Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Match25 mid autos #72

Open
wants to merge 89 commits into
base: main
Choose a base branch
from
Open

Match25 mid autos #72

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
89 commits
Select commit Hold shift + click to select a range
a8fd5c9
chain detection
MEisSCAMMER Mar 26, 2024
464a173
moved the offset to climberconstants
MEisSCAMMER Mar 26, 2024
00868bb
made chain detection better
MEisSCAMMER Mar 28, 2024
f28edae
formatting and .1-->.5
MEisSCAMMER Mar 28, 2024
f2d0e4f
efficiency, and some javadocs
MEisSCAMMER Mar 28, 2024
5066bf1
SoftLimits™
MEisSCAMMER Apr 2, 2024
8985e7d
Merge branch 'main' into ClimberUpgrades
MEisSCAMMER Apr 2, 2024
bfef7b6
removing pids (weren't using anyway)
MEisSCAMMER Apr 2, 2024
fb9ae06
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 5, 2024
7dedc46
Added first 4 note auto, takes too long
Hammyboi Apr 5, 2024
468b0e0
Added two note out of the way from podium side to midline
Hammyboi Apr 5, 2024
68f2a17
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 6, 2024
42c172d
Init
EMiller524 Apr 7, 2024
f94027b
Merge branch 'main' into LEDS!!!
EMiller524 Apr 7, 2024
de4505e
Send to SmartDashboard
EMiller524 Apr 9, 2024
5ae4ee8
Updated robot weight and MOI to each path
Hammyboi Apr 10, 2024
f839ea5
Squashed commit of the following:
Hammyboi Apr 10, 2024
e50a4ab
led colors
EMiller524 Apr 10, 2024
078a81b
more soft limits. all is soft limits
MEisSCAMMER Apr 10, 2024
3e0d0b2
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 11, 2024
c5dfefc
maybe
EMiller524 Apr 11, 2024
c03476f
test me
EMiller524 Apr 11, 2024
509cc5f
made LEDs normal mode on startup, created void method to do so
clmazzac Apr 11, 2024
f5b9b4e
added has note green led
Hammyboi Apr 12, 2024
8ebb4d0
Merge branch 'main' into LEDS!!!
Hammyboi Apr 12, 2024
5412fba
Added turning to green but needs to turn back
Hammyboi Apr 12, 2024
f87c291
Merge branch 'main' into LEDS!!!
EMiller524 Apr 12, 2024
9a63320
test me
EMiller524 Apr 12, 2024
7b2f1da
small stuff
EMiller524 Apr 13, 2024
066f36e
Added new trajectory and 4 note auto
Hammyboi Apr 13, 2024
fa8cb50
Added new trajectory and 4 note auto
Hammyboi Apr 13, 2024
e2853c1
Merge remote-tracking branch 'origin/newAutos' into newAutos
Hammyboi Apr 13, 2024
776d43b
limits
EMiller524 Apr 14, 2024
5048291
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 14, 2024
dcc5a67
20->40
EMiller524 Apr 14, 2024
be43e07
speed adjustments for testing with double amps
EMiller524 Apr 14, 2024
c221a30
added to stored state
EMiller524 Apr 16, 2024
8cb2599
Merge branch 'main' into LEDS!!!
EMiller524 Apr 16, 2024
1689206
whoopsies
EMiller524 Apr 16, 2024
3d547bf
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 16, 2024
5202e25
procedure
EMiller524 Apr 16, 2024
c989a6b
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 16, 2024
0790360
Merge branch 'main' into LEDS!!!
EMiller524 Apr 16, 2024
d068c14
Merge branch 'main' into LEDS!!!
EMiller524 Apr 16, 2024
cb8d51d
Merge branch 'main' into ClimberUpgrades
EMiller524 Apr 16, 2024
403f5f4
Added 4 note ampside middle podiumside auto
Hammyboi Apr 16, 2024
ef4122e
Tweaked autos
clmazzac Apr 17, 2024
45e8221
