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"fy":[-77.39616,-30.32392,34.03015,10.835]}, + {"t":6.47458, "x":1.34139, "y":0.67675, "heading":2.00538, "vx":-3.05695, "vy":0.2865, "omega":1.17127, "ax":4.27889, "ay":-1.11844, "alpha":11.15156, "fx":[39.1623,82.62465,79.15728,41.66498], "fy":[-77.53998,-29.11724,35.9178,7.32504]}, + {"t":6.50031, "x":1.26415, "y":0.68375, "heading":2.03552, "vx":-2.94685, "vy":0.25772, "omega":1.45821, "ax":4.24562, "ay":-1.42863, "alpha":10.99065, "fx":[40.52559,83.42077,78.78451,37.99149], "fy":[-77.35861,-27.74505,37.67492,-13.57347]}, + {"t":6.52604, "x":1.18973, "y":0.68991, "heading":2.07304, "vx":-2.83761, "vy":0.22096, "omega":1.741, "ax":4.16831, "ay":-1.97729, "alpha":10.78952, "fx":[42.43826,84.12614,78.51257,31.2623], "fy":[-76.70665,-26.25723,38.85185,-47.99832]}, + {"t":6.55177, "x":1.1181, "y":0.69494, "heading":2.11784, "vx":-2.73036, "vy":0.17009, "omega":2.01861, "ax":4.1697, "ay":-2.26154, "alpha":10.70422, "fx":[44.86794,84.73709,78.54452,28.26841], "fy":[-75.60604,-24.78035,39.20603,-67.04685]}, + {"t":6.5775, "x":1.04923, "y":0.69857, "heading":2.16978, "vx":-2.62307, "vy":0.1119, "omega":2.29403, "ax":4.21466, "ay":-2.36164, "alpha":10.69336, "fx":[47.43263,85.25355,78.84912,27.43174], "fy":[-74.26261,-23.39957,38.88506,-75.1254]}, + {"t":6.60323, "x":0.98313, "y":0.70066, "heading":2.2288, "vx":-2.51463, "vy":0.05113, "omega":2.56918, "ax":4.32948, "ay":-2.38724, "alpha":10.48881, "fx":[50.2914,85.68327,79.64401,29.85861], "fy":[-72.55468,-22.152,37.44369,-78.09142]}, + {"t":6.62896, "x":0.91986, "y":0.70119, "heading":2.29491, "vx":-2.40323, "vy":-0.01029, "omega":2.83906, "ax":5.70134, "ay":-1.88933, "alpha":4.30285, "fx":[71.01645,85.87638,87.98983,78.37808], "fy":[-52.60657,-21.50839,6.15002,-39.15843]}, + {"t":6.65469, "x":0.85991, "y":0.7003, "heading":2.36796, "vx":-2.25654, "vy":-0.0589, "omega":2.94977, "ax":6.01309, "ay":-1.68468, "alpha":0.21789, "fx":[84.80523,85.37786,85.6552,85.09809], "fy":[-25.40355,-23.44468,-22.33697,-24.33467]}, + {"t":6.68042, "x":0.80384, "y":0.69823, "heading":2.44386, "vx":-2.10182, "vy":-0.10225, "omega":2.95537, "ax":6.05868, "ay":-1.33862, "alpha":-1.43656, "fx":[87.85803,85.2037,83.55217,86.90766], "fy":[-8.41639,-22.61661,-28.67575,-16.18991]}, + {"t":6.69699, "x":0.76984, "y":0.69635, "heading":2.49283, "vx":-2.00141, "vy":-0.12444, "omega":2.93157, "ax":6.08465, "ay":-0.90684, "alpha":-2.70117, "fx":[88.02616,85.79905,82.97709,88.19147], "fy":[7.81103,-20.20657,-30.73101,-8.29069]}, + {"t":6.71356, "x":0.73751, "y":0.69416, "heading":2.54142, "vx":-1.90057, "vy":-0.13947, "omega":2.8868, "ax":6.05804, "ay":-0.57194, "alpha":-3.68194, "fx":[86.04907,86.07652,82.68245,88.67677], "fy":[20.57374,-18.98952,-31.84189,-2.17059]}, + {"t":6.73014, "x":0.70684, "y":0.69177, "heading":2.58926, "vx":-1.80017, "vy":-0.14894, "omega":2.82578, "ax":6.00699, "ay":-0.31505, "alpha":-4.46604, "fx":[83.13676,86.0979,82.60836,88.74755], "fy":[30.51964,-18.93049,-32.29045,2.8382]}, + {"t":6.74671, "x":0.67783, "y":0.68926, "heading":2.63609, "vx":-1.70062, "vy":-0.15417, "omega":2.75177, "ax":5.94501, "ay":-0.11896, "alpha":-5.12268, "fx":[79.91028,85.89124,82.69805,88.57666], "fy":[38.34514,-19.92193,-32.26795,7.09982]}, + {"t":6.76328, "x":0.65047, "y":0.68669, "heading":2.6817, "vx":-1.60209, "vy":-0.15614, "omega":2.66687, "ax":5.87807, "ay":0.03046, "alpha":-5.70101, "fx":[76.66258,85.46197,82.90407,88.25225], "fy":[44.60327,-21.79458,-31.90719,10.82529]}, + {"t":6.77986, "x":0.62472, "y":0.6841, "heading":2.72589, "vx":-1.50468, "vy":-0.15563, "omega":2.57239, "ax":5.8087, "ay":0.14466, "alpha":-6.23276, "fx":[73.52423,84.81018,83.18877,87.82453], "fy":[49.6948,-24.33317,-31.30308,14.14354]}, + {"t":6.79643, "x":0.60058, "y":0.68154, "heading":2.76853, "vx":-1.40841, "vy":-0.15324, "omega":2.46909, "ax":5.7381, "ay":0.23308, "alpha":-6.73555, "fx":[70.5492,83.94728,83.52296,87.32516], "fy":[53.90298,-27.29903,-30.5254,17.13678]}, + {"t":6.813, "x":0.57803, "y":0.67904, "heading":2.80945, "vx":-1.31331, "vy":-0.14937, "omega":2.35746, "ax":5.66715, "ay":0.3034, "alpha":-7.21649, "fx":[67.75621,82.90558,83.88434,86.77608], "fy":[57.42824,-30.45787,-29.62711,19.85931]}, + {"t":6.82957, "x":0.55704, "y":0.6766, "heading":2.84852, "vx":-1.21939, "vy":-0.14434, "omega":2.23787, "ax":5.59684, "ay":0.36168, "alpha":-7.67564, "fx":[65.14824,81.73765,84.25599,86.19379], "fy":[60.41429,-33.60596,-28.64951,22.34804]}, + {"t":6.84615, "x":0.5376, "y":0.67426, "heading":2.8856, "vx":-1.12664, "vy":-0.13835, "omega":2.11066, "ax":5.52824, "ay":0.41237, "alpha":-8.10945, "fx":[62.72154,80.50764,84.62526,85.59163], "fy":[62.96613,-36.58784,-27.6257,24.62868]}, + {"t":6.86272, "x":0.51969, "y":0.67202, "heading":2.92058, "vx":-1.03502, "vy":-0.13152, "omega":1.97626, "ax":5.4624, "ay":0.45851, "alpha":-8.51343, "fx":[60.46979,79.27951,84.98285,84.98091], "fy":[65.16205,-39.30202,-26.58279,26.71959]}, + {"t":6.87929, "x":0.50329, "y":0.66991, "heading":2.95334, "vx":-0.94449, "vy":-0.12392, "omega":1.83517, "ax":5.40021, "ay":0.50189, "alpha":-8.88386, "fx":[58.38597,78.10736,85.32209,84.37155], "fy":[67.06167,-41.69609,-25.54328,28.63422]}, + {"t":6.89587, "x":0.48838, "y":0.66792, "heading":2.98375, "vx":-0.85499, "vy":-0.1156, "omega":1.68794, "ax":5.34232, "ay":0.54343, "alpha":-9.21865, "fx":[56.46304,77.03029,85.6384,83.77244], "fy":[68.71129,-43.75586,-24.5261,30.3827]}, + {"t":6.91244, "x":0.47494, "y":0.66608, "heading":3.01172, "vx":-0.76646, "vy":-0.10659, "omega":1.53516, "ax":5.28909, "ay":0.58344, "alpha":-9.51731, "fx":[54.69432,76.07168,85.92886,83.19159], "fy":[70.14757,-45.49294,-23.54722,31.9729]}, + {"t":6.92901, "x":0.46296, "y":0.6644, "heading":3.03717, "vx":-0.6788, "vy":-0.09692, "omega":1.37743, "ax":5.2407, "ay":0.62183, "alpha":-9.78075, "fx":[53.07349,75.24141,86.19181,82.63625], "fy":[71.39995,-46.93385,-22.62015,33.41115]}, + {"t":6.94558, "x":0.45243, "y":0.66287, "heading":3.05999, "vx":-0.59195, "vy":-0.08662, "omega":1.21534, "ax":5.19715, "ay":0.65833, "alpha":-10.01079, "fx":[51.59469,74.53935,86.42657,82.11292], "fy":[72.4924,-48.11187,-21.75631,34.70268]}, + {"t":6.96216, "x":0.44334, "y":0.66153, "heading":3.08014, "vx":-0.50582, "vy":-0.07571, "omega":1.04943, "ax":5.15832, "ay":0.6926, "alpha":-10.20977, "fx":[50.25249,73.95889,86.63314,81.62743], "fy":[73.44465,-49.06157,-20.96528,35.85191]}, + {"t":6.97873, "x":0.43566, "y":0.66037, "heading":3.09753, "vx":-0.42033, "vy":-0.06423, "omega":0.88023, "ax":5.12405, "ay":0.72426, "alpha":-10.38018, "fx":[49.04196,73.4899,86.81202,81.18