(release), // stop parallel( m_arm.mainPivotS.goTo(Arm.Positions.SCORE_BARGE::pivotRadians), m_arm.wristS.goTo(Arm.Positions.SCORE_BARGE::wristRadians), - m_arm.elevatorS.voltage(()->4) + m_arm.elevatorS.voltage(()->elevatorVoltage) ).alongWith(m_hand.outAlgae()).until(nohardstop), parallel( m_arm.mainPivotS.goTo(Arm.Positions.SCORE_BARGE::pivotRadians), @@ -833,7 +850,7 @@ public Command bargeUpAndOutVoltage() { } private double bargeTargetX() { - final double blueX = 7.53-Units.inchesToMeters(10); + final double blueX = 7.53-Units.inchesToMeters(8); return (m_drivebase.getPose().getX() > AllianceFlipUtil.fieldLength/2.0) ? AllianceFlipUtil.flipX(blueX) : blueX; } diff --git a/src/main/java/frc/robot/CoralSensor.java b/src/main/java/frc/robot/CoralSensor.java index 2547b82..8bfb1fa 100644 --- a/src/main/java/frc/robot/CoralSensor.java +++ b/src/main/java/frc/robot/CoralSensor.java @@ -11,51 +11,27 @@ public class CoralSensor { CANrange m_backCANrange = new CANrange(CoralSensorConstants.BACK_CANRANGE_ID, Robot.m_notSwerveBus); CANrangeConfiguration m_backCANrangeConfigurator = new CANrangeConfiguration(); -//todo: set can bus - // private final TimeOfFlight tof = new TimeOfFlight(CoralSensorConstants.CAN_ID); - private double simDistance = CoralSensorConstants.MAX_DISTANCE; - public CoralSensor(){ + + public CoralSensor() { m_backCANrangeConfigurator.ProximityParams.ProximityThreshold = 0.1; } + public boolean isValid() { return m_backCANrange.getIsDetected().getValue(); } - /* - private double rawDistanceMeter(){ - - if(RobotBase.isSimulation()) { - return simDistance; - } - return tof.getRange() / 1000.0; - - - - } - */ - public void setHasCoral(boolean hasCoral) { - - - /* if (hasCoral) { - simDistance = 0; - } - else { - simDistance = Units.inchesToMeters(4); - } - */ - } public class CoralSensorConstants { public static final int BACK_CANRANGE_ID = 55; public static final int RIGHT_CANRANGE_ID = 56; public static final int LEFT_CANRANGE_ID = 57; public static final int CENTER_CANRANGE_ID = 58; - + public static final double MAX_DISTANCE = 0.39; - public static final double CENTER_DISTANCE = 0.179 - Units.inchesToMeters(0.7-0.6); + public static final double CENTER_DISTANCE = 0.179 - Units.inchesToMeters(0.7 - 0.6); } - public boolean hasCoral(){ + public boolean hasCoral() { return m_backCANrange.getIsDetected().getValue(); } } diff --git a/src/main/java/frc/robot/ReefScoringOption.java b/src/main/java/frc/robot/ReefScoringOption.java index 1abd3ce..f48acfa 100644 --- a/src/main/java/frc/robot/ReefScoringOption.java +++ b/src/main/java/frc/robot/ReefScoringOption.java @@ -30,7 +30,7 @@ public enum ReefScoringOption{ L2( POI::selectedBatterySidePOI, (autos)->autos.m_arm.goToPosition(Arm.Positions.L2_OPP), - -4, Arm.Positions.L2_OPP, 0, + -5, Arm.Positions.L2_OPP, 0, (autos)->autos.m_arm.goToPosition( // intentional, we want a pivot up new ArmPosition(Arm.Positions.L3_OPP.mainPivotAngle(), ElevatorConstants.MIN_PADDED_LENGTH, Arm.Positions.L2_OPP.wristAngle())), @@ -72,7 +72,7 @@ public enum ReefScoringOption{ ), L4_PIV( POI::selectedPivotSidePOI, (autos)->autos.m_arm.goToPosition(Arm.Positions.L4), - 4, Arm.Positions.L4, 0, + 5, Arm.Positions.L4, 0, (autos)->Commands.sequence( autos.m_arm.goToPosition( new ArmPosition( diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a73a011..31a966c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -177,7 +177,7 @@ public Robot() { parallel(m_arm.mainPivotS.coast(), m_arm.wristS.coast(), LightStripS.top.stateC(() -> TopStates.CoastMode))); // .whileTrue(m_climbHookS.coast()); // Home wrist when disabled - m_driverController.start().and(RobotModeTriggers.disabled()) + m_driverController.povDown().and(RobotModeTriggers.disabled()) .onTrue(parallel( m_arm.elevatorS.home(), m_arm.wristS.home(), @@ -207,10 +207,10 @@ private void configureOperatorController() { .voltage(() -> (m_arm.mainPivotS.getAngleRadians() < Units.degreesToRadians(10)) ? -0.5 : -5), Commands.waitUntil(() -> m_arm.mainPivotS.getAngleRotations() < Units.degreesToRotations(70)) .andThen( - m_arm.wristS.goTo(() -> Units.degreesToRadians(90 + 35))), + m_arm.wristS.goTo(() -> Units.degreesToRadians(25))), Commands.waitUntil(() -> m_arm.mainPivotS.getAngleRotations() < Units.degreesToRotations(40)) .andThen( - m_arm.elevatorS.goToLength(() -> 1.05)) + m_arm.elevatorS.goToLength(() -> 0.75)) ))); m_operatorBoard.right().onTrue(m_armBrakeS.brake()).onFalse(m_armBrakeS.release()) @@ -239,7 +239,7 @@ public void configureDriverController() { m_driverController.back() .onTrue(m_hand.inAlgae()) .onTrue(sequence( - m_arm.processorWithHome())); + m_arm.processorWithHome())); // Align to barge m_driverController.start()// .and(inWorkshop.negate()) @@ -261,7 +261,7 @@ public void configureDriverController() { // Score coral and stow boolean coralPivotSide = false; m_driverController.rightBumper().onTrue( - either(m_hand.voltage(() -> -4).withTimeout(0.5), // spit out if not safe to + either(m_hand.voltage(() -> 4).withTimeout(0.5), // spit out if not safe to m_hand.voltage(() -> m_autos.lastScoringOption.inner.outtakeVoltage).withTimeout(0.5), @@ -269,10 +269,8 @@ public void configureDriverController() { .andThen(new ScheduleCommand(m_autos.stowAfterCoral(m_autos.lastScoringOption)))); // Score algae and stow if at barge position - m_driverController.leftTrigger().onTrue(parallel( - m_hand.outAlgaeSlow().withTimeout(0.5)).andThen( - new ScheduleCommand(m_arm.goToPosition(Arm.Positions.STOW)) - .onlyIf(() -> m_arm.getPosition().elevatorMeters() > Arm.Positions.L3.elevatorMeters()))); + m_driverController.leftTrigger().onTrue(m_hand.voltage(() -> -4).withTimeout(0.5) + .andThen(new ScheduleCommand(m_autos.stowAfterCoral(m_autos.lastScoringOption)))); // Auto align to operator selected position on reef for coral scoring m_driverController.rightTrigger().whileTrue(m_autos.autoScoreMap()); diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index 86cc529..e2ee603 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -123,7 +123,8 @@ public class TunerConstants { private static final double kDriveGearRatio = 50.0/16.0 * 19.0/25.0 * 45.0/15.0;//5.357142857142857; private static final double kSteerGearRatio = 21.428571428571427; - public static final Distance kWheelRadius = Inches.of(1.962); + // public static final Distance kWheelRadius = Inches.of(1.962); // grip lock wheels + public static final Distance kWheelRadius = Inches.of(1.955); // Billet wheels private static final boolean kInvertLeftSide = false; private static final boolean kInvertRightSide = true; diff --git a/src/main/java/frc/robot/subsystems/ArmBrakeS.java b/src/main/java/frc/robot/subsystems/ArmBrakeS.java index 6cb3a96..27d7d2b 