Merge branch 'main' into newAutos
EMiller524 Apr 17, 2024
8194b89
Merge branch 'main' into newAutos
EMiller524 Apr 17, 2024
7978d22
Merge branch 'main' into LEDS!!!
EMiller524 Apr 17, 2024
cdf9870
Added two middle starting 4-note autos
Hammyboi Apr 17, 2024
422bbcf
4th note middle ampside podiumside
clmazzac Apr 17, 2024
504df3a
Added correct heading command before intaking.
Hammyboi Apr 17, 2024
06ec785
changed "Four" to "4" for consistency
clmazzac Apr 17, 2024
cbc0ea6
CHnaged constants and made blink work
EMiller524 Apr 17, 2024
62eb5ed
works
EMiller524 Apr 17, 2024
fc437df
Merge pull request #69 from pittsfordrobotics/ClimberUpgrades
EMiller524 Apr 17, 2024
85af6d9
Merge branch 'Champs_Working_Branch' into LEDS!!!
EMiller524 Apr 17, 2024
cab17fe
put on comp
EMiller524 Apr 17, 2024
568335c
Merge branch 'Champs_Working_Branch' into LEDS!!!
EMiller524 Apr 17, 2024
851b6b8
Merge pull request #70 from pittsfordrobotics/LEDS!!!
EMiller524 Apr 17, 2024
4fc6748
4 note middle podiumside ampside (NOT COMPLETE)
clmazzac Apr 17, 2024
2ded987
Merge branch 'Champs_Working_Branch' of https://github.com/pittsfordr…
clmazzac Apr 17, 2024
f3df1db
Fix paths
clmazzac Apr 17, 2024
a6e658c
fix command name in path
clmazzac Apr 17, 2024
88c4437
More completion progess on middle podiumside ampside, other minor tweaks
clmazzac Apr 17, 2024
832f125
4thnote middle podim ampside fixed
clmazzac Apr 17, 2024
d0f39a7
Merge branch 'newAutos' of https://github.com/pittsfordrobotics/Cresc…
clmazzac Apr 17, 2024
0818f99
fix new autos made by cam (middle to outside to other outside)
clmazzac Apr 17, 2024
30620da
fixed shoot and stays to move lsightly
clmazzac Apr 18, 2024
6e63eb5
Added 0.6 - 0.7s before the ampside and podiumside 4 notes.
Hammyboi Apr 18, 2024
ad4f76e
Merge remote-tracking branch 'origin/newMidAutos' into newMidAutos
Hammyboi Apr 18, 2024
6a1400d
increase autofirenote flywheel rev timeout
clmazzac Apr 18, 2024
49812df
increase shooter flywheel rpm to 5600
clmazzac Apr 18, 2024
9af9a04
increase shooter flywheel rpm to 5600 in shooterinterpolationhelper
clmazzac Apr 18, 2024
2d21664
5600
EMiller524 Apr 18, 2024
7879dd0
added delays between shooting and moving small amount for shootandstay
clmazzac Apr 18, 2024
ec2db22
Added all of the shooter timing changes to 4 note mid autos. Also dec…
Hammyboi Apr 18, 2024
d36d344
Merged changes from champs working branch
Hammyboi Apr 18, 2024
93be0e4
Merge branch 'Champs_Working_Branch' of https://github.com/pittsfordr…
clmazzac Apr 18, 2024
ab8f4b4
Merge branch 'newAutos' of https://github.com/pittsfordrobotics/Cresc…
clmazzac Apr 18, 2024
a41e965
Update Shooter.java
EMiller524 Apr 18, 2024
cb860f8
Merge branch 'Champs_Working_Branch' into newMidAutos
EMiller524 Apr 18, 2024
6887a9f
Various auto fixes to 4 notes
Hammyboi Apr 18, 2024
869f893
More auto fixes to 4 notes and match 25 auto.
Hammyboi Apr 18, 2024
45bdd72
constants change
EMiller524 Apr 18, 2024
5eb9108
wehlp it works
EMiller524 Apr 18, 2024
691d5f4
played
EMiller524 Apr 19, 2024
45dfca5
logging
EMiller524 Apr 19, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1,709 changes: 1,166 additions & 543 deletions Twonotemiddlenew.chor
View file
Open in desktop

