From f84dc19eb40855a1e2083401456ee78fe653fa0c Mon Sep 17 00:00:00 2001 From: Jordan <117786700+jordanjcoderman@users.noreply.github.com> Date: Sat, 7 Oct 2023 13:42:39 -0700 Subject: [PATCH 1/5] Adjust mid 2 autos to score farther from grid --- src/main/deploy/pathplanner/BlueMidBump2Balance.path | 6 +++--- src/main/deploy/pathplanner/BlueMidFlat2Balance.path | 8 ++++---- src/main/deploy/pathplanner/RedMidBump2Balance.path | 6 +++--- src/main/deploy/pathplanner/RedMidFlat2Balance.path | 6 +++--- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path index 793bae3..1605028 100644 --- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.0100000000000002, + "x": 2.1599999999999997, "y": 2.21 }, "prevControl": { - "x": 2.290713268427375, + "x": 2.4407132684273747, "y": 2.186970492412342 }, "nextControl": { - "x": 2.290713268427375, + "x": 2.4407132684273747, "y": 2.186970492412342 }, "holonomicAngle": -180, diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path index cad85a4..e299138 100644 --- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.0100000000000002, + "x": 2.1599999999999997, "y": 3.295436560477984 }, "prevControl": { - "x": 2.3079645372056725, + "x": 2.457964537205672, "y": 3.319907525286175 }, "nextControl": { - "x": 2.3079645372056725, + "x": 2.457964537205672, "y": 3.319907525286175 }, "holonomicAngle": -180, @@ -300,4 +300,4 @@ ] } ] -} +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path index 4c92ec5..a668bd7 100644 --- a/src/main/deploy/pathplanner/RedMidBump2Balance.path +++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.530000000000001, + "x": 14.379999999999999, "y": 2.21 }, "prevControl": { - "x": 14.249286731572626, + "x": 14.099286731572624, "y": 2.186970492412342 }, "nextControl": { - "x": 14.249286731572626, + "x": 14.099286731572624, "y": 2.186970492412342 }, "holonomicAngle": 0, diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path index b5f7bb1..b4240c6 100644 --- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.530000000000001, + "x": 14.379999999999999, "y": 3.295436560477984 }, "prevControl": { - "x": 14.232035462794329, + "x": 14.082035462794327, "y": 3.319907525286175 }, "nextControl": { - "x": 14.232035462794329, + "x": 14.082035462794327, "y": 3.319907525286175 }, "holonomicAngle": 0, From 30e3201b9227247f2200417c8b4c9c1376a3ad62 Mon Sep 17 00:00:00 2001 From: Jordan <117786700+jordanjcoderman@users.noreply.github.com> Date: Sat, 7 Oct 2023 13:56:12 -0700 Subject: [PATCH 2/5] Revert "Adjust mid 2 autos to score farther from grid" This reverts commit f84dc19eb40855a1e2083401456ee78fe653fa0c. --- src/main/deploy/pathplanner/BlueMidBump2Balance.path | 6 +++--- src/main/deploy/pathplanner/BlueMidFlat2Balance.path | 8 ++++---- src/main/deploy/pathplanner/RedMidBump2Balance.path | 6 +++--- src/main/deploy/pathplanner/RedMidFlat2Balance.path | 6 +++--- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path index 1605028..793bae3 100644 --- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.1599999999999997, + "x": 2.0100000000000002, "y": 2.21 }, "prevControl": { - "x": 2.4407132684273747, + "x": 2.290713268427375, "y": 2.186970492412342 }, "nextControl": { - "x": 2.4407132684273747, + "x": 2.290713268427375, "y": 2.186970492412342 }, "holonomicAngle": -180, diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path index e299138..cad85a4 100644 --- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.1599999999999997, + "x": 2.0100000000000002, "y": 3.295436560477984 }, "prevControl": { - "x": 2.457964537205672, + "x": 2.3079645372056725, "y": 3.319907525286175 }, "nextControl": { - "x": 2.457964537205672, + "x": 2.3079645372056725, "y": 3.319907525286175 }, "holonomicAngle": -180, @@ -300,4 +300,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path