100644 --- a/src/main/java/frc/robot/subsystems/ArmBrakeS.java +++ b/src/main/java/frc/robot/subsystems/ArmBrakeS.java @@ -37,8 +37,8 @@ public Command start() { public Command goTo(double position) { return this.run(()->motor.getClosedLoopController().setReference(position, ControlType.kPosition)); } - public Command brake() { - return this.goTo(-5);//return voltage(-1); + public Command brake() { + return this.goTo(-0.01);//return voltage(-1); } public Command release() { return goTo(1); //start().andThen(end()); @@ -59,13 +59,13 @@ public Command home () { } public class ArmBrakeConstants { public static final int CAN_ID = 35; - public static final int CURRENT_LIMIT = 10; + public static final int CURRENT_LIMIT = 25; public static SparkFlexConfig configureMotor(SparkFlexConfig config) { config.smartCurrentLimit(CURRENT_LIMIT); - config.softLimit.forwardSoftLimit(1).forwardSoftLimitEnabled(true); + config.softLimit.reverseSoftLimit(-1).reverseSoftLimitEnabled(true); config.idleMode(IdleMode.kBrake); - config.closedLoop.p(10); + config.closedLoop.p(10 ); return config; } } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ClimbWheelsS.java b/src/main/java/frc/robot/subsystems/ClimbWheelsS.java index 435311f..bfd6f77 100644 --- a/src/main/java/frc/robot/subsystems/ClimbWheelsS.java +++ b/src/main/java/frc/robot/subsystems/ClimbWheelsS.java @@ -17,13 +17,17 @@ @Logged public class ClimbWheelsS extends SubsystemBase { public class ClimbWheelsConstants { - public static final int CAN_ID = 55; - public static final int CURRENT_LIMIT = 120; + public static final int CAN_ID = 61; + public static final int STATOR_CURRENT_LIMIT = 120; + public static final int SUPPLY_CURRENT_LIMIT = 25; + public static TalonFXConfiguration configuremotor(TalonFXConfiguration config){ config.CurrentLimits - .withStatorCurrentLimit(CURRENT_LIMIT) + .withStatorCurrentLimit(STATOR_CURRENT_LIMIT) .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(SUPPLY_CURRENT_LIMIT) ; config.MotorOutput.NeutralMode = NeutralModeValue.Brake; config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; @@ -32,10 +36,10 @@ public static TalonFXConfiguration configuremotor(TalonFXConfiguration config){ } public Command in(){ - return voltage(-5); + return voltage(2.5); } public Command out(){ - return voltage(1); + return voltage(-1); } public Command stop(){ return voltage(0); diff --git a/src/main/java/frc/robot/subsystems/arm/Arm.java b/src/main/java/frc/robot/subsystems/arm/Arm.java index 040b057..03c8076 100644 --- a/src/main/java/frc/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/robot/subsystems/arm/Arm.java @@ -56,12 +56,12 @@ public ArmPosition safeWrist() { public class Positions { // NEW HAND - public static final ArmPosition GROUND_CORAL = new ArmPosition(Degrees.of(2), ElevatorConstants.MIN_LENGTH, - Degrees.of(-40)); + public static final ArmPosition GROUND_CORAL = new ArmPosition(Degrees.of(1), ElevatorConstants.MIN_LENGTH, + Degrees.of(-41)); public static final ArmPosition GROUND_ALGAE = new ArmPosition(Degrees.of(6.7), Meters.of(0.75), Degrees.of(-55)); public static final ArmPosition WALL_INTAKE_CORAL = new ArmPosition(Degrees.of(65), ElevatorConstants.MIN_PADDED_LENGTH.plus(Inches.of(2.5)), - Degrees.of(-55)); + Degrees.of(-52)); public static final ArmPosition POST_INTAKxdfbvE_CORAL = new