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PADC

This commit is contained in:
TheRealGreydon 2026-10-16 23:19:10 -04:00
parent 57a8650a15
commit aee289b92f
6 changed files with 327 additions and 1 deletions
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128
src/main/deploy/pathplanner/autos/PADC.auto Normal file
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@ -0,0 +1,128 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "PADC Path 1"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 17.75
}
},
{
"type": "named",
"data": {
"name": "Ultrashooter"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
},
{
"type": "named",
"data": {
"name": "Spin Off"
}
}
]
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 5.0
}
},
{
"type": "named",
"data": {
"name": "Deploy"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 8.0
}
},
{
"type": "path",
"data": {
"pathName": "PADC Path 2"
}
}
]
}
}
]
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

54
src/main/deploy/pathplanner/paths/PADC Path 1.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.582922222222222,
"y": 4.064233333333333
},
"prevControl": null,
"nextControl": {
"x": 2.2971011046886955,
"y": 4.3924620495539415
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.16,
"y": 4.064
},
"prevControl": {
"x": 4.149634897846495,
"y": 3.9482331080517086
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 178.352
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

84
src/main/deploy/pathplanner/paths/PADC Path 2.path Normal file
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@ -0,0 +1,84 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.16,
"y": 4.064
},
"prevControl": null,
"nextControl": {
"x": 2.299908956381313,
"y": 4.78833166567235
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.6925,
"y": 5.9643999999999995
},
"prevControl": {
"x": 2.3024623015038452,
"y": 5.932763515422636
},
"nextControl": {
"x": -0.019201968110784673,
"y": 6.053179638973866
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.5524,
"y": 5.9643999999999995
},
"prevControl": {
"x": 1.011474512820477,
"y": 5.850705612296633
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 1.18,
"maxWaypointRelativePos": 2.0,
"constraints": {
"maxVelocity": 0.2,
"maxAcceleration": 0.1,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 178.352
},
"useDefaultConstraints": true
}

54
src/main/deploy/pathplanner/paths/POFR Path.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.6316444444444445,
"y": 0.6439333333333332
},
"prevControl": null,
"nextControl": {
"x": 2.455880964242888,
"y": 0.053867105905050616
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.296655555555556,
"y": 5.457688888888888
},
"prevControl": {
"x": 2.9026975888729534,
"y": 6.527259374028039
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 140.4403320310055
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

3
src/main/java/frc/robot/RobotContainer.java
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@ -58,7 +58,8 @@ public class RobotContainer {
NamedCommands.registerCommand("Deploy", intakeSubsystem.deploy()); NamedCommands.registerCommand("Deploy", intakeSubsystem.deploy());
NamedCommands.registerCommand("Spin Off", hopperSubsystem.spinOff()); NamedCommands.registerCommand("Spin Off", hopperSubsystem.spinOff());
NamedCommands.registerCommand("Ultrashooter", new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem)); NamedCommands.registerCommand("Ultrashooter", new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem));
NamedCommands.registerCommand("Intake", intakeSubsystem.intakeNR());
NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID())); NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID()));
NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));

5
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@ -68,6 +68,11 @@ public class IntakeSubsystem extends TestableSubsystem {
}); });
} }
public Command intakeNR() {
return this.runOnce(() ->
{if (intakeMotor.get() == 0) {setSpeed(-.45);} else {intakeMotor.stopMotor();}});
}
public Command reverseIntake() { public Command reverseIntake() {
return this.runEnd(() -> setSpeed(.45), () -> { return this.runEnd(() -> setSpeed(.45), () -> {
intakeMotor.stopMotor(); intakeMotor.stopMotor();