492], "fy":[74.27297,-49.81556,-20.25507,36.86266]}, + {"t":6.9953, "x":0.4294, "y":0.6594, "heading":3.11212, "vx":-0.33541, "vy":-0.05223, "omega":0.7082, "ax":5.09415, "ay":0.753, "alpha":-10.52445, "fx":[47.95868,73.12101,86.96403,80.78984], "fy":[74.99083,-50.40265,-19.63233,37.73827]}, + {"t":7.01188, "x":0.42454, "y":0.65864, "heading":3.12385, "vx":-0.25098, "vy":-0.03975, "omega":0.53378, "ax":5.06845, "ay":0.77852, "alpha":-10.64476, "fx":[46.99885,72.84119,87.09012,80.44602], "fy":[75.60937,-50.84706,-19.10245,38.48164]}, + {"t":7.02845, "x":0.42108, "y":0.65809, "heading":3.1327, "vx":-0.16699, "vy":-0.02685, "omega":0.35736, "ax":5.04679, "ay":0.80063, "alpha":-10.74293, "fx":[46.15928,72.64085,87.19127,80.15664], "fy":[76.1377,-51.16805,-18.66977,39.09534]}, + {"t":7.04502, "x":0.419, "y":0.65776, "heading":3.13862, "vx":-0.08335, "vy":-0.01358, "omega":0.17932, "ax":5.02905, "ay":0.81919, "alpha":-10.82035, "fx":[45.43748,72.51245,87.26839,79.92424], "fy":[76.58321,-51.37986,-18.33763,39.58158]}, + {"t":7.06159, "x":0.41831, "y":0.65764, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,17,98,127,224,263] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5c7a574f..e02b4ba7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -127,8 +127,23 @@ private void configureAutonomousChooser() { autoChooser.addOption("Left Single Neutral Cycle", autonomous.leftSingleNeutralCycle()); autoChooser.addOption("Left Double Neutral Cycle", autonomous.leftDoubleNeutralCycle()); + autoChooser.addOption("Left Depot Outpost Cycle", autonomous.leftDepotOutpostCycle()); + autoChooser.addOption("Left Depot Outpost Cycle", autonomous.leftDepotOutpostCycle()); + autoChooser.addOption("Left Outpost Cycle", autonomous.leftOutpostCycle()); + autoChooser.addOption("Left Depot Cycle", autonomous.leftDepotCycle()); + autoChooser.addOption( + "Left Single Off Center Neutral Cycle", autonomous.leftSingleOffCenterNeutralCycle()); + autoChooser.addOption( + "Left Double Off Center Neutral Cycle", autonomous.leftDoubleOffCenterNeutralCycle()); autoChooser.addOption("Right Single Neutral Cycle", autonomous.rightSingleNeutralCycle()); autoChooser.addOption("Right Double Neutral Cycle", autonomous.rightDoubleNeutralCycle()); + autoChooser.addOption("Right Depot Outpost Cycle", autonomous.rightDepotOutpostCycle()); + autoChooser.addOption("Right Outpost Cycle", autonomous.rightOutpostCycle()); + autoChooser.addOption("Right Depot Cycle", autonomous.rightDepotCycle()); + autoChooser.addOption( + "Right Single Off Center Neutral Cycle", autonomous.rightSingleOffCenterNeutralCycle()); + autoChooser.addOption( + "Right Double Off Center Neutral Cycle", autonomous.rightDoubleOffCenterNeutralCycle()); autoChooser.addOption("Preload", autonomous.preload()); autoChooser.addOption("SysId Shooter Rollers", shooterRollers.sysId()); diff --git a/src/main/java/frc/robot/auto/Autonomous.java b/src/main/java/frc/robot/auto/Autonomous.java index 99905566..6ba4b1ab 100644 --- a/src/main/java/frc/robot/auto/Autonomous.java +++ b/src/main/java/frc/robot/auto/Autonomous.java @@ -59,6 +59,8 @@ public Command trenchCheck( private static Pose2d LEFT_START_POSE = new Pose2d(4.396968364715576, 7.652250289916992, new Rotation2d()); + private static Pose2d RIGHT_START_POSE = new Pose2d(4.436294078826904, 