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Castor2026
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Evil Racoon Man has the dumb

This commit is contained in:
Team578 Driver Station 2026-04-11 15:17:30 -04:00
parent b88ee7ea47
commit 8712196ab3
5 changed files with 33 additions and 21 deletions
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6
src/main/deploy/pathplanner/autos/New Auto.auto
View File

@ -9,6 +9,12 @@
"data": { "data": {
"pathName": "New Path" "pathName": "New Path"
} }
},
{
"type": "named",
"data": {
"name": "Shoot preload"
}
} }
] ]
} }

26
src/main/deploy/pathplanner/paths/Hub to Depot.path
View File

@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 13.0, "x": 3.5383012048192777,
"y": 4.0 "y": 3.9038674698795175
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 14.0, "x": 0.8527779926060135,
"y": 4.0 "y": 6.111286763858336
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 15.5, "x": 1.0,
"y": 2.0 "y": 6.0
}, },
"prevControl": { "prevControl": {
"x": 13.5, "x": 2.6290964074675798,
"y": 2.0000000000000004 "y": 4.671725238604007
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -33,8 +33,8 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 1.5,
"maxAcceleration": 3.0, "maxAcceleration": 1.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@ -42,13 +42,13 @@
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
"rotation": 0.0 "rotation": -177.9047474356738
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,
"idealStartingState": { "idealStartingState": {
"velocity": 0, "velocity": 0,
"rotation": 2.6905523852280466 "rotation": -179.99999999992184
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

12
src/main/deploy/pathplanner/paths/New Path.path
View File

@ -33,16 +33,16 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 3.0, "maxVelocity": 1.5,
"maxAcceleration": 3.0, "maxAcceleration": 1.5,
"maxAngularVelocity": 540.0, "maxAngularVelocity": 100.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 100.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": false
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
"rotation": 0.0 "rotation": -179.02897806892076
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,
@ -50,5 +50,5 @@
"velocity": 0, "velocity": 0,
"rotation": 1.0511807495437313 "rotation": 1.0511807495437313
}, },
"useDefaultConstraints": true "useDefaultConstraints": false
} }

6
src/main/java/frc/robot/commands/ZoneCheck.java
View File

@ -41,10 +41,13 @@ public class ZoneCheck extends Command {
switch (zone) { switch (zone) {
case Blue: case Blue:
System.out.println("BLUE"); System.out.println("BLUE");
break;
case Neutral: case Neutral:
System.out.println("NEUTRAL"); System.out.println("NEUTRAL");
break;
case Red: case Red:
System.out.println("RED"); System.out.println("RED");
break;
default: default:
System.out.println("****"); System.out.println("****");
} }
@ -52,10 +55,13 @@ public class ZoneCheck extends Command {
switch (zone) { switch (zone) {
case Blue: case Blue:
System.out.println("BLUE"); System.out.println("BLUE");
break;
case Neutral: case Neutral:
System.out.println("NEUTRAL"); System.out.println("NEUTRAL");
break;
case Red: case Red:
System.out.println("RED"); System.out.println("RED");
break;
default: default:
System.out.println("****"); System.out.println("****");
} }

4
src/main/java/frc/robot/subsystems/DriveSubsystem.java
View File

@ -165,8 +165,8 @@ public class DriveSubsystem extends TestableSubsystem {
driveSystem::getRobotRelativeSpeeds, driveSystem::getRobotRelativeSpeeds,
(speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()), (speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()),
new PPHolonomicDriveController( new PPHolonomicDriveController(
new PIDConstants(1.5, 0, 0), new PIDConstants(3, 0, 0),
new PIDConstants(Math.PI / 2, 0, 0)), new PIDConstants(Math.PI, 0, 0)),
config, config,
() -> { () -> {
var alliance = DriverStation.getAlliance(); var alliance = DriverStation.getAlliance();