index a668bd7..4c92ec5 100644 --- a/src/main/deploy/pathplanner/RedMidBump2Balance.path +++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.379999999999999, + "x": 14.530000000000001, "y": 2.21 }, "prevControl": { - "x": 14.099286731572624, + "x": 14.249286731572626, "y": 2.186970492412342 }, "nextControl": { - "x": 14.099286731572624, + "x": 14.249286731572626, "y": 2.186970492412342 }, "holonomicAngle": 0, diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path index b4240c6..b5f7bb1 100644 --- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.379999999999999, + "x": 14.530000000000001, "y": 3.295436560477984 }, "prevControl": { - "x": 14.082035462794327, + "x": 14.232035462794329, "y": 3.319907525286175 }, "nextControl": { - "x": 14.082035462794327, + "x": 14.232035462794329, "y": 3.319907525286175 }, "holonomicAngle": 0, From d8c160a95e5551ff156072134f89fc197b140d56 Mon Sep 17 00:00:00 2001 From: rkanemoto <73001957+rkanemoto@users.noreply.github.com> Date: Tue, 10 Oct 2023 16:35:36 -0700 Subject: [PATCH 3/5] Auto changes from Calgames --- .../deploy/pathplanner/BlueMidBump2Balance.path | 16 ++++++++-------- .../deploy/pathplanner/BlueMidFlat2Balance.path | 14 +++++++------- .../deploy/pathplanner/RedMidBump2Balance.path | 16 ++++++++-------- .../deploy/pathplanner/RedMidFlat2Balance.path | 16 ++++++++-------- 4 files changed, 31 insertions(+), 31 deletions(-) diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path index 793bae3..58bc677 100644 --- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.0100000000000002, + "x": 2.26, "y": 2.21 }, "prevControl": { - "x": 2.290713268427375, + "x": 2.5407132684273748, "y": 2.186970492412342 }, "nextControl": { - "x": 2.290713268427375, + "x": 2.5407132684273748, "y": 2.186970492412342 }, "holonomicAngle": -180, @@ -256,11 +256,11 @@ }, { "anchorPoint": { - "x": 3.41, + "x": 3.56, "y": 2.21 }, "prevControl": { - "x": 3.1830242087690497, + "x": 3.3330242087690496, "y": 2.197953112397453 }, "nextControl": null, @@ -294,10 +294,10 @@ ] }, { - "position": 7.56, + "position": 7.25, "names": [ - "superstructureLow" + "scoreLow" ] } ] -} \ No newline at end of file +} diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path index cad85a4..2f67300 100644 --- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 2.0100000000000002, + "x": 2.26, "y": 3.295436560477984 }, "prevControl": { - "x": 2.3079645372056725, + "x": 2.557964537205672, "y": 3.319907525286175 }, "nextControl": { - "x": 2.3079645372056725, + "x": 2.557964537205672, "y": 3.319907525286175 }, "holonomicAngle": -180, @@ -256,11 +256,11 @@ }, { "anchorPoint": { - "x": 3.41, + "x": 3.56, "y": 3.3 }, "prevControl": { - "x": 2.8134678359930785, + "x": 2.9634678359930784, "y": 3.288637482590345 }, "nextControl": null, @@ -294,9 +294,9 @@ ] }, { - "position": 7.563636363636278, + "position": 7.2, "names": [ - "superstructureLow" + "scoreLow" ] } ] diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path index 4c92ec5..134e55f 100644 --- a/src/main/deploy/pathplanner/RedMidBump2Balance.path +++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.530000000000001, + "x": 14.28, "y": 2.21 }, "prevControl": { - "x": 14.249286731572626, + "x": 13.999286731572624, "y": 2.186970492412342 }, "nextControl": { - "x": 14.249286731572626, + "x": 13.999286731572624, "y": 2.186970492412342 }, "holonomicAngle": 0, @@ -256,11 +256,11 @@ }, { "anchorPoint": { - "x": 13.13, + "x": 12.98, "y": 2.21 }, "prevControl": { - "x": 13.356975791230951, + "x": 13.206975791230951, "y": 2.197953112397453 }, "nextControl": null, @@ -294,10 +294,10 @@ ] }, { - "position": 7.56, + "position": 7.25, "names": [ - "superstructureLow" + "scoreLow" ] } ] -} \ No newline at end of file +} diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path index b5f7bb1..b52a3ce 100644 --- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path +++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path @@ -204,15 +204,15 @@ }, { "anchorPoint": { - "x": 14.530000000000001, + "x": 14.280000000000001, "y": 3.295436560477984 }, "prevControl": { - "x": 14.232035462794329, + "x": 13.982035462794329, "y": 3.319907525286175 }, "nextControl": { - "x": 14.232035462794329, + "x": 13.982035462794329, "y": 3.319907525286175 }, "holonomicAngle": 0, @@ -256,11 +256,11 @@ }, { "anchorPoint": { - "x": 13.13, + "x": 12.98, "y": 3.3 }, "prevControl": { - "x": 13.726532164006922, + "x": 13.576532164006922, "y": 3.288637482590345 }, "nextControl": null, @@ -294,10 +294,10 @@ ] }, { - "position": 7.563636363636278, + "position": 7.25, "names": [ - "superstructureLow" + "scoreLow" ] } ] -} \ No newline at end of file +} From 6f9d82faadaf6a6e2adb26697195885b31467b76 Mon Sep 17 00:00:00 2001 From: rkanemoto <73001957+rkanemoto@users.noreply.github.com> Date: Tue, 10 Oct 2023 16:37:53 -0700 Subject: [PATCH 4/5] Fix evil intake stowing too early --- .../frc/robot/managers/SuperstructureManager.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/managers/SuperstructureManager.java b/src/main/java/frc/robot/managers/SuperstructureManager.java index 7545818..eb529e0 100644 --- a/src/main/java/frc/robot/managers/SuperstructureManager.java +++ b/src/main/java/frc/robot/managers/SuperstructureManager.java @@ -211,10 +211,13 @@ public Command getShelfIntakeCommand() { } public Command getShelfIntakeEvilCommand() { - return getCommand(States.INTAKING_CONE_SHELF_EVIL) - // Interrupt command early, start stowing as soon as we are holding a cone - don't wait - // until wrist is at goal (since it gets messed up after the impact with the shelf) - .until(() -> intake.getGamePiece() == HeldGamePiece.CONE) + return Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING), intake) + .andThen( + getCommand(States.INTAKING_CONE_SHELF_EVIL) + // Interrupt command early, start stowing as soon as we are holding a cone - don't + // wait until wrist is at goal (since it gets messed up after the impact with the + // shelf) + .until(() -> intake.getGamePiece() == HeldGamePiece.CONE)) .andThen(getCommand(States.STOWED)) .withName("SuperstructureShelfIntakeEvil"); } From 85234a3977af3aa2b970e8039a746511fe7d9556 Mon Sep 17 00:00:00 2001 From: rkanemoto <73001957+rkanemoto@users.noreply.github.com> Date: Tue, 10 Oct 2023 16:57:47 -0700 Subject: [PATCH 5/5] Shift start position of bump side autos down by 8in/20cm --- src/main/deploy/pathplanner/BlueLongSide3.path | 4 ++-- src/main/deploy/pathplanner/RedLongSide3.path | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/pathplanner/BlueLongSide3.path b/src/main/deploy/pathplanner/BlueLongSide3.path index 65ed324..9f027d6 100644 --- a/src/main/deploy/pathplanner/BlueLongSide3.path +++ b/src/main/deploy/pathplanner/BlueLongSide3.path @@ -3,12 +3,12 @@ { "anchorPoint": { "x": 1.831789277613643, - "y": 1.61410638610751 + "y": 1.4100000000000001 }, "prevControl": null, "nextControl": { "x": 2.233698996273372, - "y": 0.3959396976544713 + "y": 0.19183331154696143 }, "holonomicAngle": 180.0, "isReversal": false, diff --git a/src/main/deploy/pathplanner/RedLongSide3.path b/src/main/deploy/pathplanner/RedLongSide3.path index e2da7cd..441d721 100644 --- a/src/main/deploy/pathplanner/RedLongSide3.path +++ b/src/main/deploy/pathplanner/RedLongSide3.path @@ -3,12 +3,12 @@ { "anchorPoint": { "x": 14.708210722386356, - "y": 1.61410638610751 + "y": 1.4100000000000001 }, "prevControl": null, "nextControl": { "x": 14.306301003726627, - "y": 0.39593969765447135 + "y": 0.19183331154696148 }, "holonomicAngle": 0, "isReversal": false,