Merge branch 'main' of https://github.com/FairportRobotics/Castor2026

src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "1.1 Hub to Shoot Path"
+            "pathName": "1.1 Hub to Shoot"
           }
         },
         {

src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto

@@ -9,6 +9,12 @@
           "data": {
             "pathName": "9.1 Chaos Monkey Path"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot preload"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 1.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 1.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -42,13 +42,17 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -177.9047474356738
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
+<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path
+    "rotation": -179.99999999992184
+=======
     "rotation": -179.69626968995792
+>>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/1.1 Hub to Shoot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.75,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.75,
+        "y": 4.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 177.4888349270938
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -179.0393266954795
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path

@@ -33,16 +33,16 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "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,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -179.02897806892076
   },
   "reversed": false,
   "folder": null,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": -179.69626968995792
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/java/frc/robot/RobotContainer.java

@@ -82,10 +82,11 @@ public class RobotContainer {
         // m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
 
         m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
-        m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
+        m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
         m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
-        m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
     }
 
     /**

src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java

@@ -75,7 +75,7 @@ public class AutoShootCommandChassisTurret extends Command{
             }
         });
 
-        turretSubsystem.setLauncher(6000);
+        turretSubsystem.setLauncher(3000);
         turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
         hopperSubsystem.spindexerOn();
         cameraAutoCenterController.calculate(-100);

src/main/java/frc/robot/commands/ZoneCheck.java

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

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -165,8 +165,8 @@ public class DriveSubsystem extends TestableSubsystem {
                     driveSystem::getRobotRelativeSpeeds,
                     (speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()),
                     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,
                     () -> {
                         var alliance = DriverStation.getAlliance();

src/main/java/frc/robot/subsystems/HopperSubsystem.java

@@ -19,6 +19,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj2.command.Command;
 
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import frc.robot.Constants;
@@ -64,13 +65,13 @@ public class HopperSubsystem extends TestableSubsystem {
   } 
 
   public void feedKicker() {
-    kickerMotor.setControl(kickerControl.withVelocity(1000));
+    //kickerMotor.setControl(kickerControl.withVelocity(1000));
-    // kickerMotor.set(0.75);
+    kickerMotor.set(0.75);
   }
 
   public void reverseKicker() {
-    kickerMotor.setControl(kickerControl.withVelocity(-500));
+    //kickerMotor.setControl(kickerControl.withVelocity(-500));
-    // kickerMotor.set(-0.5);
+    kickerMotor.set(-0.5);
   } 
 
  public void stopKicker() {kickerMotor.stopMotor();}

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -110,8 +110,8 @@ public class TurretSubsystem extends TestableSubsystem {
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
     config.voltageCompensation(10);
-    config.closedLoop.p(0.0001).i(0).d(0.0); // I = 0.0000001
+    config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
-    config.closedLoop.feedForward.kS(0.2).kV(0.002).kA(0.00);
+    config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
     config.closedLoop.positionWrappingEnabled(false);