ArmPosition(Degrees.of(85), ElevatorConstants.MIN_PADDED_LENGTH.plus(Inches.of(0)), Degrees.of(5)); @@ -71,8 +71,12 @@ public class Positions { Degrees.of(88)); public static final ArmPosition L2 = new ArmPosition(Degrees.of(90), ElevatorConstants.MIN_LENGTH.plus(Inches.of(5)), Degrees.of(90 + 55)); - public static final ArmPosition L1 = new ArmPosition(Degrees.of(40), ElevatorConstants.MIN_PADDED_LENGTH.plus(Inches.of(2)), - Degrees.of(-40)); + + //10/22 wokrshop: public static final ArmPosition L1 = new ArmPosition(Degrees.of(31), ElevatorConstants.MIN_PADDED_LENGTH.plus(Inches.of(2)), + // Degrees.of(-41)); + + public static final ArmPosition L1 = new ArmPosition(Degrees.of(30), ElevatorConstants.MIN_PADDED_LENGTH.plus(Inches.of(2)), + Degrees.of(-26)); public static final ArmPosition L4_OPP = new ArmPosition(Degrees.of(65), ElevatorConstants.MAX_LENGTH.minus(Inches.of(0)), Degrees.of(30)); public static final ArmPosition L3_OPP = new ArmPosition(Degrees.of(52), ElevatorConstants.MIN_LENGTH.plus(Inches.of(17)), @@ -82,8 +86,8 @@ public class Positions { public static final ArmPosition L2_OPP = new ArmPosition(Degrees.of(35), ElevatorConstants.MIN_LENGTH.plus(Inches.of(5)), Degrees.of(110)); public static final ArmPosition CORAL_STOW = new ArmPosition(Degrees.of(87), ElevatorConstants.MIN_PADDED_LENGTH, Degrees.of(50)); - public static final ArmPosition PIVOT_SIDE_LOW_ALGAE = new ArmPosition(Degrees.of(108), - ElevatorConstants.MIN_LENGTH.plus(Inches.of(1)), Degrees.of(60)); + public static final ArmPosition PIVOT_SIDE_LOW_ALGAE = new ArmPosition(Degrees.of(110), + ElevatorConstants.MIN_LENGTH.plus(Inches.of(2)), Degrees.of(50)); public static final ArmPosition BATTERY_SIDE_LOW_ALGAE = new ArmPosition(Degrees.of(40), ElevatorConstants.MIN_LENGTH.plus(Inches.of(8)), Degrees.of(-64)); @@ -94,7 +98,7 @@ public class Positions { public static final ArmPosition STOW = new ArmPosition(Degrees.of(70), Meters.of(0.75), Degrees.of(-25)); - public static final ArmPosition PRE_CLIMB = new ArmPosition(Degrees.of(92), ElevatorConstants.MIN_PADDED_LENGTH, + public static final ArmPosition PRE_CLIMB = new ArmPosition(Degrees.of(96), ElevatorConstants.MIN_PADDED_LENGTH, Degrees.of(-50)); public static final ArmPosition SCORE_BARGE_VERTICAL = new ArmPosition(Degrees.of(90), ElevatorConstants.MAX_LENGTH, Degrees.of(-20)); @@ -102,8 +106,8 @@ public class Positions { Degrees.of(-25)); public static final ArmPosition SCORE_BARGE_PRE = new ArmPosition(Degrees.of(70), Meters.of(0.75), Degrees.of(-25)); - public static final ArmPosition SCORE_PROCESSOR = new ArmPosition(Degrees.of(35), - Meters.of(0.75), Degrees.of(-70)); + public static final ArmPosition SCORE_PROCESSOR = new ArmPosition(Degrees.of(20.5), + Meters.of(0.75), Degrees.of(-40)); } public Arm() { diff --git a/src/main/java/frc/robot/subsystems/arm/RealArm.java b/src/main/java/frc/robot/subsystems/arm/RealArm.java index aa943d9..a427270 100644 --- a/src/main/java/frc/robot/subsystems/arm/RealArm.java +++ b/src/main/java/frc/robot/subsystems/arm/RealArm.java @@ -176,9 +176,7 @@ public Command processorWithHome() { Units.degreesToRadians(3600) )), parallel( - new ScheduleCommand( - wristS.driveToHome() - ), + new ScheduleCommand(wristS.driveToHome()), new ScheduleCommand( elevatorDirectlyTo(Arm.Positions.SCORE_PROCESSOR.elevatorMeters()) ), diff --git