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\ No newline at end of file diff --git a/src/main/kotlin/frc/robot/RobotContainer.kt b/src/main/kotlin/frc/robot/RobotContainer.kt index a18b85c..add790e 100644 --- a/src/main/kotlin/frc/robot/RobotContainer.kt +++ b/src/main/kotlin/frc/robot/RobotContainer.kt @@ -61,7 +61,6 @@ class RobotContainer { enum class CommandSelector { LOWPICKCUBE, UPRIGHTPICKCONE, - CHUTEPICK, FLOORPLACE, MIDPLACECUBE, HIGHPLACECUBE, @@ -194,10 +193,6 @@ class RobotContainer { ) -// JoystickButton(primaryController, XboxController.Button.kRightBumper.value).whileTrue( -// RetroreflectiveVision(swerveSubsystem, primaryController) - //) - Trigger { primaryController.rightTriggerAxis > 0.2 }.whileTrue( @@ -494,13 +489,4 @@ class RobotContainer { SmartDashboard.putData("Auto Mode", autoCommandChooser) } val autonomousCommand: Command get() = autoCommandChooser.selected - -// SequentialCommandGroup( -// AutoPlaceConeMid(pickAndPlace).withTimeout(4.0), -// RunCommand({swerveSubsystem.drive(-0.5,0.0,0.0,false, true)}, swerveSubsystem).withTimeout(1.0), -// ParallelCommandGroup( -// RunCommand({swerveSubsystem.drive(0.0,0.0,0.0,false, true)}, swerveSubsystem), -// Base(pickAndPlace) -// ) -// ) } \ No newline at end of file diff --git a/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt b/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt index e8bfef8..22ac3cf 100644 --- a/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt +++ b/src/main/kotlin/frc/robot/commands/AutoTrajectories.kt @@ -39,6 +39,7 @@ class AutoTrajectories(val pnp: PickAndPlaceSubsystem, val swerveSubsystem: Swer "MidConePlace" to AutoPlaceConeMidPlace(pnp).withTimeout(2.0), "HighCone" to AutoPlaceConeHigh(pnp).withTimeout(4.0), "Base2" to AutoBase2(pnp), + "Base3" to AutoBase3(pnp), "Balance" to Balancer(swerveSubsystem), "PickUpConeUp" to AutoPickCone(pnp) ) diff --git a/src/main/kotlin/frc/robot/commands/LEDCommands.kt b/src/main/kotlin/frc/robot/commands/LEDCommands.kt index 2d62bdc..b11e9da 100644 --- a/src/main/kotlin/frc/robot/commands/LEDCommands.kt +++ b/src/main/kotlin/frc/robot/commands/LEDCommands.kt @@ -23,7 +23,7 @@ class SetLEDValueConeCube(val subsystem: BlinkinLEDSubsystem): CommandBase() { println("Auto LEDs") } } else if (CommandValues.visionIsMovingRobot) { - subsystem.setLED(-0.91) + subsystem.setLED(-0.93) } else { if (CommandValues.cube) { subsystem.setLED(0.91)//0.91 diff --git a/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt b/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt index 9378f1d..bc8696a 100644 --- a/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt +++ b/src/main/kotlin/frc/robot/commands/PickAndPlaceCommands.kt @@ -159,7 +159,7 @@ fun Base(pnp: PickAndPlaceSubsystem): Command { false, pnp, ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(73.0), // elbow 60 + Math.toRadians(74.0), // elbow 60 Math.toRadians(-10.0), // wrist -100 { if (!CommandValues.cube) 1.0 else 0.0 }, //in { if (!CommandValues.cube) -1.2 else 0.0 } //in @@ -175,50 +175,14 @@ fun Base(pnp: PickAndPlaceSubsystem): Command { ) ) } -fun AutoBase(pnp: PickAndPlaceSubsystem): Command { - return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(73.0), // elbow - Math.toRadians(-10.0), // wrist - { 0.5 }, //in - { -0.5 } //in - ), - SetPickAndPlacePosition( - false, - pnp, - ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(120.0), // elbow - Math.toRadians(-20.0), // wrist - { 0.5 }, //in - { -0.5 } //in - ) - ) -} -fun AutoBase2(pnp: PickAndPlaceSubsystem): Command { - return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(73.0), // elbow - Math.toRadians(-10.0), // wrist - { 0.5 }, //in - { -0.5 }// in - ) - ) -} -//TODO:Test fun FloorPlace(pnp: PickAndPlaceSubsystem, controller: XboxController): Command { return SequentialCommandGroup( SetPickAndPlacePosition( false, pnp, ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(68.0), // elbow - Math.toRadians(-65.0), // wrist + Math.toRadians(73.0), // elbow + Math.toRadians(-70.0), // wrist { if (!CommandValues.cube) 1.0 else 0.0 }, //in { if (!CommandValues.cube) -1.2 else 0.0 }// in ), @@ -226,8 +190,8 @@ fun FloorPlace(pnp: PickAndPlaceSubsystem, controller: XboxController): Command true, pnp, ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(68.0), // elbow - Math.toRadians(-65.0), // wrist + Math.toRadians(73.0), // elbow + Math.toRadians(-70.0), // wrist { if (controller.rightBumper) -6.0 else if (!CommandValues.cube) 1.0 else 0.0 }, //out then in { if (controller.rightBumper) 6.0 else if (!CommandValues.cube) -1.2 else 0.0 }// out then in ) @@ -261,15 +225,6 @@ fun MidPlaceCube(pnp: PickAndPlaceSubsystem, controller: XboxController): Comman } fun HighPlaceCube(pnp: PickAndPlaceSubsystem, controller: XboxController): Command { return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(80.0), // elbow - Math.toRadians(-30.0), // wrist - { 0.0 }, - { 0.0 } - ), SetPickAndPlacePosition( false, pnp, @@ -317,15 +272,6 @@ fun MidPlaceCone(pnp: PickAndPlaceSubsystem, controller: XboxController): Comman //TODO:Tune fun HighPlaceCone(pnp: PickAndPlaceSubsystem, controller: XboxController): Command { return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - 0.15, // elevator - Math.toRadians(70.0), // elbow - Math.toRadians(10.0), // wrist - { 3.0 }, - { -4.0 } - ), SetPickAndPlacePosition( false, pnp, @@ -456,7 +402,54 @@ fun ShelfPickCone(pnp: PickAndPlaceSubsystem): Command { - +fun AutoBase(pnp: PickAndPlaceSubsystem): Command { + return SequentialCommandGroup( + SetPickAndPlacePosition( + false, + pnp, + ArmConstants.elevatorMinHeight, // elevator + Math.toRadians(73.0), // elbow + Math.toRadians(-10.0), // wrist + { 0.5 }, //in + { -0.5 } //in + ), + SetPickAndPlacePosition( + false, + pnp, + ArmConstants.elevatorMinHeight, // elevator + Math.toRadians(120.0), // elbow + Math.toRadians(-20.0), // wrist + { 0.5 }, //in + { -0.5 } //in + ) + ) +} +fun AutoBase2(pnp: PickAndPlaceSubsystem): Command { + return SequentialCommandGroup( + SetPickAndPlacePosition( + false, + pnp, + ArmConstants.elevatorMinHeight, // elevator + Math.toRadians(73.0), // elbow + Math.toRadians(-10.0), // wrist + { 0.5 }, //in + { -0.5 }// in + ) + ) +} +fun AutoBase3(pnp: PickAndPlaceSubsystem): Command { + return SequentialCommandGroup( + SetPickAndPlacePosition( + false, + pnp, + ArmConstants.elevatorMinHeight, // elevator + Math.toRadians(110.0), // elbow + Math.toRadians(-20.0), // wrist + { 0.5 }, //in + { -0.5 }// in + ) + ) +} fun AutoPickCube(pnp: PickAndPlaceSubsystem): Command { return SequentialCommandGroup( SetPickAndPlacePosition( @@ -518,15 +511,6 @@ fun AutoPlaceCubeMid(pnp: PickAndPlaceSubsystem): Command { //TODO:Test fun AutoPlaceCubeHigh(pnp: PickAndPlaceSubsystem): Command { return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - ArmConstants.elevatorMinHeight, // elevator - Math.toRadians(80.0), // elbow - Math.toRadians(-30.0), // wrist - { 0.0 }, - { 0.0 } - ), SetPickAndPlacePosition( false, pnp, @@ -557,15 +541,6 @@ fun AutoPlaceConeMidGetThere(pnp: PickAndPlaceSubsystem): Command { Math.toRadians(-30.0), // wrist { 5.0 }, { -6.0 }// intake - ), - SetPickAndPlacePosition( - false, - pnp, - 0.37, // elevator - Math.toRadians(60.0), // elbow - Math.toRadians(-50.0), // wrist - { 5.0 }, - { -6.0 }// intake ) ) } @@ -585,15 +560,6 @@ fun AutoPlaceConeMidPlace(pnp: PickAndPlaceSubsystem): Command { fun AutoPlaceConeHigh(pnp: PickAndPlaceSubsystem): Command { return SequentialCommandGroup( - SetPickAndPlacePosition( - false, - pnp, - 0.15, // elevator - Math.toRadians(70.0), // elbow - Math.toRadians(10.0), // wrist - { 3.0 }, - { -4.0 } - ), SetPickAndPlacePosition( false, pnp,