diff --git a/src/main/deploy/choreo/DepotBumpDirectionalIntake.traj b/src/main/deploy/choreo/DepotBumpDirectionalIntake.traj index 02ad1ab..462285b 100644 --- a/src/main/deploy/choreo/DepotBumpDirectionalIntake.traj +++ b/src/main/deploy/choreo/DepotBumpDirectionalIntake.traj @@ -4,8 +4,8 @@ "snapshot":{ "waypoints":[ {"x":3.642044067382813, "y":5.616477966308594, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.356520175933838, "y":5.601438999176025, "heading":0.0, "intervals":18, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.3488383293151855, "y":5.866360664367676, "heading":0.0, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.356520175933838, "y":5.601438999176025, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + 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--git a/src/main/deploy/choreo/OutpostBumpDirectionalIntake.traj b/src/main/deploy/choreo/OutpostBumpDirectionalIntake.traj index 4c9c55f..5afda0f 100644 --- a/src/main/deploy/choreo/OutpostBumpDirectionalIntake.traj +++ b/src/main/deploy/choreo/OutpostBumpDirectionalIntake.traj @@ -6,14 +6,15 @@ {"x":3.5734102725982666, "y":2.572850227355957, "heading":3.128606368606743, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.288530349731445, "y":2.5143802165985107, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":6.257841110229492, "y":2.107180595397949, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":7.019501209259033, "y":1.9424973726272583, "heading":-3.1223328083409903, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - 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{"t":11.49375, "x":2.3516, "y":5.75832, "heading":2.07907, "vx":0.6884, "vy":-0.12588, "omega":1.77795, "ax":0.0, "ay":0.0, "alpha":-0.46954, "fx":[0.49255,-1.73161,-0.49255,1.73161], "fy":[1.73161,0.49254,-1.73161,-0.49255]}, - {"t":11.53132, "x":2.37747, "y":5.75358, "heading":2.14588, "vx":0.6884, "vy":-0.12588, "omega":1.7603, "ax":0.0, "ay":0.0, "alpha":-0.54265, "fx":[0.43437,-2.03478,-0.43437,2.03478], "fy":[2.03478,0.43437,-2.03478,-0.43437]}, - {"t":11.5689, "x":2.40333, "y":5.74885, "heading":2.21202, "vx":0.6884, "vy":-0.12588, "omega":1.73991, "ax":0.0, "ay":0.0, "alpha":-0.62171, "fx":[0.34247,-2.35904,-0.34247,2.35904], "fy":[2.35904,0.34247,-2.35904,-0.34247]}, - {"t":11.60648, "x":2.4292, "y":5.74412, "heading":2.2774, "vx":0.6884, "vy":-0.12588, "omega":1.71655, "ax":0.0, "ay":0.0, "alpha":-0.70754, "fx":[0.21352,-2.70445,-0.21352,2.70445], "fy":[2.70445,0.21352,-2.70445,-0.21352]}, - {"t":11.64406, "x":2.45507, "y":5.73939, "heading":2.34191, "vx":0.6884, "vy":-0.12588, "omega":1.68996, "ax":0.0, "ay":0.0, "alpha":-0.80105, "fx":[0.04387,-3.07108,-0.04387,3.07108], "fy":[3.07108,0.04387,-3.07108,-0.04387]}, - {"t":11.68163, "x":2.48094, "y":5.73466, "heading":2.40541, "vx":0.6884, "vy":-0.12588, "omega":1.65986, "ax":0.0, "ay":0.0, "alpha":-0.90318, "fx":[-0.17038,-3.4588,0.17038,3.4588], "fy":[3.4588,-0.17038,-3.4588,0.17038]}, - {"t":11.71921, "x":2.50681, "y":5.72993, "heading":2.46778, "vx":0.6884, "vy":-0.12588, "omega":1.62592, "ax":0.0, "ay":0.0, "