4.156, new Rotation2d()); + private Command singleNeutralCycle(boolean rightSide) { robot.getSwerveDrive().loadChoreoPath("left_neutral.0"); robot.getSwerveDrive().loadChoreoPath("left_neutral.1"); @@ -129,6 +131,181 @@ private Command doubleNeutralCycle(boolean rightSide) { .withTimeout(20); } + private Command leftDepotOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), + robot.getIntakeExtension().extend(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot.getSwerveDrive().followPath("left_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command rightDepotOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("right_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot.getSwerveDrive().followPath("right_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command leftDepotCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), + robot.getIntakeExtension().extend(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command rightDepotCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("right_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command leftOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot.getSwerveDrive().followPath("left_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command rightOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot.getSwerveDrive().followPath("right_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command doubleOffCenterNeutralCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_off_center_neutral.0", rightSide), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.1", rightSide) + .deadlineFor( + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_off_center_neutral.3", rightSide), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.4", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_off_center_neutral.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command singleOffCenterNeutralCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_off_center_neutral.0", rightSide), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.1", rightSide) + .deadlineFor( + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), + shootFuel.shootAllFuelStationary()); + } + public Command leftSingleNeutralCycle() { return singleNeutralCycle(false); } @@ -145,6 +322,46 @@ public Command rightDoubleNeutralCycle() { return doubleNeutralCycle(true); } + public Command leftDepotOutpostCycle() { + return leftDepotOutpostCycle(false); + } + + public Command rightDepotOutpostCycle() { + return rightDepotOutpostCycle(false); + } + + public Command leftDepotCycle() { + return leftDepotCycle(false); + } + + public Command rightDepotCycle() { + return rightDepotCycle(false); + } + + public Command leftOutpostCycle() { + return leftOutpostCycle(false); + } + + public Command rightOutpostCycle() { + return rightOutpostCycle(false); + } + + public Command leftSingleOffCenterNeutralCycle() { + return singleOffCenterNeutralCycle(false); + } + + public Command rightSingleOffCenterNeutralCycle() { + return singleOffCenterNeutralCycle(true); + } + + public Command leftDoubleOffCenterNeutralCycle() { + return doubleOffCenterNeutralCycle(false); + } + + public Command rightDoubleOffCenterNeutralCycle() { + return doubleOffCenterNeutralCycle(true); + } + public Command preload() { return shootFuel.shoot(); }