test auto and removed voltagecompensation

awtybots · Feb 26, 2024 · f098d73 · f098d73
1 parent 0d7a77a
commit f098d73
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Showing 9 changed files with 83 additions and 14 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -3,17 +3,19 @@
   "robotLength": 0.826,
   "holonomicMode": true,
   "pathFolders": [
-    "SpinShoot",
+    "TestPaths",
     "Plans",
     "PointPaths",
+    "SpinShoot",
     "StartPaths"
   ],
   "autoFolders": [
-    "Blue"
+    "Blue",
+    "TestAutos"
   ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5
-}
+}
diff --git a/src/main/deploy/pathplanner/autos/SimpleStraight.auto b/src/main/deploy/pathplanner/autos/SimpleStraight.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1Meter"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "TestAutos",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/1Meter.path b/src/main/deploy/pathplanner/paths/1Meter.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "TestPaths",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -195,7 +195,7 @@ public RobotContainer() {
     SendableChooser<Command> chooser = new SendableChooser<>();
     // ! Add new autos here. The autogenerated one is bad because it includes all of the ones in
     // the chache of the RoboRIO.
-    String[] autoNames = new String[] {"BlueLClose3" /*, "BlueLMid3", "BlueLClose3Far1"*/};
+    String[] autoNames = new String[] {"BlueLClose3", "SimpleStraight" /*, "BlueLMid3", "BlueLClose3Far1"*/};
 
     chooser.setDefaultOption("None", Commands.none());
     List<PathPlannerAuto> options = new ArrayList<>();

diff --git a/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIOSparkMax.java b/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIOSparkMax.java
@@ -45,8 +45,6 @@ public ArmElevatorIOSparkMax() {
 
     motor.setInverted(true);
 
-    // motor.enableVoltageCompensation(12.0);
-
     motor.setSmartCurrentLimit(ArmElevatorConstants.kCurrentLimit);
 
     // pid.setOutputRange(0, ArmElevatorConstants.maxExtension);

diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOSparkMax.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOSparkMax.java
@@ -53,9 +53,6 @@ public ClimberIOSparkMax() {
 
     leftMotor.setInverted(true);
 
-    leftMotor.enableVoltageCompensation(12.0);
-    rightMotor.enableVoltageCompensation(12.0);
-
     leftMotor.setSmartCurrentLimit(ClimberConstants.kCurrentLimit);
     rightMotor.setSmartCurrentLimit(ClimberConstants.kCurrentLimit);
 

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java
@@ -46,9 +46,7 @@ public IntakeIOSparkMax() {
 
     intakeMotor.setInverted(false);
 
-    intakeMotor.enableVoltageCompensation(12.0);
     intakeMotor.setSmartCurrentLimit(30);
-    followerIntakeMotor.enableVoltageCompensation(12.0);
     followerIntakeMotor.setSmartCurrentLimit(30);
 
     followerIntakeMotor.follow(intakeMotor, false);

diff --git a/src/main/java/frc/robot/subsystems/sticks/SticksIOSparkMax.java b/src/main/java/frc/robot/subsystems/sticks/SticksIOSparkMax.java
@@ -42,8 +42,6 @@ public SticksIOSparkMax() {
 
     // encoder.setPosition(SticksConstants.initialAngle);
 
-    // motor.enableVoltageCompensation(12.0);
-
     motor.setSmartCurrentLimit(SticksConstants.kCurrentLimit);
 
     // motor.burnFlash();

diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIOSparkMax.java b/src/main/java/frc/robot/subsystems/wrist/WristIOSparkMax.java
@@ -42,7 +42,6 @@ public WristIOSparkMax() {
 
     // encoder.setPosition(WristConstants.initialAngle);
 
-    // motor.enableVoltageCompensation(12.0);
 
     motor.setSmartCurrentLimit(WristConstants.kCurrentLimit);