alpha":-1.01498, "fx":[-0.43338,-3.86743,0.43338,3.86743], "fy":[3.86743,-0.43338,-3.86743,0.43338]}, - {"t":11.75679, "x":2.53267, "y":5.7252, "heading":2.52888, "vx":0.6884, "vy":-0.12588, "omega":1.58778, "ax":0.0, "ay":0.0, "alpha":-1.13754, "fx":[-0.74946,-4.29666,0.74946,4.29666], "fy":[4.29666,-0.74946,-4.29666,0.74946]}, - {"t":11.79437, "x":2.55854, "y":5.72047, "heading":2.58855, "vx":0.6884, "vy":-0.12588, "omega":1.54504, "ax":0.0, "ay":0.0, "alpha":-1.27204, "fx":[-1.12308,-4.74618,1.12308,4.74618], "fy":[4.74618,-1.12308,-4.74618,1.12308]}, - {"t":11.83194, "x":2.58441, "y":5.71574, "heading":2.6466, "vx":0.6884, "vy":-0.12588, "omega":1.49724, "ax":0.0, "ay":0.0, "alpha":-1.41974, "fx":[-1.55876,-5.21563,1.55876,5.21563], "fy":[5.21563,-1.55876,-5.21563,1.55876]}, - {"t":11.86952, "x":2.61028, "y":5.71101, "heading":2.70287, "vx":0.6884, "vy":-0.12588, "omega":1.44389, "ax":0.0, "ay":0.0, "alpha":-1.582, "fx":[-2.06096,-5.70484,2.06096,5.70484], "fy":[5.70484,-2.06096,-5.70484,2.06096]}, - {"t":11.9071, "x":2.63615, "y":5.70628, "heading":2.75712, "vx":0.6884, "vy":-0.12588, "omega":1.38444, "ax":0.0, "ay":0.0, "alpha":-1.76022, "fx":[-2.63399,-6.21383,2.63399,6.21383], "fy":[6.21383,-2.63399,-6.21383,2.63399]}, - {"t":11.94467, "x":2.66201, "y":5.70155, "heading":2.80915, "vx":0.6884, "vy":-0.12588, "omega":1.3183, "ax":0.0, "ay":0.0, "alpha":-1.95591, "fx":[-3.28189,-6.74309,3.28189,6.74309], "fy":[6.74309,-3.28189,-6.74309,3.28189]}, - {"t":11.98225, "x":2.68788, "y":5.69682, "heading":2.85869, "vx":0.6884, "vy":-0.12588, "omega":1.2448, "ax":0.0, "ay":0.0, "alpha":-2.17061, "fx":[-4.00824,-7.29376,4.00824,7.29376], "fy":[7.29376,-4.00824,-7.29376,4.00824]}, - {"t":12.01983, "x":2.71375, "y":5.69209, "heading":2.90546, "vx":0.6884, "vy":-0.12588, "omega":1.16323, "ax":0.0, "ay":0.0, "alpha":-2.40594, "fx":[-4.81595,-7.86793,4.81595,7.86793], "fy":[7.86793,-4.81595,-7.86793,4.81595]}, - {"t":12.05741, "x":2.73962, "y":5.68736, "heading":2.94917, "vx":0.6884, "vy":-0.12588, "omega":1.07282, "ax":0.0, "ay":0.0, "alpha":-2.66352, "fx":[-5.70707,-8.46898,5.70707,8.46898], "fy":[8.46898,-5.70707,-8.46898,5.70707]}, - {"t":12.09498, "x":2.76549, "y":5.68263, "heading":2.98949, "vx":0.6884, "vy":-0.12588, "omega":0.97274, "ax":0.0, "ay":0.0, "alpha":-2.94497, "fx":[-6.6824,-9.10199,6.6824,9.10199], "fy":[9.10199,-6.6824,-9.10199,6.6824]}, - {"t":12.13256, "x":2.79135, "y":5.6779, "heading":3.02604, "vx":0.6884, "vy":-0.12588, "omega":0.86207, "ax":0.0, "ay":0.0, "alpha":-3.2519, "fx":[-7.74121,-9.77423,7.74121,9.77423], "fy":[9.77423,-7.74121,-9.77423,7.74121]}, - {"t":12.17014, "x":2.81722, "y":5.67317, "heading":3.05843, "vx":0.6884, "vy":-0.12588, "omega":0.73987, "ax":0.0, "ay":0.0, "alpha":-3.58579, "fx":[-8.88063,-10.49567,8.88063,10.49567], "fy":[10.49567,-8.88063,-10.49567,8.88063]}, - {"t":12.20771, "x":2.84309, "y":5.66844, "heading":3.08624, "vx":0.6884, "vy":-0.12588, "omega":0.60513, "ax":0.0, "ay":0.0, "alpha":-3.948, "fx":[-10.09515,-11.27959,10.09515,11.27959], "fy":[11.27959,-10.09515,-11.27959,10.09515]}, - {"t":12