Merge pull request #97 from robototes/Pre-Sammy-testing

Pre sammy testing

build.gradle

@@ -1,7 +1,7 @@
 plugins {
 	id "java"
 	id "com.diffplug.spotless" version "6.15.0"
-	id "edu.wpi.first.GradleRIO" version "2024.3.1"
+	id "edu.wpi.first.GradleRIO" version "2024.3.2"
 	id "net.ltgt.errorprone" version "3.1.0"
 }
 

src/main/deploy/launcher_data.csv

@@ -2,8 +2,11 @@
 
 # DISTANCE (meters), ANGLE (degrees), RPM (velocity)
 
-1.397, 298, 4000
-2.05, 285, 4300
-3, 278, 4800
-6, 265, 5500
-12, 264, 6000
+1.397, 252, 3300
+2.05, 249, 3500
+2.6, 245, 4000
+3.2, 243, 4000
+5, 240, 5000
+5.64,239, 5000
+6, 238, 4500
+14, 233, 5000

src/main/deploy/pathplanner/autos/PresetAmpSide1ScorePassAutoline.auto

@@ -20,7 +20,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HighSpeakerPassAutoLine"
+            "pathName": "HighSpeakerPassAutoline2"
           }
         }
       ]

src/main/deploy/pathplanner/autos/TunePID.auto

@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "tunePID"
+            "pathName": null
           }
         }
       ]

src/main/deploy/pathplanner/paths/HighSpeakerPassAutoline2.path

@@ -0,0 +1,79 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.73,
+        "y": 6.62
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4096302478319247,
+        "y": 7.388366776733554
+      },
+      "isLocked": false,
+      "linkedName": "TopSpeaker"
+    },
+    {
+      "anchor": {
+        "x": 2.934213868427737,
+        "y": 7.68155593454044
+      },
+      "prevControl": {
+        "x": 1.96668964766501,
+        "y": 7.7108748503211295
+      },
+      "nextControl": {
+        "x": 3.734277569039197,
+        "y": 7.657311579976456
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.059835262527669,
+        "y": 7.520301897746653
+      },
+      "prevControl": {
+        "x": 4.5760731521463045,
+        "y": 7.637577560869407
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.85,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 0.05,
+      "rotationDegrees": -120.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -120.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/practiceswerve/modules/backleft.json

@@ -3,20 +3,20 @@
     "front": -12.5,
     "left": 12.5
   },
-  "absoluteEncoderOffset": 265.47476562500003,
+  "absoluteEncoderOffset": 221.47476562500003,
   "drive": {
     "type": "falcon",
-    "id": 7,
+    "id": 10,
     "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
-    "id": 8,
+    "id": 11,
     "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
-    "id": 9,
+    "id": 12,
     "canbus": "Drivebase"
   },
   "inverted": {

src/main/deploy/practiceswerve/modules/backright.json

@@ -3,20 +3,20 @@
     "front": -12.5,
     "left": -12.5
   },
-  "absoluteEncoderOffset": 134.47109375000002,
+  "absoluteEncoderOffset": 173.47109375000002,
   "drive": {
     "type": "falcon",
-    "id": 10,
+    "id": 7,
     "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
-    "id": 11,
+    "id": 8,
     "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
-    "id": 12,
+    "id": 9,
     "canbus": "Drivebase"
   },
   "inverted": {

src/main/deploy/practiceswerve/modules/frontleft.json

@@ -3,7 +3,7 @@
     "front": 12.5,
     "left": 12.5
   },
-  "absoluteEncoderOffset": 341.01562500000003,
+  "absoluteEncoderOffset": 340.01562500000003,
   "drive": {
     "type": "falcon",
     "id": 1,

src/main/deploy/practiceswerve/modules/frontright.json

@@ -3,7 +3,7 @@
     "front": 12.5,
     "left": -12.5
   },
-  "absoluteEncoderOffset": 356.30859375,
+  "absoluteEncoderOffset": 357.30859375,
   "drive": {
     "type": "falcon",
     "id": 4,

src/main/java/frc/team2412/robot/Controls.java

@@ -18,7 +18,7 @@
 import frc.team2412.robot.commands.intake.AllInCommand;
 import frc.team2412.robot.commands.intake.AllReverseCommand;
 import frc.team2412.robot.commands.intake.AllStopCommand;
-import frc.team2412.robot.commands.intake.FeederInCommand;
+import frc.team2412.robot.commands.intake.FeederShootCommand;
 import frc.team2412.robot.commands.intake.IntakeRejectCommand;
 import frc.team2412.robot.commands.launcher.FullTargetCommand;
 import frc.team2412.robot.commands.launcher.ManualAngleCommand;
@@ -70,7 +70,7 @@ public Controls(Subsystems s) {
 		launcherSubwooferPresetButton = codriveController.a();
 		launcherLowerPresetButton = codriveController.y();
 		// launcherPodiumPresetButton = codriveController.povLeft();
-		launcherTrapPresetButton = codriveController.rightTrigger();
+		launcherTrapPresetButton = codriveController.start();
 		launcherLaunchButton = codriveController.rightBumper();
 		// intake controls (confirmed with driveteam)
 		driveIntakeInButton = driveController.a();
@@ -161,8 +161,8 @@ private void bindIntakeControls() {
 		codriveIntakeRejectButton.onTrue(new IntakeRejectCommand(s.intakeSubsystem));
 