a/src/main/java/frc/robot/subsystems/arm/pivot/MainPivotS.java b/src/main/java/frc/robot/subsystems/arm/pivot/MainPivotS.java index 189165a..02090f7 100644 --- a/src/main/java/frc/robot/subsystems/arm/pivot/MainPivotS.java +++ b/src/main/java/frc/robot/subsystems/arm/pivot/MainPivotS.java @@ -96,8 +96,7 @@ public class MainPivotConstants { public static TalonFXConfiguration configureLeader(TalonFXConfiguration config) { config.Slot0.withKS(K_S).withKV(K_V).withKA(K_A).withKP(K_P).withKD(0.4).withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); //TEMP - config.MotionMagic.withMotionMagicCruiseVelocity(0.5).withMotionMagicAcceleration(0.66); - //config.MotionMagic.withMotionMagicCruiseVelocity(1).withMotionMagicAcceleration(4); + config.MotionMagic.withMotionMagicCruiseVelocity(1.3).withMotionMagicAcceleration(1.64);//0.5, 0.66 //config.MotionMagic.withMotionMagicCruiseVelocity(1).withMotionMagicAcceleration(4); config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; config.Feedback .withFeedbackRemoteSensorID(30) @@ -108,6 +107,7 @@ public static TalonFXConfiguration configureLeader(TalonFXConfiguration config) .withForwardSoftLimitThreshold(CCW_LIMIT) .withReverseSoftLimitThreshold(Degrees.of(1.34)) .withReverseSoftLimitEnable(true); + // config.Voltage.withPeakForwardVoltage(10).withPeakReverseVoltage(-10); config.CurrentLimits.withSupplyCurrentLimitEnable(true).withSupplyCurrentLimit(40); return config; } @@ -173,7 +173,7 @@ public void setAccelerationSupplier(DoubleSupplier accelerationSupplier) { private StatusSignal m_angleSetpointSig = m_leader.getClosedLoopReference(); private double m_goalRotations; - private CANcoder m_cancoder = new CANcoder(30); + private CANcoder m_cancoder = new CANcoder(30, Robot.m_notSwerveBus); private StatusSignal m_cancoderAngleSig = m_cancoder.getPosition(); /** Creates a new MainPivotS. */ public MainPivotS() { diff --git a/src/main/java/frc/robot/subsystems/arm/wrist/RealWristS.java b/src/main/java/frc/robot/subsystems/arm/wrist/RealWristS.java index ed61313..d2c14c3 100644 --- a/src/main/java/frc/robot/subsystems/arm/wrist/RealWristS.java +++ b/src/main/java/frc/robot/subsystems/arm/wrist/RealWristS.java @@ -83,9 +83,10 @@ public class WristConstants { public static final double MOI = 0.10829; public static TalonFXConfiguration configureLeader(TalonFXConfiguration config) { config.CurrentLimits.withStatorCurrentLimitEnable(true).withStatorCurrentLimit(120) + .withSupplyCurrentLimitEnable(true).withSupplyCurrentLimit(60); config.Slot0.withKS(K_S).withKV(K_V).withKA(K_A).withKP(50).withKD(0); - config.MotionMagic.withMotionMagicCruiseVelocity(1).withMotionMagicAcceleration(2.8); + config.MotionMagic.withMotionMagicCruiseVelocity(2.5).withMotionMagicAcceleration(7); //1, 2.8 config.Feedback // .withFeedbackRemoteSensorID(34) // .withFeedbackSensorSource(FeedbackSensorSourceValue.SyncCANcoder) @@ -93,10 +94,13 @@ public static TalonFXConfiguration configureLeader(TalonFXConfiguration config) config.SoftwareLimitSwitch.withForwardSoftLimitEnable(true) .withForwardSoftLimitThreshold(CCW_LIMIT) .withReverseSoftLimitThreshold(CW_LIMIT) + .withReverseSoftLimitEnable(true); config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; config.MotorOutput.withNeutralMode(NeutralModeValue.Brake); + // config.Voltage.withPeakForwardVoltage(10).withPeakReverseVoltage(-10); + return config; }