.24529, "x":2.86896, "y":5.66371, "heading":3.10897, "vx":0.6884, "vy":-0.12588, "omega":0.45678, "ax":0.0, "ay":0.0, "alpha":-4.33967, "fx":[-11.37571,-12.14311,11.37571,12.14311], "fy":[12.14312,-11.3757,-12.1431,11.37572]}, - {"t":12.28287, "x":2.89483, "y":5.65898, "heading":3.12614, "vx":0.6884, "vy":-0.12588, "omega":0.2937, "ax":-0.00002, "ay":0.00003, "alpha":-4.76168, "fx":[-12.70916,-13.10819,12.70838,13.10733], "fy":[13.1082,-12.7083,-13.10732,12.70925]}, - {"t":12.32045, "x":2.9207, "y":5.65425, "heading":3.13718, "vx":0.6884, "vy":-0.12588, "omega":0.11477, "ax":-2.74651, "ay":0.50221, "alpha":-3.01062, "fx":[-51.99092,-53.47665,-41.62104,-39.78109], "fy":[17.21501,-1.54745,-1.98364,20.48576]}, - {"t":12.35802, "x":2.94462, "y":5.64987, "heading":3.14149, "vx":0.58519, "vy":-0.10701, "omega":0.00164, "ax":-5.1835, "ay":0.94789, "alpha":-0.0225, "fx":[-88.15278,-88.19553,-88.1869,-88.14393], "fy":[16.21942,15.98446,16.027,16.26254]}, - {"t":12.3956, "x":2.96295, "y":5.64652, "heading":3.14155, "vx":0.39041, "vy":-0.07139, "omega":0.0008, "ax":-5.19315, "ay":0.94965, "alpha":-0.0123, "fx":[-88.32454,-88.34802,-88.34351,-88.31996], "fy":[16.20595,16.07719,16.10062,16.22955]}, - {"t":12.43318, "x":2.97396, "y":5.64451, "heading":3.14158, "vx":0.19527, "vy":-0.03571, "omega":0.00033, "ax":-5.19638, "ay":0.95024, "alpha":-0.00889, "fx":[-88.3821,-88.3991,-88.39588,-88.37885], "fy":[16.20142,16.10829,16.12526,16.21848]}, - {"t":12.47076, "x":2.97763, "y":5.64384, "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":[ - {"name":"Intake", "from":{"target":1, "targetTimestamp":0.90206, "offset":{"exp":"0.2 s", "val":0.2}}, "event":null}, - {"name":"Intake1", "from":{"target":10, "targetTimestamp":8.44196, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Jitter", "from":{"target":12, "targetTimestamp":10.06581, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Shoot", "from":{"target":9, "targetTimestamp":6.4342, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] -} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8545e06..b800bd3 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -216,14 +216,6 @@ private void configureChoreoAutoChooser() { "Bottom Directional Intake", m_autoRoutines::bottomBumpDirectionalIntake, List.of("OutpostBumpDirectionalIntake")), - new AutoConfig( - "Depot Delayed", m_autoRoutines::depotBumpSOTM, List.of("DepotBumpSOTM")), - new AutoConfig("Preload", m_autoRoutines::preloadAuto, List.of("")), - new AutoConfig( - "Depot SOTM Directional", - m_autoRoutines::topBumpDirectionalIntakeSOTM, - List.of("DepotBumpDirectionalIntakeSOTM")), - new AutoConfig("SOTMthenclosetobump", m_autoRoutines::closetobump, List.of("tweaked")), new AutoConfig( "OutpostDirectionalWait", m_autoRoutines::bottomBumpDirectionalIntakeWait, diff --git a/src/main/java/frc/robot/commands/AutoRoutines.java b/src/main/java/frc/robot/commands/AutoRoutines.java index c11ca69..0a1adc2 100644 --- a/src/main/java/frc/robot/commands/AutoRoutines.java +++ b/src/main/java/frc/robot/commands/AutoRoutines.java @@ -104,36 +104,6 @@ public AutoRoutine