Update auto chooser and paths

chopshop-166 · Dec 22, 2023 · 531fa1d · 531fa1d
1 parent 30d229f
commit 531fa1d
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Showing 3 changed files with 29 additions and 36 deletions.
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
@@ -1,26 +1,20 @@
 {
   "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 2.0,
-      "y": 0.6
-    },
-    "rotation": 180.0
-  },
+  "startingPose": null,
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
           "type": "named",
           "data": {
-            "name": "armScore"
+            "name": "stowArm"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "New Path"
+            "pathName": "Valk Testing Path"
           }
         }
       ]

diff --git a/...eploy/pathplanner/paths/Example Path.path → .../pathplanner/paths/Valk Testing Path.path b/...eploy/pathplanner/paths/Example Path.path → .../pathplanner/paths/Valk Testing Path.path
@@ -8,56 +8,51 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.011171436920782,
-        "y": 5.090428046253228
+        "x": 2.7461211144481754,
+        "y": 4.772205507274513
       },
       "isLocked": false
     },
     {
       "anchor": {
-        "x": 8.226884262226642,
-        "y": 3.1262751598582623
+        "x": 3.8830743467286637,
+        "y": 4.694113842085106
       },
       "prevControl": {
-        "x": 8.8209283602812,
-        "y": 4.856782763722863
+        "x": 2.770657591331423,
+        "y": 4.695146271679321
       },
       "nextControl": {
-        "x": 7.796581338440592,
-        "y": 1.872761348315369
+        "x": 5.13659063353283,
+        "y": 4.692950458573443
       },
       "isLocked": false
     },
     {
       "anchor": {
-        "x": 2.0,
-        "y": 0.48942022151622383
+        "x": 5.373024774668257,
+        "y": 4.694113842085106
       },
       "prevControl": {
-        "x": 2.789736217330508,
-        "y": 0.6023843980739176
+        "x": 4.878401945578848,
+        "y": 4.63884587678572
       },
       "nextControl": null,
       "isLocked": false
     }
   ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.5,
-      "rotationDegrees": 0
-    }
-  ],
+  "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 176.60485047902205
+    "rotation": 0.0
   },
   "reversed": false,
   "folder": null,

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -22,6 +22,7 @@
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -48,9 +49,6 @@ public class Robot extends CommandRobot {
     SendableChooser<ConeStation> conePosChooser = new SendableChooser<>();
     SendableChooser<CubePickupLocation> cubePosChooser = new SendableChooser<>();
     SendableChooser<Integer> cubeScorePosChooser = new SendableChooser<>();
-    // private final SendableChooser<Command> autoChooser =
-    // AutoBuilder.buildAutoChooser(); // Default auto will be
-    // // `Commands.none()`;
 
     private RobotMap map = new Valkyrie();
     private ButtonXboxController driveController = new ButtonXboxController(0);
@@ -75,6 +73,9 @@ public class Robot extends CommandRobot {
     private Auto auto = new Auto(drive, armExtend, armRotate, intake, led, balanceArm);
     private Compressor compressor = new Compressor(PneumaticsModuleType.REVPH);
 
+    private final SendableChooser<Command> autoChooser = AutoBuilder.buildAutoChooser();
+    // Default auto will be `Commands.none()`;
+
     @Autonomous(name = "No Auto")
     public Command noAuto = Commands.none();
     @Autonomous(name = "Score then balance")
@@ -288,16 +289,19 @@ public void configureButtonBindings() {
 
     @Override
     public void populateDashboard() {
+        Shuffleboard.getTab("AutoBuilder");
+        Shuffleboard.getTab("AutoBuilder").add("Auto 1", autoChooser);
     }
 
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *
      * @return the command to run in autonomous
      */
-    // public Command getAutonomousCommand() {
-    // return autoChooser.getSelected();
-    // }
+    @Override
+    public Command getAutoCommand() {
+        return autoChooser.getSelected();
+    }
 
     @Override
     public void setDefaultCommands() {