 		// feeder shoot note out
-		launcherLaunchButton.whileTrue(new FeederInCommand(s.intakeSubsystem));
-		driveController.rightBumper().whileTrue(new FeederInCommand(s.intakeSubsystem));
+		launcherLaunchButton.whileTrue(new FeederShootCommand(s.intakeSubsystem));
+		driveController.rightBumper().whileTrue(new FeederShootCommand(s.intakeSubsystem));
 	}
 
 	private void bindLauncherControls() {
@@ -176,7 +176,9 @@ private void bindLauncherControls() {
 												* LauncherSubsystem.ANGLE_MAX_SPEED));
 
 		launcherLowerPresetButton.onTrue(
-				new SetPivotCommand(s.launcherSubsystem, LauncherSubsystem.RETRACTED_ANGLE));
+				s.launcherSubsystem
+						.runOnce(s.launcherSubsystem::stopLauncher)
+						.andThen(new SetPivotCommand(s.launcherSubsystem, LauncherSubsystem.RETRACTED_ANGLE)));
 		launcherSubwooferPresetButton.onTrue(
 				new SetAngleLaunchCommand(
 						s.launcherSubsystem,
@@ -211,21 +213,21 @@ private void bindSysIdControls() {
 		// switch these between arm and flywheel in code when tuning
 		driveController
 				.leftBumper()
-				.whileTrue(s.launcherSubsystem.armSysIdQuasistatic(Direction.kForward));
+				.whileTrue(s.launcherSubsystem.flywheelSysIdQuasistatic(Direction.kForward));
 		driveController
 				.rightBumper()
-				.whileTrue(s.launcherSubsystem.armSysIdQuasistatic(Direction.kReverse));
+				.whileTrue(s.launcherSubsystem.flywheelSysIdQuasistatic(Direction.kReverse));
 		driveController
 				.leftTrigger()
-				.whileTrue(s.launcherSubsystem.armSysIdDynamic(Direction.kForward));
+				.whileTrue(s.launcherSubsystem.flywheelSysIdDynamic(Direction.kForward));
 		driveController
 				.rightTrigger()
-				.whileTrue(s.launcherSubsystem.armSysIdDynamic(Direction.kReverse));
+				.whileTrue(s.launcherSubsystem.flywheelSysIdDynamic(Direction.kReverse));
 		// switch these between angle and drive tests in code when tuning
-		driveController.x().whileTrue(s.drivebaseSubsystem.driveSysIdQuasistatic(Direction.kForward));
-		driveController.y().whileTrue(s.drivebaseSubsystem.driveSysIdQuasistatic(Direction.kReverse));
-		driveController.a().whileTrue(s.drivebaseSubsystem.driveSysIdDynamic(Direction.kForward));
-		driveController.b().whileTrue(s.drivebaseSubsystem.driveSysIdDynamic(Direction.kReverse));
+		driveController.x().whileTrue(s.drivebaseSubsystem.angleSysIdQuasistatic(Direction.kForward));
+		driveController.y().whileTrue(s.drivebaseSubsystem.angleSysIdQuasistatic(Direction.kReverse));
+		driveController.a().whileTrue(s.drivebaseSubsystem.angleSysIdDynamic(Direction.kForward));
+		driveController.b().whileTrue(s.drivebaseSubsystem.angleSysIdDynamic(Direction.kReverse));
 	}
 
 	public void vibrateDriveController(double vibration) {

src/main/java/frc/team2412/robot/Robot.java

@@ -38,6 +38,7 @@ public static Robot getInstance() {
 		return instance;
 	}
 
+	// increases logging
 	private static final boolean debugMode = true;
 	// Really dangerous to keep this enabled as it disables all other controls, use with caution
 	private static final boolean sysIdMode = false;
@@ -61,7 +62,7 @@ protected Robot() {
 	}
 
 	public static final MACAddress COMPETITION_ADDRESS = MACAddress.of(0x00, 0x00, 0x00);
-	public static final MACAddress PRACTICE_ADDRESS = MACAddress.of(0x33, 0x9d, 0xD1);
+	public static final MACAddress PRACTICE_ADDRESS = MACAddress.of(0x38, 0xd9, 0x9e);
 	public static final MACAddress BONK_ADDRESS = MACAddress.of(0x33, 0x9D, 0xE7);
 	public static final MACAddress CRANE_ADDRESS = MACAddress.of(0x22, 0xB0, 0x92);
 
@@ -83,7 +84,9 @@ public void robotInit() {
 		subsystems = new Subsystems();
 		controls = new Controls(subsystems);
 
+		// TODO: might be a duplicate, keep until after comp
 		AutoLogic.registerCommands();
+
 		if (Subsystems.SubsystemConstants.DRIVEBASE_ENABLED) {
 			AutoLogic.initShuffleBoard();
 		}
@@ -139,7 +142,7 @@ public void autonomousInit() {
 		// Checks if FMS is attatched and enables joystick warning if true
 		DriverStation.silenceJoystickConnectionWarning(!DriverStation.isFMSAttached());
 		// System.out.println(AutoLogic.getSelected() != null);
-		if (AutoLogic.getSelectedAuto() != null) {
+		if (AutoLogic.getSelectedAuto() != null && SubsystemConstants.DRIVEBASE_ENABLED) {
 			AutoLogic.getSelectedAuto().schedule();
 		}
 	}