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Sim dev -> main (🎶one last time🎶) #172

Merged
merged 38 commits into from
Feb 22, 2024
Merged

Sim dev -> main (🎶one last time🎶) #172

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7e5e67b
added chain rotational alignment
Oliver-Cushman Feb 19, 2024
70c1285
extracted getClosestChain
Oliver-Cushman Feb 19, 2024
45629aa
trap... align!
Oliver-Cushman Feb 20, 2024
98f97eb
Add trajectory to field2d and get ending pose from active traj
Jacob1010-h Feb 20, 2024
41169e0
Chain alignment (#171)
Oliver-Cushman Feb 20, 2024
71a38a4
good things
Oliver-Cushman Feb 20, 2024
48da2b4
Merge branch 'sim-dev' of https://github.com/Patribots4738/Crescendo2…
Oliver-Cushman Feb 20, 2024
fa21ba0
try consumer? this will probally be reverted
Jacob1010-h Feb 20, 2024
c8ccedb
Update WPIlib to 2024.3.1
PatribotsProgramming Feb 20, 2024
65d950d
update model for advantagescope
PatribotsProgramming Feb 20, 2024
05711b7
remove urcl check and update some controller bindings
PatribotsProgramming Feb 20, 2024
43fcbca
change hooks up
Oliver-Cushman Feb 20, 2024
9bb22fd
add note possesion boolean
PatribotsProgramming Feb 20, 2024
8b2478d
piececontrol general logic fixes
PatribotsProgramming Feb 20, 2024
11ea799
make prepareshooter a runEnd command (only in teleop) and fix swerve'…
PatribotsProgramming Feb 20, 2024
c0d2e78
more constants woohoo
PatribotsProgramming Feb 20, 2024
e4db2b2
change method calls to be setSpeed rather than directly calling trapp…
PatribotsProgramming Feb 20, 2024
8d2c256
autos!!!1!!!
PatribotsProgramming Feb 20, 2024
0560968
Merge branch 'sim-dev' of https://github.com/patribots4738/Crescendo2…
PatribotsProgramming Feb 20, 2024
0c927a8
removed the sick things
Oliver-Cushman Feb 20, 2024
ce0c2e6
implement alliance changer
Jacob1010-h Feb 21, 2024
fd0a61c
add logging for last path pose
Jacob1010-h Feb 21, 2024
058f4ce
Merge branch 'sim-dev' into end-traj-pathplan
Jacob1010-h Feb 21, 2024
3e21cc6
Refactor trajectory visualization to be contained mostly inside of Pa…
GalexY727 Feb 21, 2024
e663e39
End traj pathplan (#175) -> sim dev
GalexY727 Feb 21, 2024
84d29be
removed bad parameter
Oliver-Cushman Feb 21, 2024
81a8560
added alignment and removed many unused imports
Oliver-Cushman Feb 21, 2024
b912faa
rm todo
Oliver-Cushman Feb 21, 2024
8903397
Update RobotContainer.java
Oliver-Cushman Feb 21, 2024
c80d1a9
Source alignment (#176)
Jacob1010-h Feb 22, 2024
92f860f
correct HPFC :DD
Jacob1010-h Feb 22, 2024
8b92128
Merge branch 'sim-dev' of https://github.com/Patribots4738/Crescendo2…
Jacob1010-h Feb 22, 2024
96768f0
s c4 + s c5
Oliver-Cushman Feb 22, 2024
5a8b882
Merge branch 'sim-dev' of https://github.com/Patribots4738/Crescendo2…
Oliver-Cushman Feb 22, 2024
ebf5119
top 10 negative sign highlights
Oliver-Cushman Feb 22, 2024
5a83eac
friends !!!!!
Oliver-Cushman Feb 22, 2024
cec3e55
friends !!!!! (#177)
Oliver-Cushman Feb 22, 2024
df53939
the villain was me all along
Oliver-Cushman Feb 22, 2024
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4 changes: 2 additions & 2 deletions .pathplanner/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAccel": 2.5,
"defaultMaxAngVel": 45.0,
"defaultMaxAngAccel": 45.0,
"defaultMaxAngAccel": 60.0,
"maxModuleSpeed": 3.0
}
59 changes: 48 additions & 11 deletions advantageScopeAssets/Robot_Tucker/config.json
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Expand Up @@ -19,17 +19,50 @@
"cameras": [
{
"name": "FrontCam",
"position": [
0.0508,
-0.1524,
0.2604
],
"resolution": [
1280,
960
],
"fov": 100
}
"position": [
0.0508,
-0.1524,
0.589701
],
"rotations": [
{
"axis": "y",
"degrees": -33
},
{
"axis": "z",
"degrees": 15
}
],
"resolution": [
1280,
960
],
"fov": 80
},
{
"name": "BackCam",
"position": [
-0.254,
-0.155575,
0.589701
],
"rotations" : [
{
"axis": "z",
"degrees": 180
},
{
"axis": "y",
"degrees": -10
}
],
"resolution": [
1280,
960
],
"fov": 80
}
],
"components": [
{
Expand Down Expand Up @@ -132,6 +165,10 @@
0,
0
]
},
{
"zeroedRotations": [],
"zeroedPosition": []
}
]
}
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Binary file added advantageScopeAssets/Robot_Tucker/model_5.glb
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2 changes: 1 addition & 1 deletion build.gradle
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2024.2.1"
id "edu.wpi.first.GradleRIO" version "2024.3.1"
}