getdisrupteddeep() { return routine; } - public AutoRoutine topBumpDirectionalIntakeSOTM() { - final AutoRoutine routine = m_factory.newRoutine("TopBumpDirectionalIntakeSOTM"); - final AutoTrajectory topBumpDirectionalintakeSOTMAuto = - routine.trajectory("DepotBumpDirectionalIntakeSOTM"); - routine - .active() - .onTrue( - topBumpDirectionalintakeSOTMAuto - .resetOdometry() - .andThen(topBumpDirectionalintakeSOTMAuto.cmd())); - - topBumpDirectionalintakeSOTMAuto - .atTime("Intake") - .onTrue(m_superstructure.setState(StructureState.INTAKE)); - - topBumpDirectionalintakeSOTMAuto - .atTime("Jitter") - .onTrue(m_superstructure.setState(StructureState.JITTER_AND_SHOOT)); - - topBumpDirectionalintakeSOTMAuto - .atTime("Shoot") - .onTrue(m_superstructure.setState(StructureState.SHOOT)); - - topBumpDirectionalintakeSOTMAuto - .atTime("StopShooting") - .onTrue(m_superstructure.setState(StructureState.IDLE)); - - return routine; - } - public AutoRoutine stealAuto() { final AutoRoutine routine = m_factory.newRoutine("stealAuto"); final AutoTrajectory stealAuto = routine.trajectory("steal"); @@ -192,64 +162,6 @@ public AutoRoutine outpostStealAuto() { return routine; } - public AutoRoutine closetobump() { - final AutoRoutine routine = m_factory.newRoutine("tweaked"); - final AutoTrajectory topBumpDirectionalintakeSOTMAuto = routine.trajectory("tweaked"); - routine - .active() - .onTrue( - topBumpDirectionalintakeSOTMAuto - .resetOdometry() - .andThen(topBumpDirectionalintakeSOTMAuto.cmd())); - - topBumpDirectionalintakeSOTMAuto - .atTime("Intake") - .onTrue(m_superstructure.setState(StructureState.INTAKE)); - - topBumpDirectionalintakeSOTMAuto - .atTime("Intake1") - .onTrue(m_superstructure.setState(StructureState.SHOOT_AND_INTAKE)); - - topBumpDirectionalintakeSOTMAuto - .atTime("Jitter") - .onTrue(m_superstructure.setState(StructureState.JITTER_AND_SHOOT)); - - topBumpDirectionalintakeSOTMAuto - .atTime("Shoot") - .onTrue(m_superstructure.setState(StructureState.SHOOT)); - - return routine; - } - - public AutoRoutine depotBumpSOTM() { - final AutoRoutine routine = m_factory.newRoutine("DepotBumpSOTM"); - final AutoTrajectory topBumpDirectionalIntakeAuto = routine.trajectory("DepotBumpSOTM"); - routine - .active() - .onTrue( - topBumpDirectionalIntakeAuto - .resetOdometry() - .andThen(m_superstructure.setState(StructureState.INTAKE)) - .andThen(topBumpDirectionalIntakeAuto.cmd())); - - topBumpDirectionalIntakeAuto - .atTime("Intake") - .onTrue(m_superstructure.setState(StructureState.INTAKE)); - - topBumpDirectionalIntakeAuto - .atTime("StopShooting") - .onTrue(m_superstructure.setState(StructureState.IDLE)); - - topBumpDirectionalIntakeAuto - .atTime("Shoot2") - .onTrue(m_superstructure.setState(StructureState.JITTER_AND_SHOOT)); - topBumpDirectionalIntakeAuto - .atTime("Shoot1") - .onTrue(m_superstructure.setState(StructureState.SHOOT)); - - return routine; - } - public AutoRoutine bottomBumpDirectionalIntake() { final AutoRoutine routine = m_factory.newRoutine("BottomBumpDirectionalIntake"); final AutoTrajectory topBumpDirectionalIntakeAuto =