Merge pull request #115 from robototes/dcmp

DCMP Changes
robototes · Apr 18, 2024 · d55a285 · d55a285
2 parents 6c2f431 + 9f07460
commit d55a285
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Showing 96 changed files with 1,843 additions and 576 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.84,
-  "robotLength": 0.84,
+  "robotWidth": 0.8382,
+  "robotLength": 0.8382,
   "holonomicMode": true,
   "pathFolders": [
     "Auto Logic Paths"

diff --git a/src/main/deploy/bonkswerve/modules/physicalproperties.json b/src/main/deploy/bonkswerve/modules/physicalproperties.json
@@ -1,7 +1,7 @@
 {
   "optimalVoltage": 12,
   "wheelGripCoefficientOfFriction": 1.19,
-  "currentLimit": {
+  "statorLimit": {
     "drive": 40,
     "angle": 20
   },

diff --git a/src/main/deploy/bonkswerve/modules/pidfproperties.json b/src/main/deploy/bonkswerve/modules/pidfproperties.json
@@ -3,14 +3,14 @@
     "p": 20.0,
     "i": 0,
     "d": 0,
-    "f": 0,
+    "kV": 0,
     "iz": 0
   },
   "angle": {
     "p": 35.0,
     "i": 0,
     "d": 0,
-    "f": 0,
+    "kV": 0,
     "iz": 0
   }
 }
diff --git a/src/main/deploy/craneswerve/modules/physicalproperties.json b/src/main/deploy/craneswerve/modules/physicalproperties.json
@@ -1,7 +1,7 @@
 {
   "optimalVoltage": 12,
   "wheelGripCoefficientOfFriction": 1.19,
-  "currentLimit": {
+  "statorLimit": {
     "drive": 40,
     "angle": 20
   },

diff --git a/src/main/deploy/craneswerve/modules/pidfproperties.json b/src/main/deploy/craneswerve/modules/pidfproperties.json
@@ -3,14 +3,14 @@
     "p": 0.1,
     "i": 0,
     "d": 0,
-    "f": 0,
+    "kV": 0,
     "iz": 0
   },
   "angle": {
     "p": 0.01,
     "i": 0,
     "d": 0,
-    "f": 0,
+    "kV": 0,
     "iz": 0
   }
 }
diff --git a/src/main/deploy/launcher_data.csv → src/main/deploy/launcher_data_lamprey.csv b/src/main/deploy/launcher_data.csv → src/main/deploy/launcher_data_lamprey.csv
@@ -5,19 +5,38 @@
 # These RPMs are target RPMs, actual was much lower
 
 # Front subwoofer
-1.30, 254, 3500
+1.30, 257, 3500
 # Front bumper at autoline
-2.13, 250, 3500
+2.13, 236, 3500
+
+# dcmps
+
+# On Autoline N2
+2.81, 225, 3600
+
+#chain
+# 3.84, 213, 3600
+
+# wing line amp side
+5.93, 207, 4000
+
+3.82, 217, 4000
+4.32, 213, 4000
+4.10, 212, 4000
+
+# bad values?
+
 # Near podium
-5.66, 246, 3600
+# 5.66, 225, 3600
 # Auto point 1 (X 2.870, Y 2.196, theta 130.6)
-4.46, 242, 3600
+# 4.46, 230, 3600
 
 # After this, these are setpoint angles
 # Auto point 2 (X 5.699, Y 7.501, theta -162.8)
-5.55, 240.3, 4400
+# 5.55, 226, 4400
 # Auto point 3 (X 4.299, Y 5.134, theta 176.222)
-4.32, 242, 4300 # Might be a little low, and could probably lower RPM- Ran out of time to fully test
+# 4.32, 232, 4300 # Might be a little low, and could probably lower RPM- Ran out of time to fully test
+
 
 # Pre 3/28 values:
 # 1.397, 254, 4500

diff --git a/src/main/deploy/launcher_data_throughbore.csv b/src/main/deploy/launcher_data_throughbore.csv
@@ -0,0 +1,8 @@
+# DISTANCE (meters), ANGLE (degrees without PIVOT_OFFSET), RPM (velocity)
+
+1.30, 254, 3500
+2.38, 237, 3500
+3.00, 232, 3750
+4.00, 228, 4000
+5.00, 224.3, 4500
+6.00, 220.5, 5500
diff --git a/src/main/deploy/pathplanner/autos/MasterPIDTest.auto b/src/main/deploy/pathplanner/autos/MasterPIDTest.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.3,
+      "y": 5.496252587946771
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MasterPIDTest"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Test",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/PresetAmpSide1ScorePassAutoline.auto b/src/main/deploy/pathplanner/autos/PresetAmpSide1ScorePassAutoline.auto
@@ -11,6 +11,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 10.0
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/PresetAmpSideAutolineFar4Score2.auto b/src/main/deploy/pathplanner/autos/PresetAmpSideAutolineFar4Score2.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.73,
+      "y": 6.62
+    },
+    "rotation": -120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SubwooferLaunch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HighSpeakerHighNoteReturn"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Feed"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HighSpeakerCenterLineNoteReturn"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Feed"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HighSpeakerCenterlineN2Return"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Feed"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Preset Autos",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/PresetMidAutoline3Score2.auto b/src/main/deploy/pathplanner/autos/PresetMidAutoline3Score2.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.33,
+      "y": 5.55
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SubwooferLaunch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpeakerToMidNoteReturn"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Feed"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpeakerToLowNote"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LowNoteToSpeaker"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Feed"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MidSpeakerPassAutoLine"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Preset Autos",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/VisionAmpSide5Score.auto b/src/main/deploy/pathplanner/autos/VisionAmpSide5Score.auto
@@ -56,7 +56,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "SpeakerToMidNote"
+            "pathName": "launchSecondNoteLaunch2"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/VisionAmpSideAutoline5Score.auto b/src/main/deploy/pathplanner/autos/VisionAmpSideAutoline5Score.auto
@@ -44,25 +44,19 @@
         {
           "type": "path",
           "data": {
-            "pathName": "launchSecondNoteLaunch"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "VisionLaunch"
+            "pathName": "launchSecondNoteCenterLineLaunch"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "MidNoteToBottomNote"
+            "pathName": "launchSecondNoteLaunch2"
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "BottomNoteLaunch"
+            "name": "VisionLaunch"
           }
         },
         {