repositories {
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35 changes: 35 additions & 0 deletions glass.json
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@@ -0,0 +1,35 @@
{
"NetworkTables": {
"transitory": {
"Robot": {
"choreoChooser": {
"open": true
},
"open": true
}
},
"types": {
"/FMSInfo": "FMSInfo",
"/Robot/choreoChooser": "String Chooser",
"/Robot/field2d": "Field2d",
"/Robot/pathPlannerStorage/autoChooser": "String Chooser"
},
"windows": {
"/Robot/pathPlannerStorage/autoChooser": {
"window": {
"visible": true
}
}
}
},
"NetworkTables Info": {
"Clients": {
"open": true
},
"visible": true
},
"NetworkTables Settings": {
"mode": "Client (NT4)",
"serverTeam": "4738"
}
}
20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/autos/S C1-3 S.auto
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Expand Up @@ -2,10 +2,10 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3070140425995143,
"y": 6.301761136557157
"x": 1.3127322708546125,
"y": 5.531086239477443
},
"rotation": -149.77686787793002
"rotation": 179.27393174384346
},
"command": {
"type": "sequential",
Expand All @@ -18,33 +18,33 @@
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "C1 L"
"name": "C1toC3"
}
},
{
"type": "path",
"data": {
"pathName": "L C2"
"pathName": "M W3"
}
},
{
"type": "path",
"data": {
"pathName": "C2 L"
"pathName": "W3 W2"
}
},
{
"type": "path",
"data": {
"pathName": "L C3"
"pathName": "W2 W1"
}
},
{
"type": "path",
"type": "named",
"data": {
"pathName": "C3 M"
"name": "StopAll"
}
}
]
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/autos/S C1-5 S.auto
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Expand Up @@ -2,7 +2,7 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.3070140425995143,
"x": 1.205481291141754,
"y": 6.301761136557157
},
"rotation": -147.41876198989902
Expand Down
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/autos/S W3-1 S.auto
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Expand Up @@ -2,8 +2,8 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 1.2514459967329792,
"y": 4.481558795144466
"x": 0.8059318609740422,
"y": 4.440615856320681
},
"rotation": 136.71493019552656
},
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/A C1.path
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Expand Up @@ -89,9 +89,9 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/A C2.path
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Expand Up @@ -89,9 +89,9 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/A W1.path
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Expand Up @@ -51,9 +51,9 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
Expand Down
29 changes: 23 additions & 6 deletions src/main/deploy/pathplanner/paths/C1 C2.path
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Expand Up @@ -8,8 +8,8 @@
},
"prevControl": null,
"nextControl": {
"x": 8.001277427009363,
"y": 7.134919234844645
"x": 7.287760958500641,
"y": 7.357800247515389
},
"isLocked": false,
"linkedName": "C1"
Expand All @@ -20,8 +20,8 @@
"y": 5.773167022257897
},
"prevControl": {
"x": 6.714263440877643,
"y": 5.432519782289461
"x": 6.763763314760672,
"y": 5.269087417607459
},
"nextControl": null,
"isLocked": false,
Expand All @@ -47,13 +47,30 @@
]
}
}
},
{
"name": "StopIntake",
"waypointRelativePos": 0.0,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "StopIntake"
}
}
]
}
}
}
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
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16 changes: 8 additions & 8 deletions src/main/deploy/pathplanner/paths/C1 L.path
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Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 6.1237047894028604,
"y": 6.205235254815414
"x": 5.11,
"y": 6.23
},
"prevControl": {
"x": 6.762614197120893,
"y": 6.609724664018198
"x": 5.8754953792102445,
"y": 6.559163487867849
},
"nextControl": null,
"isLocked": false,
Expand Down Expand Up @@ -56,7 +56,7 @@
},
{
"name": "Shoot",
"waypointRelativePos": 1.0,
"waypointRelativePos": 0.75,
"command": {
"type": "parallel",
"data": {
Expand All @@ -74,13 +74,13 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
"rotation": -178.44131579378922,
"rotation": -177.32156198722237,
"rotateFast": false
},
"reversed": false,
Expand Down
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/C2 C1.path
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Expand Up @@ -51,9 +51,9 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/C2 C3.path
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Expand Up @@ -51,9 +51,9 @@
],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAcceleration": 2.5,
"maxAngularVelocity": 45.0,
"maxAngularAcceleration": 45.0
"maxAngularAcceleration": 60.0
},
"goalEndState": {
"velocity": 0,
Expand Down
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