Large diffs are not rendered by default.

1,517 changes: 1,517 additions & 0 deletions middletooutsidenotes.chor
View file
Open in desktop

Large diffs are not rendered by default.

369 changes: 180 additions & 189 deletions onenoteampsideleavenew.chor
View file
Open in desktop

Large diffs are not rendered by default.

663 changes: 341 additions & 322 deletions onenotebottom.chor
View file
Open in desktop

Large diffs are not rendered by default.

1,855 changes: 950 additions & 905 deletions onenotebottomandmiddlerow.chor
View file
Open in desktop

Large diffs are not rendered by default.

718 changes: 350 additions & 368 deletions onenotepodiumsideleavenew.chor
View file
Open in desktop

Large diffs are not rendered by default.

344 changes: 185 additions & 159 deletions onenotetop.chor
View file
Open in desktop

Large diffs are not rendered by default.

909 changes: 488 additions & 421 deletions onepiecemiddle.chor
View file
Open in desktop

Large diffs are not rendered by default.

364 changes: 364 additions & 0 deletions shootandstay.chor
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,364 @@
{
"version": "v0.3.1",
"robotConfiguration": {
"mass": 74.08797700309194,
"rotationalInertia": 6,
"motorMaxTorque": 1.162295081967213,
"motorMaxVelocity": 4800,
"gearing": 6.75,
"wheelbase": 0.5778496879611685,
"trackWidth": 0.5778496879611685,
"bumperLength": 0.8762995267982555,
"bumperWidth": 0.8762995267982555,
"wheelRadius": 0.050799972568014815
},
"paths": {
"shootandstayampside": {
"waypoints": [
{
"x": 0.753,
"y": 6.669,
"heading": -2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 3
},
{
"x": 0.7894667983055115,
"y": 6.827003479003906,
"heading": -2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"trajectory": [
{
"x": 0.753,
"y": 6.669,
"heading": -2.0944,
"angularVelocity": 2.024491612986191e-30,
"velocityX": -6.809334321210758e-21,
"velocityY": -2.9483282467795975e-20,
"timestamp": 0
},
{
"x": 0.7712333991527559,
"y": 6.748001739501953,
"heading": -2.0944,
"angularVelocity": -1.72798854507361e-17,
"velocityX": 0.18490518581840298,
"velocityY": 0.8011578751830133,
"timestamp": 0.0986094525800001
},
{
"x": 0.7894667983055115,
"y": 6.827003479003906,
"heading": -2.0944,
"angularVelocity": 1.7280916798401257e-17,
"velocityX": 0.18490518581839946,
"velocityY": 0.8011578751830142,
"timestamp": 0.1972189051600002
},
{
"x": 0.7894667983055115,
"y": 6.827003479003906,
"heading": -2.0944,
"angularVelocity": 3.762211335905761e-30,
"velocityX": -1.438611034832206e-20,
"velocityY": -6.232409809909435e-20,
"timestamp": 0.2958283577400003
}
],
"trajectoryWaypoints": [
{
"timestamp": 0,
"isStopPoint": true,
"x": 0.753,
"y": 6.669,
"heading": -2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 3
},
{
"timestamp": 0.2958283577400003,
"isStopPoint": true,
"x": 0.7894667983055115,
"y": 6.827003479003906,
"heading": -2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"constraints": [
{
"scope": [
"first"
],
"type": "StopPoint"
},
{
"scope": [
"last"
],
"type": "StopPoint"
}
],
"usesControlIntervalGuessing": true,
"defaultControlIntervalCount": 40,
"usesDefaultFieldObstacles": true,
"circleObstacles": [],
"eventMarkers": [
{
"name": "AlignStuffOnStart",
"target": 0,
"trajTargetIndex": 0,
"targetTimestamp": 0,
"offset": 0,
"command": {
"type": "named",
"data": {
"name": "AlignStuffOnStart"
}
}
}
],
"isTrajectoryStale": false
},
"shootandstaymiddle": {
"waypoints": [
{
"x": 1.353,
"y": 5.55,
"heading": 3.14159,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 2
