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Merged
dmistry26 merged 1 commit into from
Sep 18, 2026
Merged

changes #76

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644 changes: 323 additions & 321 deletions src/main/deploy/choreo/DepotBumpDirectionalIntake.traj
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508 changes: 0 additions & 508 deletions src/main/deploy/choreo/DepotBumpSOTM.traj
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411 changes: 0 additions & 411 deletions src/main/deploy/choreo/NeutralZone.traj
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582 changes: 292 additions & 290 deletions src/main/deploy/choreo/OutpostBumpDirectionalIntake.traj
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573 changes: 286 additions & 287 deletions src/main/deploy/choreo/OutpostBumpDirectionalIntakeDeep.traj
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502 changes: 0 additions & 502 deletions src/main/deploy/choreo/tweaked.traj
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8 changes: 0 additions & 8 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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88 changes: 0 additions & 88 deletions src/main/java/frc/robot/commands/AutoRoutines.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand Down Expand Up @@ -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 =
Expand Down
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