},
{
"x": 1.4,
"y": 5.55,
"heading": 3.14159,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"trajectory": [
{
"x": 1.353,
"y": 5.55,
"heading": 3.14159,
"angularVelocity": 3.0393053482784535e-34,
"velocityX": -1.4211354114695762e-19,
"velocityY": 1.1046635328784978e-46,
"timestamp": 0
},
{
"x": 1.4,
"y": 5.55,
"heading": 3.14159,
"angularVelocity": 5.614102990190419e-22,
"velocityX": 0.6260129914418041,
"velocityY": -3.886210563067794e-28,
"timestamp": 0.07507831409656814
},
{
"x": 1.4,
"y": 5.55,
"heading": 3.14159,
"angularVelocity": 8.85243486624032e-34,
"velocityX": -4.0552599323776366e-19,
"velocityY": 3.2494170111492566e-46,
"timestamp": 0.15015662819313627
}
],
"trajectoryWaypoints": [
{
"timestamp": 0,
"isStopPoint": true,
"x": 1.353,
"y": 5.55,
"heading": 3.14159,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 2
},
{
"timestamp": 0.15015662819313627,
"isStopPoint": true,
"x": 1.4,
"y": 5.55,
"heading": 3.14159,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"constraints": [
{
"scope": [
"first"
],
"type": "StopPoint"
},
{
"scope": [
"last"
],
"type": "StopPoint"
}
],
"usesControlIntervalGuessing": true,
"defaultControlIntervalCount": 40,
"usesDefaultFieldObstacles": true,
"circleObstacles": [],
"eventMarkers": [
{
"name": "AlignStuffOnStart",
"target": 0,
"trajTargetIndex": 0,
"targetTimestamp": 0,
"offset": 0,
"command": {
"type": "named",
"data": {
"name": "AlignStuffOnStart"
}
}
}
],
"isTrajectoryStale": false
},
"shootandstaypodiumside": {
"waypoints": [
{
"x": 0.76,
"y": 4.449,
"heading": 2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 3
},
{
"x": 0.8006637692451477,
"y": 4.3748579025268555,
"heading": 2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"trajectory": [
{
"x": 0.76,
"y": 4.449,
"heading": 2.0944,
"angularVelocity": -7.20609860084965e-29,
"velocityX": -4.869742192979739e-20,
"velocityY": 8.878534705727396e-20,
"timestamp": 0
},
{
"x": 0.780331884622574,
"y": 4.411928951263428,
"heading": 2.0944,
"angularVelocity": -6.456048246096622e-17,
"velocityX": 0.28552330214722865,
"velocityY": -0.5205935625650338,
"timestamp": 0.07120919543053568
},
{
"x": 0.8006637692451477,
"y": 4.3748579025268555,
"heading": 2.0944,
"angularVelocity": 6.456096403295476e-17,
"velocityX": 0.2855233021472281,
"velocityY": -0.5205935625650342,
"timestamp": 0.14241839086107136
},
{
"x": 0.8006637692451477,
"y": 4.3748579025268555,
"heading": 2.0944,
"angularVelocity": -1.4454200390830911e-28,
"velocityX": -9.891728839904637e-20,
"velocityY": 1.803447557606489e-19,
"timestamp": 0.21362758629160705
}
],
"trajectoryWaypoints": [
{
"timestamp": 0,
"isStopPoint": true,
"x": 0.76,
"y": 4.449,
"heading": 2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 3
},
{
"timestamp": 0.21362758629160705,
"isStopPoint": true,
"x": 0.8006637692451477,
"y": 4.3748579025268555,
"heading": 2.0944,
"isInitialGuess": false,
"translationConstrained": true,
"headingConstrained": true,
"controlIntervalCount": 40
}
],
"constraints": [
{
"scope": [
"first"
],
"type": "StopPoint"
},
{
"scope": [
"last"
],
"type": "StopPoint"
}
],
"usesControlIntervalGuessing": true,
"defaultControlIntervalCount": 40,
"usesDefaultFieldObstacles": true,
"circleObstacles": [],
"eventMarkers": [
{
"name": "AlignStuffOnStart",
"target": 0,
"trajTargetIndex": 0,
"targetTimestamp": 0,
"offset": 0,
"command": {
"type": "named",
"data": {
"name": "AlignStuffOnStart"
}
}
}
],
"isTrajectoryStale": false
}
},
"splitTrajectoriesAtStopPoints": false,
"usesObstacles": false
}
Loading